Patents by Inventor Trevor Darrell
Trevor Darrell has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 8768071Abstract: Methods for recognizing a category of an object are disclosed. In one embodiment, a method includes determining, by a processor, a preliminary category of a target object, the preliminary category having a confidence score associated therewith, and comparing the confidence score to a learning threshold. If the highest confidence score is less than the learning threshold, the method further includes estimating properties of the target object and generating a property score for one or more estimated properties, and searching a supplemental image collection for supplemental image data using the preliminary category and the one or more estimated properties. Robots programmed to recognize a category of an object by use of supplemental image data are also disclosed.Type: GrantFiled: August 2, 2011Date of Patent: July 1, 2014Assignees: Toyota Motor Engineering & Manufacturing North America, Inc., International Computer Science InstituteInventors: Masayoshi Tsuchinaga, Mario Fritz, Trevor Darrell
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Patent number: 8704668Abstract: A system for monitoring and alerting based on animal behavior includes an apparatus to observe one or more animals using a sensor network, a processor to capture tracking information and to interpret animal state based on sensor observations, and a communication device to communicate alerts based on animal state.Type: GrantFiled: April 19, 2006Date of Patent: April 22, 2014Inventors: Trevor Darrell, Anna Hagstrom
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Publication number: 20130034295Abstract: Methods for recognizing a category of an object are disclosed. In one embodiment, a method includes determining, by a processor, a preliminary category of a target object, the preliminary category having a confidence score associated therewith, and comparing the confidence score to a learning threshold. If the highest confidence score is less than the learning threshold, the method further includes estimating properties of the target object and generating a property score for one or more estimated properties, and searching a supplemental image collection for supplemental image data using the preliminary category and the one or more estimated properties. Robots programmed to recognize a category of an object by use of supplemental image data are also disclosed.Type: ApplicationFiled: August 2, 2011Publication date: February 7, 2013Applicant: Toyota Motor Engineering & Manufacturing North America, Inc.Inventors: Masayoshi Tsuchinaga, Mario Fritz, Trevor Darrell
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Patent number: 7949186Abstract: A method for classifying or comparing objects includes detecting points of interest within two objects, computing feature descriptors at said points of interest, forming a multi-resolution histogram over feature descriptors for each object and computing a weighted intersection of multi-resolution histogram for each object. An alternative embodiment includes a method for matching objects by defining a plurality of bins for multi-resolution histograms having various levels and a plurality of cluster groups, each group having a center, for each point of interest, calculating a bin index, a bin count and a maximal distance to the bin center and providing a path vector indicative of the bins chosen at each level. Still another embodiment includes a method for matching objects comprising creating a set of feature vectors for each object of interest, mapping each set of feature vectors to a single high-dimensional vector to create an embedding vector and encoding each embedding vector with a binary hash string.Type: GrantFiled: March 15, 2007Date of Patent: May 24, 2011Assignee: Massachusetts Institute of TechnologyInventors: Kristen Grauman, Trevor Darrell
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Patent number: 7317830Abstract: Segmentation of background and foreground objects in an image is based upon the joint use of range and color data. Range-based data is largely independent of color image data, and hence not adversely affected by the limitations associated with color-based segmentation, such as shadows and similarly colored objects. Furthermore, color segmentation is complementary to range measurement in those cases where reliable range data cannot be obtained. These complementary sets of data are used to provide a multidimensional background estimation. The segmentation of a foreground object in a given frame of an image sequence is carried out by comparing the image frames with background statistics relating to range and normalized color, using the sets of statistics in a complementary manner. A background model is determined by estimating using a multidimensional histogram, recording pixel values, configuring the pixel values into a cluster, and selecting a largest cluster as representing the background model.Type: GrantFiled: November 7, 2003Date of Patent: January 8, 2008Assignee: Vulcan Patents LLCInventors: Gaile Gordon, Trevor Darrell, Michael Harville, John Woodfill
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Publication number: 20070217676Abstract: A method for classifying or comparing objects includes detecting points of interest within two objects, computing feature descriptors at said points of interest, forming a multi-resolution histogram over feature descriptors for each object and computing a weighted intersection of multi-resolution histogram for each object. An alternative embodiment includes a method for matching objects by defining a plurality of bins for multi-resolution histograms having various levels and a plurality of cluster groups, each group having a center, for each point of interest, calculating a bin index, a bin count and a maximal distance to the bin center and providing a path vector indicative of the bins chosen at each level. Still another embodiment includes a method for matching objects comprising creating a set of feature vectors for each object of interest, mapping each set of feature vectors to a single high-dimensional vector to create an embedding vector and encoding each embedding vector with a binary hash string.Type: ApplicationFiled: March 15, 2007Publication date: September 20, 2007Inventors: Kristen Grauman, Trevor Darrell
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Publication number: 20050265583Abstract: Dense range data obtained at real-time rates is employed to estimate the pose of an articulated figure. In one approach, the range data is used in combination with a model of connected patches. Each patch is the planar convex hull of two circles, and a recursive procedure is carried out to determine an estimate of pose which most closely correlates to the range data. In another aspect of the invention, the dense range data is used in conjunction with image intensity information to improve pose tracking performance. The range information is used to determine the shape of an object, rather than assume a generic model or estimate structure from motion. In this aspect of the invention, a depth constraint equation, which is a counterpart to the classic brightness change constraint equation, is employed. Both constraints are used to jointly solve for motion estimates.Type: ApplicationFiled: August 1, 2005Publication date: December 1, 2005Inventors: Michele Covell, Michael Lin, Ali Rahimi, Michael Harville, Trevor Darrell, John Woodfill, Harlyn Baker, Gaile Gordon
