Abstract: Systems and techniques are provided for processing image data corresponding to a scene. A process can include generating a planar distance map including a planar distance value for each pixel of at least one image corresponding to the scene. Planar segmentation is performed based on the planar distance map, a normal map corresponding to the at least one image, and positional encoding information of the planar distance map. A triangular mesh fragment is initialized based on sampling points from each planar segment of a plurality of planar segments from the planar segmentation. Ray-triangle intersections are determined based on performing ray casting for a reconstructed planar mesh including a plurality of triangular mesh fragments each corresponding to a different image. A planar reconstruction and segmentation machine learning network is optimized for the scene, based on training the planar reconstruction and segmentation machine learning network using one or more loss functions.

Abstract: A computer-implemented method for semantic segmentation of a point cloud comprises receiving a cloud having points representing a vector of an object, preferably part of a dento-maxillofacial structure having a dentition; determining subset(s) including a first number of points arranged around a selected point of the cloud and a second number of points arranged at spatial distances larger than a predetermined spatial distance of the first number of points, the first number of points representing fine feature(s) of the object around the selected point and the second number of points representing object global feature(s); providing each subset of points to a deep neural network, DNN, the DNN being trained to semantically segment points of each subset according to classes associated with the object; and, for each subset point, receiving a DNN output multi-element vector, wherein each element represents a probability that the point belongs to class(es) of the object.

Abstract: Aspects presented herein may enable a passive positioning system, which may be a network entity or node, to be trained to identify multiple moving objects based on using training data for a single object. In one aspect, a network entity receives first RF channel data recorded by a set of devices for a coverage area during a first time period. The network entity trains an ML model based on the set of devices and the first RF channel data. The network entity receives second RF channel data recorded by the set of devices at a second time instance that is outside of the first time period. The network entity computes a number of moving objects in the coverage area at the second time instance based on the second RF channel data using the ML model.

Abstract: Disclosed are systems, methods, and non-transitory media for performing passive radio frequency (RF) location detection operations. In some aspects, RF data, such as RF signals including channel state information (CSI), can be received from a wireless device. The RF data can be provided to a self-supervised machine-learning architecture that is configured to perform object location estimation.

Abstract: Disclosed are systems, methods, and non-transitory media for performing radio frequency sensing detection operations. For instance, radio frequency data can be received that is associated with at least one wireless device. The radio frequency data can be based on radio frequency signals reflected from a first object and received by the at least one wireless device. Training label data can also be obtained (e.g., from a labeling device, from the at least one wireless device, etc.). The training label data can be based at least in part on the first object and input data (e.g., received by the labeling device, the at least one wireless device, etc.). A sensing model can be generated based on the radio frequency data and the training label data.

Abstract: Systems and techniques are provided for unsupervised scene-decompositional normalizing flows. An example process can include obtaining a scene-decompositional model having a normalizing flow neural network architecture. The process can include determining, based on processing data depicting multiple targets in a scene using the scene-decompositional model, a distribution of scene data as a mixture of flows from one or more background components and one or more foreground components. The process can further include identifying, based on processing the distribution of scene data using the scene-decompositional model, a target associated with the one or more foreground components and included in the data depicting the multiple targets in the scene.

Abstract: Certain aspects of the present disclosure provide techniques for object positioning using mixture density networks, comprising: receiving radio frequency (RF) signal data collected in a physical space; generating a feature vector encoding the RF signal data by processing the RF signal data using a first neural network; processing the feature vector using a first mixture model to generate a first encoding tensor indicating a set of moving objects in the physical space, a first location tensor indicating a location of each of the moving objects in the physical space, and a first uncertainty tensor indicating uncertainty of the locations of each of the moving objects in the physical space; and outputting at least one location from the first location tensor.

Abstract: A method of object detection in a point cloud includes: determining first features associated with points of a point cloud representing one or more objects in at least a 3D space and defining geometrical information for each point of the point cloud, a first type of network being configured to receive points of the point cloud as input; determining second point cloud features based on the first features, the second features defining local geometrical information about the point cloud at positions of nodes of a uniform 3D grid; generating an object, an object proposal defining a 3D bounding box, the 3D bounding box that may define an object; and determining, by a third type of deep neural network, a score for a 3D anchor indicating a probability that the 3D anchor, the determining being based on second features that are located in the 3D anchor.

