US 11,941,836 B2
Objection detection using images and message information
Urs Niesen, Berkeley Heights, NJ (US); and Murali Chari, San Diego, CA (US)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Filed by QUALCOMM Incorporated, San Diego, CA (US)
Filed on Dec. 10, 2021, as Appl. No. 17/547,366.
Claims priority of provisional application 63/209,880, filed on Jun. 11, 2021.
Prior Publication US 2022/0405952 A1, Dec. 22, 2022
Int. Cl. G06T 7/70 (2017.01); G06T 3/40 (2006.01); G06T 7/277 (2017.01); G06T 7/62 (2017.01); G06V 10/22 (2022.01); G06V 20/56 (2022.01)
CPC G06T 7/70 (2017.01) [G06T 3/40 (2013.01); G06T 7/277 (2017.01); G06T 7/62 (2017.01); G06V 10/22 (2022.01); G06V 20/56 (2022.01); G06T 2207/30252 (2013.01); G06V 2201/08 (2022.01)] 26 Claims
OG exemplary drawing
 
1. An apparatus for performing object detection and tracking, comprising:
at least one memory; and
at least one processor coupled to the at least one memory, the at least one processor configured to:
obtain, at a tracking object, an image comprising a target object;
obtain, at the tracking object, a first set of messages associated with the target object;
determine a bounding box for the target object in the image based on the first set of messages associated with the target object, wherein the at least one processor is further configured to:
determine a size estimate for the target object based on the first set of messages associated with the target object; and
determine a pose estimate for the target object based on the first set of messages associated with the target object, wherein the bounding box is based on the size estimate for the target object, the pose estimate for the target object, or a combination thereof;
determine the bounding box based on the pose estimate for the tracking object;
extract a sub-image from the image, wherein the sub-image comprises an area of the image within the bounding box; and
detect, using an object detection model, a location of the target object within the sub-image.