Patents by Inventor Agastya KALRA
Agastya KALRA 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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Publication number: 20220343537Abstract: A method for estimating a pose of a deformable object includes: receiving, by a processor, a plurality of images depicting the deformable object from multiple viewpoints; computing, by the processor, one or more object-level correspondences and a class of the deformable object depicted in the images; loading, by the processor, a 3-D model corresponding to the class of the deformable object; aligning, by the processor, the 3-D model to the deformable object depicted in the plurality of images to compute a six-degree of freedom (6-DoF) pose of the object; and outputting, by the processor, the 3-D model and the 6-DoF pose of the object.Type: ApplicationFiled: April 15, 2021Publication date: October 27, 2022Inventors: Vage TAAMAZYAN, Agastya KALRA, Kartik VENKATARAMAN, Achuta KADAMBI
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Publication number: 20220337731Abstract: Systems and methods for adjusting an exposure parameter of an imaging device are disclosed. A first exposure level of the imaging device is identified, and a first image of a scene is captured via the imaging device at the first exposure level. The first image of the scene comprises a plurality of polarization images corresponding to different degrees and angles of polarization. Each of the polarization images comprise a plurality of color channels. A gradient for the first image is computed based on the plurality of the polarization images, and a second exposure level is computed based on the gradient. A second image of the scene is captured based on the second exposure level, where the gradient of the second image is greater than a gradient for the first image.Type: ApplicationFiled: February 15, 2022Publication date: October 20, 2022Inventors: Kartik Venkataraman, Agastya Kalra, Achuta Kadambi
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Publication number: 20220307819Abstract: A method of performing surface profilometry includes receiving one or more polarization raw frames of a printed layer of a physical object undergoing additive manufacturing, the one or more polarization raw frames being captured at different polarizations by one or more polarization cameras, extracting one or more polarization feature maps in one or more polarization representation spaces from the one or more polarization raw frames, obtaining a coarse layer depth map of the printed layer, generating one or more surface-normal images based on the coarse layer depth map and the one or more polarization feature maps, and generating a 3D reconstruction of the printed layer based on the one or more surface-normal images.Type: ApplicationFiled: October 7, 2020Publication date: September 29, 2022Inventors: Achuta KADAMBI, Kartik VENKATARAMAN, Supreeth Krishna RAO, Agastya KALRA
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Publication number: 20220295038Abstract: A stereo camera array system includes: a first camera array at a first viewpoint including: a first camera configured to capture images in a first modality, the first modality being viewpoint-independent; and a second camera configured to capture images in a second modality different from the first modality; and a second camera array at a second viewpoint spaced apart along a first baseline from the first camera array at the first viewpoint, the second camera array including: a first camera configured to capture images in the first modality; and a second camera configured to capture images in the second modality.Type: ApplicationFiled: March 10, 2021Publication date: September 15, 2022Inventors: Kartik VENKATARAMAN, Achuta KADAMBI, Agastya KALRA
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Publication number: 20220215266Abstract: A method of generating synthetic images of virtual scenes includes: placing, by a synthetic data generator implemented by a processor and memory, three-dimensional (3-D) models of objects in a 3-D virtual scene; adding, by the synthetic data generator, lighting to the 3-D virtual scene, the lighting including one or more illumination sources; applying, by the synthetic data generator, imaging modality-specific materials to the 3-D models of objects in the 3-D virtual scene in accordance with a selected multimodal imaging modality, each of the imaging modality-specific materials including an empirical model; setting a scene background in accordance with the selected multimodal imaging modality; and rendering, by the synthetic data generator, a two-dimensional image of the 3-D virtual scene based on the selected multimodal imaging modality to generate a synthetic image in accordance with the selected multimodal imaging modality.Type: ApplicationFiled: January 4, 2021Publication date: July 7, 2022Inventors: Kartik VENKATARAMAN, Agastya KALRA, Achuta KADAMBI
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Publication number: 20220198673Abstract: A computer-implemented method for computing a prediction on images of a scene includes: receiving one or more polarization raw frames of a scene, the polarization raw frames being captured with a polarizing filter at a different linear polarization angle; extracting one or more first tensors in one or more polarization representation spaces from the polarization raw frames; and computing a prediction regarding one or more optically challenging objects in the scene based on the one or more first tensors in the one or more polarization representation spaces.Type: ApplicationFiled: March 8, 2022Publication date: June 23, 2022Inventors: Agastya KALRA, Vage TAAMAZYAN, Supreeth Krishna RAO, Kartik VENKATARAMAN, Ramesh RASKAR, Achuta KADAMBI
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Publication number: 20220157070Abstract: A computer-implemented method for surface modeling includes: receiving one or more polarization raw frames of a surface of a physical object, the polarization raw frames being captured with a polarizing filter at different linear polarization angles; extracting one or more first tensors in one or more polarization representation spaces from the polarization raw frames; and detecting a surface characteristic of the surface of the physical object based on the one or more first tensors in the one or more polarization representation spaces.Type: ApplicationFiled: January 27, 2022Publication date: May 19, 2022Inventors: Achuta KADAMBI, Agastya KALRA, Supreeth Krishna RAO, Kartik VENKATARAMAN