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Publication number: 20050162523Abstract: A mobile deixis device includes a camera to capture an image and a wireless handheld device, coupled to the camera and to a wireless network, to communicate the image with existing databases to find similar images. The mobile deixis device further includes a processor, coupled to the device, to process found database records related to similar images and a display to view found database records that include web pages including images. With such an arrangement, users can specify a location of interest by simply pointing a camera-equipped cellular phone at the object of interest and by searching an image database or relevant web resources, users can quickly identify good matches from several close ones to find an object of interest.Type: ApplicationFiled: January 22, 2004Publication date: July 28, 2005Inventors: Trevor Darrell, Tom Yeh, Konrad Tollmar
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Patent number: 6661918Abstract: Segmentation of background and foreground objects in an image is based upon the joint use of both range and color data. Range-based data is largely independent of color image data, and hence not adversely affected by the limitations associated with color-based segmentation, such as shadows and similarly colored objects. Furthermore, color segmentation is complementary to range measurement in those cases where reliable range data cannot be obtained. These complementary sets of data are used to provide a multidimensional background estimation. The segmentation of a foreground object in a given frame of an image sequence is carried out by comparing the image frames with background statistics relating to range and normalized color, using the sets of statistics in a complementary manner.Type: GrantFiled: December 3, 1999Date of Patent: December 9, 2003Assignee: Interval Research CorporationInventors: Gaile Gordon, Michael Harville, John Woodfill, Trevor Darrell
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Patent number: 6445810Abstract: Techniques from computer vision and computer graphics are combined to robustly track a target (e.g., a user) and perform a function based upon the image and/or the identity attributed to the target's face. Three primary modules are used to track a user's head: depth estimation, color segmentation, and pattern classification. The combination of these three techniques allows for robust performance despite unknown background, crowded conditions, and rapidly changing pose or expression of the user. Each of the modules can also provide an identity classification module with valuable information so that the identity of a user can be estimated. With an estimate of the position of a target in 3-D and the target's identity, applications such as individualized computer programs or graphics techniques to distort and/or morph the shape or apparent material properties of the user's face can be performed.Type: GrantFiled: December 1, 2000Date of Patent: September 3, 2002Assignee: Interval Research CorporationInventors: Trevor Darrell, Gaile Gordon, Michael Harville, John Woodfill, Harlyn Baker
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Patent number: 6356669Abstract: Image-based synthesis for non-rigid bodies whose appearances do not form a linear manifold is carried out by representing mappings from control parameters to appearances as subsets of piecewise smooth functions. Each subset contains example images which are well approximated by particular examples which lie on the convex hull of the subset's parameter values. Once the subsets of examples are defined, interpolation is performed by using only the examples in a single subset. To provide for efficient operation, image transforms based upon radial cumulative similarities are used to automatically estimate the correspondence between example images.Type: GrantFiled: May 26, 1999Date of Patent: March 12, 2002Assignee: Interval Research CorporationInventor: Trevor Darrell
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Patent number: 6343150Abstract: A given point of interest in an image is defined by two properties, a local attribute, such as color, and a neighborhood function that describes a similarity pattern. The color value is not influenced by nearby background regions of the image, and functions as a descriptor for each location. The neighborhood function distinguishes locations of similar color from one another, by capturing patterns of change in the local color. The neighborhood function measures the similarity between the local color and colors at nearby points, and reduces the measured similarity values that lie beyond contrast boundaries. Through the computation of such a transform for points of interest in an image, corresponding points in other images can be readily identified.Type: GrantFiled: November 25, 1998Date of Patent: January 29, 2002Assignee: Interval Research CorporationInventors: Trevor Darrell, Michele M. Covell
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Publication number: 20010000025Abstract: Techniques from computer vision and computer graphics are combined to robustly track a target (e.g., a user) and perform a function based upon the image and/or the identity attributed to the target's face. Three primary modules are used to track a user's head: depth estimation, color segmentation, and pattern classification. The combination of these three techniques allows for robust performance despite unknown background, crowded conditions, and rapidly changing pose or expression of the user. Each of the modules can also provide an identity classification module with valuable information so that the identity of a user can be estimated. With an estimate of the position of a target in 3-D and the target's identity, applications such as individualized computer programs or graphics techniques to distort and/or morph the shape or apparent material properties of the user's face can be performed. The system can track and respond to a user's face in real-time using completely passive and non-invasive techniques.Type: ApplicationFiled: December 1, 2000Publication date: March 15, 2001Inventors: Trevor Darrell, Gaile Gordon, Michael Harville, John Woodfill, Harlyn Baker
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Patent number: 6188777Abstract: Techniques from computer vision and computer graphics are combined to robustly track a target (e.g., a user) and perform a function based upon the image and/or the identity attributed to the target's face. Three primary modules are used to track a user's head: depth estimation, color segmentation, and pattern classification. The combination of these three techniques allows for robust performance despite unknown background, crowded conditions, and rapidly changing pose or expression of the user. Each of the modules can also provide an identity classification module with valuable information so that the identity of a user can be estimated. With an estimate of the position of a target in 3-D and the target's identity, applications such as individualized computer programs or graphics techniques to distort and/or morph the shape or apparent material properties of the user's face can be performed.Type: GrantFiled: June 22, 1998Date of Patent: February 13, 2001Assignee: Interval Research CorporationInventors: Trevor Darrell, Gaile Gordon, Michael Harville, John Woodfill, Harlyn Baker