Configuring spanning elements of a signature generator

Description

CROSS REFERENCE

This application claims priority from U.S. provisional patent 62/827,120 filing date Mar. 31, 2019.

BACKGROUND

Object detection has extensive usage in variety of applications, starting from security, sport events, automatic vehicles, and the like.

Vast amounts of media units are processed during object detection and their processing may require vast amounts of computational resources and memory resources.

Furthermore—many object detection process are sensitive to various acquisition parameters such as angle of acquisition, scale, and the like.

There is a growing need to provide robust and efficient object detection methods.

SUMMARY

There may be provided systems, methods and computer readable medium as illustrated in the specification.

There may be provided a method for configuring spanning elements of a signature generator, the method may include receiving test sensed information units; generating representations of the test sensed information units; wherein the representations may be indicative of features of the test sensed information units; finding a set of decorrelated elements, wherein the decorrelated elements may be selected out of (i) representations of the test sensed information units, and (ii) cluster identifiers that identify clusters of the representations of the test sensed information units; mapping each decorrelated element of the set to a unique combination of one or more object identifier; and associating different unique combinations to the spanning element of the signature generator.

The finding of the set of decorrelated elements may be executed in an iterative manner, one subset of decorrelated elements after the other.

The finding of the set of decorrelated elements may be executed in an iterative manner, one decorrelated element after the other.

The representations of the test sensed information units may be signatures generated by the signature generator.

The representations of the test sensed information units differ from signatures generated by the signature generator.

The associating may include gradually associating the different unique combinations to all spanning elements.

The method may include configuring the spanning elements based on a frequency of appearance of patterns in the test images.

The method may include assigning identifiers of a same object to a same spanning element.

The method may include searching for candidate decorrelated elements in a random manner and finding, out of candidate decorrelated elements, the set of decorrelated elements.

Each cluster of the representations may be of at least a minimal predefined size and wherein a number of clusters of the representations may be limited to a maximal predefined number.

The decorrelated elements may be the cluster identifiers and wherein the mapping may include mapping each decorrelated cluster identifier to set to a unique combination of one or more object identifiers, wherein at least one unique combination differs from a signature by number of object identifiers.

There may be provided a method for generating a signature of a sensed information unit, the method may include receiving or generating a sensed information unit; and calculating the signature of the sensed information unit by performing multiple iterations, wherein each iteration of at least some of the multiple iterations may include applying, by spanning elements related to the iteration, a dimension expansion process that may be followed by a merge operation. The spanning elements related to the multiple iterations may be configured by receiving test sensed information units; generating representations of the test sensed information units; wherein the representations may be indicative of features of the test sensed information units; finding a set of decorrelated elements, wherein the decorrelated elements may be selected out of (i) representations of the test sensed information units, and (ii) cluster identifiers that identify clusters of the representations of the test sensed information units; mapping each decorrelated element of the set to a unique combination of one or more object identifier; and associating different unique combinations to the spanning element of the signature generator.

There may be provided a non-transitory computer readable medium for configuring spanning elements of a signature generator, the non-transitory computer readable medium stores instructions for receiving test sensed information units; generating representations of the test sensed information units; wherein the representations may be indicative of features of the test sensed information units; finding a set of decorrelated elements, wherein the decorrelated elements may be selected out of (i) representations of the test sensed information units, and (ii) cluster identifiers that identify clusters of the representations of the test sensed information units; mapping each decorrelated element of the set to a unique combination of one or more object identifier; and associating different unique combinations to the spanning element of the signature generator.

The finding of the set of decorrelated elements may be executed in an iterative manner, one subset of decorrelated elements after the other.

The finding of the set of decorrelated elements may be executed in an iterative manner, one decorrelated element after the other.

The representations of the test sensed information units may be signatures generated by the signature generator.

The representations of the test sensed information units differ from signatures generated by the signature generator.

The associating may include gradually associating the different unique combinations to all spanning elements.