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Publication number: 20220156975Abstract: A method for estimating a pose of an object includes: receiving a plurality of images of the object captured from multiple viewpoints with respect to the object; initializing a current pose of the object based on computing an initial estimated pose of the object from at least one of the plurality of images; predicting a plurality of 2-D keypoints associated with the object from each of the plurality of images; and computing an updated pose that minimizes a cost function based on a plurality of differences between the 2-D keypoints and a plurality of 3-D keypoints associated with a 3-D model of the object as arranged in accordance with the current pose, and as projected to each of the viewpoints.Type: ApplicationFiled: January 28, 2022Publication date: May 19, 2022Inventors: Agastya KALRA, Achuta KADAMBI, Kartik VENKATARAMAN, Vage TAAMAZYAN
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Patent number: 11302012Abstract: A computer-implemented method for computing a prediction on images of a scene includes: receiving one or more polarization raw frames of a scene, the polarization raw frames being captured with a polarizing filter at a different linear polarization angle; extracting one or more first tensors in one or more polarization representation spaces from the polarization raw frames; and computing a prediction regarding one or more optically challenging objects in the scene based on the one or more first tensors in the one or more polarization representation spaces.Type: GrantFiled: August 28, 2020Date of Patent: April 12, 2022Assignee: BOSTON POLARIMETRICS, INC.Inventors: Agastya Kalra, Vage Taamazyan, Supreeth Krishna Rao, Kartik Venkataraman, Ramesh Raskar, Achuta Kadambi
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Patent number: 11295475Abstract: A method for estimating a pose of an object includes: receiving a plurality of images of the object captured from multiple viewpoints with respect to the object; initializing a current pose of the object based on computing an initial estimated pose of the object from at least one of the plurality of images; predicting a plurality of 2-D keypoints associated with the object from each of the plurality of images; and computing an updated pose that minimizes a cost function based on a plurality of differences between the 2-D keypoints and a plurality of 3-D keypoints associated with a 3-D model of the object as arranged in accordance with the current pose, and as projected to each of the viewpoints.Type: GrantFiled: January 29, 2021Date of Patent: April 5, 2022Assignee: BOSTON POLARIMETRICS, INC.Inventors: Agastya Kalra, Achuta Kadambi, Kartik Venkataraman, Vage Taamazyan
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Patent number: 11290658Abstract: Systems and methods for adjusting an exposure parameter of an imaging device are disclosed. A first exposure level of the imaging device is identified, and a first image of a scene is captured via the imaging device at the first exposure level. The first image of the scene comprises a plurality of polarization images corresponding to different degrees and angles of polarization. Each of the polarization images comprise a plurality of color channels. A gradient for the first image is computed based on the plurality of the polarization images, and a second exposure level is computed based on the gradient. A second image of the scene is captured based on the second exposure level, where the gradient of the second image is greater than a gradient for the first image.Type: GrantFiled: April 15, 2021Date of Patent: March 29, 2022Assignee: BOSTON POLARIMETRICS, INC.Inventors: Kartik Venkataraman, Agastya Kalra, Achuta Kadambi
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Publication number: 20220076449Abstract: A method for characterizing a pose estimation system includes: receiving, from a pose estimation system, first poses of an arrangement of objects in a first scene; receiving, from the pose estimation system, second poses of the arrangement of objects in a second scene, the second scene being a rigid transformation of the arrangement of objects of the first scene with respect to the pose estimation system; computing a coarse scene transformation between the first scene and the second scene; matching corresponding poses between the first poses and the second poses; computing a refined scene transformation between the first scene and the second scene based on coarse scene transformation, the first poses, and the second poses; transforming the first poses based on the refined scene transformation to compute transformed first poses; and computing an average rotation error and an average translation error of the pose estimation system based on differences between the transformed first poses and the second poses.Type: ApplicationFiled: November 17, 2021Publication date: March 10, 2022Inventors: Agastya KALRA, Achuta KADAMBI, Kartik VENKATARAMAN
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Patent number: 11270110Abstract: A computer-implemented method for surface modeling includes: receiving one or more polarization raw frames of a surface of a physical object, the polarization raw frames being captured with a polarizing filter at different linear polarization angles; extracting one or more first tensors in one or more polarization representation spaces from the polarization raw frames; and detecting a surface characteristic of the surface of the physical object based on the one or more first tensors in the one or more polarization representation spaces.Type: GrantFiled: September 17, 2020Date of Patent: March 8, 2022Assignee: BOSTON POLARIMETRICS, INC.Inventors: Achuta Kadambi, Agastya Kalra, Supreeth Krishna Rao, Kartik Venkataraman
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Publication number: 20220044441Abstract: A method for estimating a pose of an object includes: receiving a plurality of images of the object captured from multiple viewpoints with respect to the object; initializing a current pose of the object based on computing an initial estimated pose of the object from at least one of the plurality of images; predicting a plurality of 2-D keypoints associated with the object from each of the plurality of images; and computing an updated pose that minimizes a cost function based on a plurality of differences between the 2-D keypoints and a plurality of 3-D keypoints associated with a 3-D model of the object as arranged in accordance with the current pose, and as projected to each of the viewpoints.Type: ApplicationFiled: January 29, 2021Publication date: February 10, 2022Inventors: Agastya KALRA, Achuta KADAMBI, Kartik VENKATARAMAN, Vage TAAMAZYAN
