US 12,354,230 B2
System and method with spherical autoencoder for object discovery
Sindy Lowe, Amsterdam (NL); Maja Rudolph, Madison, WI (US); Max Welling, Belgium (NL); and Filipe Condessa, Pittsburgh, PA (US)
Assigned to Robert Bosch GmbH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Sep. 30, 2022, as Appl. No. 17/957,156.
Prior Publication US 2024/0127393 A1, Apr. 18, 2024
Int. Cl. G06T 3/00 (2024.01); G06V 10/75 (2022.01); G06V 10/82 (2022.01)
CPC G06T 3/00 (2013.01) [G06V 10/751 (2022.01); G06V 10/82 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for object discovery, the computer-implemented method comprising:
receiving a source image obtained from at least one sensor;
generating input data for an encoder by associating each pixel of the source image with predetermined phase values;
encoding, via the encoder, the input data to generate latent representation data in spherical coordinates;
decoding, via a decoder, the latent representation data to generate spherical reconstruction data of the source image, the spherical reconstruction data including a radial component and a plurality of phase components; and
generating a reconstructed image based at least on the radial component, the reconstructed image being a reconstruction of the source image.