The non-transitory computer readable medium that stores instructions for configuring the spanning elements based on a frequency of appearance of patterns in the test images.

The non-transitory computer readable medium that stores instructions for assigning identifiers of a same object to a same spanning element.

The searching for candidate decorrelated elements may be executed in a random manner and may be followed by finding, out of candidate decorrelated elements, the set of decorrelated elements.

Each cluster of the representations may be of at least a minimal predefined size and wherein a number of clusters of the representations may be limited to a maximal predefined number.

The decorrelated elements may be the cluster identifiers and wherein the mapping may include mapping each decorrelated cluster identifier to set to a unique combination of one or more object identifiers, wherein at least one unique combination differs from a signature by number of object identifiers.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments of the disclosure will be understood and appreciated more fully from the following detailed description, taken in conjunction with the drawings in which:

FIG. 1 illustrates an example of a method;

FIG. 2 illustrates an example of a signature;

FIG. 3 illustrates an example of a dimension expansion process;

FIG. 4 illustrates an example of a clusters of a signatures matching process;

FIG. 5 illustrates a method;

FIG. 6 illustrates a method;

FIG. 7 illustrates a system; and

FIG. 8 illustrates various data structures.

DESCRIPTION OF EXAMPLE EMBODIMENTS

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the present invention.

The subject matter regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying drawings.

It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.

Because the illustrated embodiments of the present invention may for the most part, be implemented using electronic components and circuits known to those skilled in the art, details will not be explained in any greater extent than that considered necessary as illustrated above, for the understanding and appreciation of the underlying concepts of the present invention and in order not to obfuscate or distract from the teachings of the present invention.

Any reference in the specification to a method should be applied mutatis mutandis to a device or system capable of executing the method and/or to a non-transitory computer readable medium that stores instructions for executing the method.

Any reference in the specification to a system or device should be applied mutatis mutandis to a method that may be executed by the system, and/or may be applied mutatis mutandis to non-transitory computer readable medium that stores instructions executable by the system.

Any reference in the specification to a non-transitory computer readable medium should be applied mutatis mutandis to a device or system capable of executing instructions stored in the non-transitory computer readable medium and/or may be applied mutatis mutandis to a method for executing the instructions.

Any combination of any module or unit listed in any of the figures, any part of the specification and/or any claims may be provided.

The specification and/or drawings may refer to an image. An image is an example of a media unit. Any reference to an image may be applied mutatis mutandis to a media unit. A media unit may be an example of sensed information unit. Any reference to a media unit may be applied mutatis mutandis to sensed information. The sensed information may be sensed by any type of sensors—such as a visual light camera, or a sensor that may sense infrared, radar imagery, ultrasound, electro-optics, radiography, LIDAR (light detection and ranging), etc.

The specification and/or drawings may refer to a processor. The processor may be a processing circuitry. The processing circuitry may be implemented as a central processing unit (CPU), and/or one or more other integrated circuits such as application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), full-custom integrated circuits, etc., or a combination of such integrated circuits.

Any combination of any steps of any method illustrated in the specification and/or drawings may be provided.

Any combination of any subject matter of any of claims may be provided.

Any combinations of systems, units, components, processors, sensors, illustrated in the specification and/or drawings may be provided.

The analysis of content of a media unit may be executed by generating a signature of the media unit and by comparing the signature to reference signatures. The reference signatures may be arranged in one or more concept structures or may be arranged in any other manner. The signatures may be used for object detection or for any other use.

The signature may be generated by creating a multidimensional representation of the media unit. The multidimensional representation of the media unit may have a very large number of dimensions. The high number of dimensions may guarantee that the multidimensional representation of different media units that include different objects is sparse and that object identifiers of different objects are distant from each other thus improving the robustness of the signatures.

The generation of the signature is executed in an iterative manner that includes multiple iterations, each iteration may include an expansion operations that is followed by a merge operation. The expansion operation of an iteration is performed by spanning elements of that iteration.

FIG. 1 illustrates a method 5000 for generating a signature of a media unit.