Abstract: Certain aspects of the present disclosure provide techniques method for self-supervised training of a machine learning model to predict the location of a device in a spatial environment, such as a spatial environment including multiple discrete planes. An example method generally includes receiving an input data set of scene data. A generator model is trained to map scene data in the input data set to points in three-dimensional space. One or more critic models are trained to backpropagate a gradient to the generator model to push the points in the three-dimensional space to one of a plurality of planes in the three-dimensional space. At least the generator is deployed.

Abstract: Disclosed are systems, methods, and non-transitory media for sensing radio frequency signals. For instance, radio frequency data can be received by an apparatus and from at least one wireless device in an environment. Based on the radio frequency data received from the at least one wireless device, the apparatus can determine sensing coverage of the at least one wireless device. The apparatus can further provide the determined sensing coverage and a position of at least one device to a user device.

Abstract: Certain aspects of the present disclosure provide techniques for training and inferencing with machine learning localization models. In one aspect, a method, includes training a machine learning model based on input data for performing localization of an object in a target space, including: determining parameters of a neural network configured to map samples in an input space based on the input data to samples in an intrinsic space; and determining parameters of a coupling matrix configured to transport the samples in the intrinsic space to the target space.

Abstract: Disclosed are systems, methods, and non-transitory media for sensing radio frequency signals. For instance, radio frequency data can be received by an apparatus and from at least one wireless device in an environment. Based on the radio frequency data received from the at least one wireless device, the apparatus can determine sensing coverage of the at least one wireless device. The apparatus can further provide the determined sensing coverage and a position of at least one device to a user device.

Abstract: Disclosed are systems, methods, and non-transitory media for performing passive radio frequency (RF) location detection operations. In some aspects, RF data, such as RF signals including channel state information (CSI), can be received from a wireless device. The RF data can be provided to a self-supervised machine-learning architecture that is configured to perform object location estimation.

Abstract: Disclosed are systems, methods, and non-transitory media for performing radio frequency sensing detection operations. For instance, radio frequency data can be received that is associated with at least one wireless device. The radio frequency data can be based on radio frequency signals reflected from a first object and received by the at least one wireless device. Training label data can also be obtained (e.g., from a labeling device, from the at least one wireless device, etc.). The training label data can be based at least in part on the first object and input data (e.g., received by the labeling device, the at least one wireless device, etc.). A sensing model can be generated based on the radio frequency data and the training label data.

Abstract: Certain aspects of the present disclosure provide techniques for object positioning using mixture density networks, comprising: receiving radio frequency (RF) signal data collected in a physical space; generating a feature vector encoding the RF signal data by processing the RF signal data using a first neural network; processing the feature vector using a first mixture model to generate a first encoding tensor indicating a set of moving objects in the physical space, a first location tensor indicating a location of each of the moving objects in the physical space, and a first uncertainty tensor indicating uncertainty of the locations of each of the moving objects in the physical space; and outputting at least one location from the first location tensor.

Abstract: A computer-implemented method for semantic segmentation of a point cloud comprises receiving a cloud having points representing a vector of an object, preferably part of a dento-maxillofacial structure having a dentition; determining subset(s) including a first number of points arranged around a selected point of the cloud and a second number of points arranged at spatial distances larger than a predetermined spatial distance of the first number of points, the first number of points representing fine feature(s) of the object around the selected point and the second number of points representing object global feature(s); providing each subset of points to a deep neural network, DNN, the DNN being trained to semantically segment points of each subset according to classes associated with the object; and, for each subset point, receiving a DNN output multi-element vector, wherein each element represents a probability that the point belongs to class(es) of the object.

Abstract: A method of training an artificial neural network (ANN), receives, from a base station, signal information for a radio frequency signal between the base station and a user equipment (UE). The artificial neural network is trained to determine a location of the UE and to map the environment based on the received signal information and in the absence of labeled data.