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Patent number: 11195303Abstract: A method for characterizing a pose estimation system includes: receiving, from a pose estimation system, first poses of an arrangement of objects in a first scene; receiving, from the pose estimation system, second poses of the arrangement of objects in a second scene, the second scene being a rigid transformation of the arrangement of objects of the first scene with respect to the pose estimation system; computing a coarse scene transformation between the first scene and the second scene; matching corresponding poses between the first poses and the second poses; computing a refined scene transformation between the first scene and the second scene based on coarse scene transformation, the first poses, and the second poses; transforming the first poses based on the refined scene transformation to compute transformed first poses; and computing an average rotation error and an average translation error of the pose estimation system based on differences between the transformed first poses and the second poses.Type: GrantFiled: December 3, 2020Date of Patent: December 7, 2021Assignee: BOSTON POLARIMETRICS, INC.Inventors: Agastya Kalra, Achuta Kadambi, Kartik Venkataraman
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Publication number: 20210373349Abstract: An optical system includes: a beam splitter system configured to split an input beam into a plurality of output beams including a first output beam, a second output beam, and a third output beam; a first polarizing filter having a first polarization angle and configured to filter the first output beam to produce a first filtered output beam; a second polarizing filter having a second angle of polarization and configured to filter the second output beam to produce a second filtered output beam; and a third polarizing filter having a third angle of polarization and configured to filter the third output beam to produce a third filtered output beam, the first, second, and third angles of polarization being different from one another.Type: ApplicationFiled: May 27, 2021Publication date: December 2, 2021Inventors: Kartik VENKATARAMAN, Agastya KALRA, Achuta KADAMBI
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Publication number: 20210356572Abstract: A multi-modal sensor system includes: an underlying sensor system; a polarization camera system configured to capture polarization raw frames corresponding to a plurality of different polarization states; and a processing system including a processor and memory, the processing system being configured to control the underlying sensor system and the polarization camera system, the memory storing instructions that, when executed by the processor, cause the processor to: control the underlying sensor system to perform sensing on a scene and the polarization camera system to capture a plurality of polarization raw frames of the scene; extract first tensors in polarization representation spaces based on the plurality of polarization raw frames; and compute a characterization output based on an output of the underlying sensor system and the first tensors in polarization representation spaces.Type: ApplicationFiled: October 7, 2020Publication date: November 18, 2021Inventors: Achuta KADAMBI, Ramesh RASKAR, Kartik VENKATARAMAN, Supreeth Krishna RAO, Agastya KALRA
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Publication number: 20210350573Abstract: A method for characterizing a pose estimation system includes: receiving, from a pose estimation system, first poses of an arrangement of objects in a first scene; receiving, from the pose estimation system, second poses of the arrangement of objects in a second scene, the second scene being a rigid transformation of the arrangement of objects of the first scene with respect to the pose estimation system; computing a coarse scene transformation between the first scene and the second scene; matching corresponding poses between the first poses and the second poses; computing a refined scene transformation between the first scene and the second scene based on coarse scene transformation, the first poses, and the second poses; transforming the first poses based on the refined scene transformation to compute transformed first poses; and computing an average rotation error and an average translation error of the pose estimation system based on differences between the transformed first poses and the second poses.Type: ApplicationFiled: December 3, 2020Publication date: November 11, 2021Inventors: Agastya KALRA, Achuta KADAMBI, Kartik VENKATARAMAN
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Publication number: 20210264607Abstract: A computer-implemented method for computing a prediction on images of a scene includes: receiving one or more polarization raw frames of a scene, the polarization raw frames being captured with a polarizing filter at a different linear polarization angle; extracting one or more first tensors in one or more polarization representation spaces from the polarization raw frames; and computing a prediction regarding one or more optically challenging objects in the scene based on the one or more first tensors in the one or more polarization representation spaces.Type: ApplicationFiled: August 28, 2020Publication date: August 26, 2021Inventors: Agastya KALRA, Vage TAAMAZYAN, Supreeth Krishna RAO, Kartik VENKATARAMAN, Ramesh RASKAR, Achuta KADAMBI
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Publication number: 20210264147Abstract: A computer-implemented method for surface modeling includes: receiving one or more polarization raw frames of a surface of a physical object, the polarization raw frames being captured with a polarizing filter at different linear polarization angles; extracting one or more first tensors in one or more polarization representation spaces from the polarization raw frames; and detecting a surface characteristic of the surface of the physical object based on the one or more first tensors in the one or more polarization representation spaces.Type: ApplicationFiled: September 17, 2020Publication date: August 26, 2021Inventors: Achuta KADAMBI, Agastya KALRA, Supreeth Krishna RAO, Kartik VENKATARAMAN