Method 5000 may start by step 5010 of receiving or generating sensed information.

The sensed information may be a media unit of multiple objects.

Step 5010 may be followed by processing the media unit by performing multiple iterations, wherein at least some of the multiple iterations comprises applying, by spanning elements of the iteration, dimension expansion process that are followed by a merge operation.

The processing may include:

• • Step 5020 of performing a k′th iteration expansion process (k may be a variable that is used to track the number of iterations).

Step 5030 of performing a k′th iteration merge process.

Step 5040 of changing the value of k.

• • Step 5050 of checking if all required iterations were done if so proceeding to step 5060 of completing the generation of the signature. Else jumping to step 5020.

The output of step 5020 is a k′th iteration expansion results 5120.

The output of step 5030 is a k′th iteration merge results 5130.

For each iteration (except the first iteration) the merge result of the previous iteration is an input to the current iteration expansion process.

The method may include step 5011 of configuring the spanning elements. Step 5011 may include, for example, the steps of method 9400 of FIG. 5. Alternatively step 5020 may be executed by spanning elements that are configured according to method 9400.

FIG. 2 is an example of a signature 6027 of a media unit that is an image 6000 and of an outcome 6013 of the last (K′th) iteration.

The image 6001 is virtually segments to segments 6000(i,k). The segments may be of the same shape and size but this is not necessarily so.

Outcome 6013 may be a tensor that includes a vector of values per each segment of the media unit. One or more objects may appear in a certain segment. For each object—an object identifier (of the signature) points to locations of significant values, within a certain vector associated with the certain segment.

For example—a top left segment (6001(1,1)) of the image may be represented in the outcome 6013 by a vector V(1,1) 6017(1,1) that has multiple values. The number of values per vector may exceed 100, 200, 500, 1000, and the like.

The significant values (for example—more than 10, 20, 30, 40 values, and/or more than 0.1%, 0.2%. 0.5%, 1%, 5% of all values of the vector and the like) may be selected. The significant values may have the values—but may eb selected in any other manner.

FIG. 2 illustrates a set of significant responses 6015(1,1) of vector V(1,1) 6017(1,1). The set includes five significant values (such as first significant value SV1(1,1) 6013(1,1,1), second significant value SV2(1,1), third significant value SV3(1,1), fourth significant value SV4(1,1), and fifth significant value SV5(1,1) 6013(1,1,5).

The image signature 6027 includes five indexes for the retrieval of the five significant values first till fifth identifiers ID1-ID5 are indexes for retrieving the first till fifth significant values.

FIG. 4 illustrates an example of a clusters of a signatures matching process.

It is assumed that there are multiple (M) cluster structures 4974(1)-4974(M). Each cluster structure includes cluster signatures, metadata regarding the cluster signatures.

For example—first cluster structure 4974(1) includes multiple (N1) signatures (referred to as cluster signatures CS) CS(1,1)-CS(1,N1) 4975(1,1) 4975(1,N1) and metadata 4976(1).

Yet for another example—M′th cluster structure 4974(M) includes multiple (N2) signatures (referred to as cluster signatures CS) CS(M,1)-CS(M,N2) 4975(M,1)-4975(M,N2) and metadata 4976(M).

FIG. 4 also illustrates a media unit signature 4972 that is compared to the signatures of the M cluster structures—from CS(1,1) 4975(1,1) till CS(M,N2) 4975(M,N2).

We assume that one or more cluster structures are matching cluster structures.

Once the matching cluster structures are found the method proceeds by generating shape information that is of higher accuracy then the compressed shape information.

For example assuming that the matching signatures include CS(1,1) 2975(1,1), CS(2,5) 2975(2,5), CS(7,3) 2975(7,3) and CS(15,2) 2975(15,2).

The number of signatures per concept structure may change over time for example due to cluster reduction attempts during which a CS is removed from the structure to provide a reduced cluster structure, the reduced structure structure is checked to determine that the reduced cluster signature may still identify objects that were associated with the (non-reduced) cluster signature and if so the signature may be reduced from the cluster signature.

