Estimating features of occluded objects

摘要

A number of images of an environment may be obtained over time. In some images, a portion of an object included in the environment may be occluded by another object in the environment. In these images, features of the occluded portion of the object may be absent. The absent features may be estimated based on features generated from previous images including the object where the occluded portion of the object was not occluded in the previous images. In some cases, the absent features may be estimated based on data associated with a reference object that corresponds to the occluded object with the reference object being included in a catalog of reference objects.

主权项

1. A system comprising:
one or more processors; one or more cameras to obtain a plurality of images of an environment, the environment including a first object and a second object; one or more non-transitory computer-readable media storing computer-executable instructions that, when executed by the one or more processors, cause the one or more processors to perform acts comprising:
capturing a first image of the environment at a first time, wherein a first portion of the first object is occluded by at least a portion of the second object and a second portion of the first object is non-occluded;generating first features of the first object based, at least in part, on the first image, wherein the first features include features of the second portion of the first object and features of the first portion of the first object are absent from the first features;capturing a second image of the environment at a second time subsequent to the first time, wherein the second portion of the first object is occluded by the second object in the second image;generating second features of the first object based, at least in part, on the second image, wherein the features of the second portion of the first object are absent from the second features; andestimating the features of the second portion of the first object in the second image based, at least in part, on the features of the second portion of the first object included in the first features generated based on the first image.