The signatures of each cluster structures are associated to each other, wherein the association may be based on similarity of signatures and/or based on association between metadata of the signatures.

Assuming that each cluster structure is associated with a unique object then objects of a media unit may be identified by finding cluster structures that are associated with said objects. The finding of the matching cluster structures may include comparing a signature of the media unit to signatures of the cluster structures- and searching for one or more matching signature out of the cluster signatures.

Each cluster may be identified by a cluster identifier. The cluster identifier may differ by size (for example by number of object identifiers) than a signature. One or more cluster identifiers may identify the cluster. A cluster identifier may include identifiers that are shared between CSs, may include identifiers that appear (even if not shared) in a CS, and the like. The cluster identifier may be generated by applying any function on the CS of a cluster.

For example—assuming that a cluster identifier include identifiers that are shared between two or more CS of the cluster. If no identifier is shared between all CS of the cluster then multiple cluster identifier may be required to represent a single cluster. The cluster identifier may include all (or at least some) of the signature that appear in one or more CSs.

FIG. 5 illustrates a method 9400 for configuring spanning elements of a signature generator.

Method 9400 may include the following steps:

• • Receiving test sensed information units 9402.
  • Generating representations of the test sensed information units. The representations may be indicative of features of the test sensed information units 9404. The representations may be calculated in any manner that guarantees that at least some features of the objects are included in the representations. The representations may be tensors that assign multiple features to segments of the test sensed information units. The features may be any mathematical and/or physical features.
  • Finding a set of decorrelated elements, wherein the decorrelated elements may be selected out of (i) representations of the test sensed information units, and (ii) cluster identifiers that identify clusters of the representations of the test sensed information units 9406.
  • Mapping each decorrelated element of the set to a unique combination of one or more object identifier 9408. The mapping
  • Associating different unique combinations to the spanning element of the signature generator 9410.

Various data elements referred to in FIG. 5 are illustrated in FIG. 8.

Each spanning element may be configured to determine whether it is relevant to a signature generation process based on the unique combination of one or more object identifiers that are associated with the spanning element. Thus when a spanning element receives as input (for example as a result of a previous merge iteration) the unique combination (either alone or on addition to other signatures) spanning element is relevant and completes the expansion process. If a spanning element does not receive (at least) the unique combination the spanning element does not output a expansion result.

Step 9406 of finding of the set of decorrelated elements may be executed in an iterative manner, one subset of decorrelated elements after the other.

Step 9406 of finding of the set of decorrelated elements may be executed in an iterative manner, one decorrelated element after the other.

The representations (generated during step 9404) of the test sensed information units may be signatures generated by the signature generator or may differ from signatures generated by the signature generator.

Step 9410 of associating may include gradually associating the different unique combinations to all spanning elements.

It has been found that method 9400 inherently configures the spanning elements based on a frequency of appearance of patterns in the test test sensed information units.

Step 9410 may include or may be followed by verifying that identifiers of a same object are assigned to a same spanning element. If not the association may be amended.

Step 9406 may include searching for candidate decorrelated elements in a random manner and finding, out of candidate decorrelated elements, the set of decorrelated elements.

Regarding step 9406—each cluster of the representations may be of at least a minimal predefined size and wherein a number of clusters of the representations may be limited to a maximal predefined number.

The decorrelated elements may be the cluster identifiers and step 9410 may include mapping each decorrelated cluster identifier to set to a unique combination of one or more object identifiers. The at least one unique combination may differs from a signature by number of object identifiers. Alternatively, the at least one unique combination may have a same number of identifiers as a signature.

FIG. 6 illustrates method 9420 of generating a signature of a sensed information unit.

Method 9420 may include the following steps:

• • Receiving or generating a sensed information unit 9422.
  • Calculating the signature of the sensed information unit by performing multiple iterations, wherein each iteration of at least some of the multiple iterations may include applying, by spanning elements related to the iteration, a dimension expansion process that may be followed by a merge operation. 9424

The spanning elements may be configured by executing method 9400.

Method 9420 may also include:

• • Finding at least one matching cluster, each matching cluster has a cluster signature that matches the signature of the sensed information 9426.
  • Determining that the sensed information unit includes at least one object that is associated with the at least one matching clusters 9428.

FIG. 7 illustrates an example of a system capable of executing one or more of the mentioned above methods.

The system include various components, elements and/or units.

A component element and/or unit may be a processing circuitry may be implemented as a central processing unit (CPU), and/or one or more other integrated circuits such as application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), full-custom integrated circuits, etc., or a combination of such integrated circuits.

Alternatively, each component element and/or unit may implemented in hardware, firmware, or software that may be executed by a processing circuitry.

System 4900 may include sensing unit 4902, communication unit 4904, input 4911, processor 4950, and output 4919. The communication unit 4904 may include the input and/or the output.

Input and/or output may be any suitable communications component such as a network interface card, universal serial bus (USB) port, disk reader, modem or transceiver that may be operative to use protocols such as are known in the art to communicate either directly, or indirectly, with other elements of the system.

Processor 4950 may include at least some out of

• • Multiple spanning elements 4951(q).
  • Multiple merge elements 4952(r).
  • Signature generator 4958.

FIG. 8 illustrates various data structures such as:

• • Test sensed information units 9430.
  • Representations 9431 of the test sensed information units.
  • Clusters 9432 of the representations 9431 of the test sensed information units.
  • Cluster identifiers 9433 that identify clusters 9432.
  • Candidate representations 9434 (may be selected out of representations 9431). They may be generated during step 9406.
  • Set of decorrelated representations 9435. They may be generated during step 9406.
  • Candidate cluster identifiers 9436 (may be selected out of cluster identifiers 9433). They may be generated during step 9406.
  • Set of decorrelated cluster identifiers 9437. They may be generated during step 9406.

The spanning elements (routers) should represent an information space (may be a large information space of all possible variations of sensed information or a part of that space) in a satisfactory manner.

This may be obtained by fulfilling at least one of the requirements:

• • Spanning elements should be de-correlated and spanning element set should cover the information space well, i.e. descriptors of different objects go through different spanning elements and all common patterns have a representation in the spanning element set.
  • However, we would not want spanning elements to split encapsulated information: spanning elements should be repeatable, i.e. descriptors of the same object should go through the same spanning element. We would not like over-representation
  • Spanning element usage should represent frequency of data patterns. i.e. spanning elements need not be symmetric in terms of their usage: some spanning elements represent objects which are very common, e.g. sky whilst other represent rarer objects, e.g. hands.

There may be provided several methods to attain a spanning element set which addresses the said design considerations.

Minimize Mutual Match Score

Parameters:

• • SPANNING ELEMENT_SET_SIZE
  • MIN_MATCH _SCORE

Method:

• • Choose a data set which represents the world.
  • Begin with an empty spanning element set R.
  • Randomly iterate over descriptors while |R|<SPANNING
  • ELEMENT_SET _SIZE
  • If a descriptor's maximal match score with all spanning elements in set is <MIN_MATCH _SCORE
  • Then add it to the set

Advantages:

• • enforces low match score—keeps spanning elements de-correlated by
  • keeps spanning element set size fixed and relatively small—avoids over-representation
  • Iterates through descriptors randomly—sustains the natural frequency of the information
  • Corresponds with a top-k spanning element matching during spanning: match score makes a difference

Infer meta-spanning elements through information frequency

Parameters:

• • SPANNING ELEMENT_SET_SIZE
  • MIN_CLUSTER _SIZE=

Algorithm:

• • Choose a data set which represents the world
  • Cluster into SPANNING ELEMENT_SET _SIZE clusters, each with size >=MIN_CLUSTER _SIZE
  • using a standard clustering algorithm which optimizes inter-cluster distance vs intra-cluster distance
    • i. Construct meta-descriptor from each cluster by choosing intersection of all cluster descriptor.
    • ii. Set a threshold for each meta-descriptor such that descriptors from other clusters do not match.

It should eb noted that

• • high inter-cluster distances encourage de-correlated spanning element sets
  • low intra-cluster distances and matching thresholds encourage repeatabil ity
  • cluster size predicts usage—this algorithm allows clusters of any size >1
  • This method corresponds with an above-the-threshold matching during spanning: threshold makes a difference

While the foregoing written description of the invention enables one of ordinary skill to make and use what is considered presently to be the best mode thereof, those of ordinary skill will understand and appreciate the existence of variations, combinations, and equivalents of the specific embodiment, method, and examples herein. The invention should therefore not be limited by the above described embodiment, method, and examples, but by all embodiments and methods within the scope and spirit of the invention as claimed.

In the foregoing specification, the invention has been described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein without departing from the broader spirit and scope of the invention as set forth in the appended claims.

Moreover, the terms “front,” “back,” “top,” “bottom,” “over,” “under” and the like in the description and in the claims, if any, are used for descriptive purposes and not necessarily for describing permanent relative positions. It is understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in other orientations than those illustrated or otherwise described herein.

Furthermore, the terms “assert” or “set” and “negate” (or “deassert” or “clear”) are used herein when referring to the rendering of a signal, status bit, or similar apparatus into its logically true or logically false state, respectively. If the logically true state is a logic level one, the logically false state is a logic level zero. And if the logically true state is a logic level zero, the logically false state is a logic level one.

Those skilled in the art will recognize that the boundaries between logic blocks are merely illustrative and that alternative embodiments may merge logic blocks or circuit elements or impose an alternate decomposition of functionality upon various logic blocks or circuit elements. Thus, it is to be understood that the architectures depicted herein are merely exemplary, and that in fact many other architectures may be implemented which achieve the same functionality.

Any arrangement of components to achieve the same functionality is effectively “associated” such that the desired functionality is achieved. Hence, any two components herein combined to achieve a particular functionality may be seen as “associated with” each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being “operably connected,” or “operably coupled,” to each other to achieve the desired functionality.

Furthermore, those skilled in the art will recognize that boundaries between the above described operations merely illustrative. The multiple operations may be combined into a single operation, a single operation may be distributed in additional operations and operations may be executed at least partially overlapping in time. Moreover, alternative embodiments may include multiple instances of a particular operation, and the order of operations may be altered in various other embodiments.

Also for example, in one embodiment, the illustrated examples may be implemented as circuitry located on a single integrated circuit or within a same device. Alternatively, the examples may be implemented as any number of separate integrated circuits or separate devices interconnected with each other in a suitable manner.

However, other modifications, variations and alternatives are also possible. The specifications and drawings are, accordingly, to be regarded in an illustrative rather than in a restrictive sense.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other elements or steps then those listed in a claim. Furthermore, the terms “a” or “an,” as used herein, are defined as one or more than one. Also, the use of introductory phrases such as “at least one” and “one or more” in the claims should not be construed to imply that the introduction of another claim element by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim element to inventions containing only one such element, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an.” The same holds true for the use of definite articles. Unless stated otherwise, terms such as “first” and “second” are used to arbitrarily distinguish between the elements such terms describe. Thus, these terms are not necessarily intended to indicate temporal or other prioritization of such elements. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to advantage.

While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents will now occur to those of ordinary skill in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

It is appreciated that various features of the embodiments of the disclosure which are, for clarity, described in the contexts of separate embodiments may also be provided in combination in a single embodiment. Conversely, various features of the embodiments of the disclosure which are, for brevity, described in the context of a single embodiment may also be provided separately or in any suitable sub-combination.

It will be appreciated by persons skilled in the art that the embodiments of the disclosure are not limited by what has been particularly shown and described hereinabove. Rather the scope of the embodiments of the disclosure is defined by the appended claims and equivalents thereof