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公开(公告)号：US08095237B2
公开(公告)日：2012-01-10
申请号：US10634874
申请日：2003-08-06
IPC分类号： G06F19/00
CPC分类号： G06T1/0007 , B25J9/1692 , B25J9/1697 , G05B2219/39057 , G05B2219/39393 , Y10T29/53009 , Y10T29/53061 , Y10T29/53087
摘要： A method of three-dimensional object location and guidance to allow robotic manipulation of an object with variable position and orientation using a sensor array which is a collection of one or more sensors capable of forming a single image.
摘要翻译： 使用作为能够形成单个图像的一个或多个传感器的集合的传感器阵列来允许具有可变位置和取向的对象的机器人操纵的三维对象位置和引导的方法。
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公开(公告)号：US20060088203A1
公开(公告)日：2006-04-27
申请号：US11183228
申请日：2005-07-14
申请人： Remus Boca , Babak Habibi , Mohammad Sameti , Simona Pescaru
发明人： Remus Boca , Babak Habibi , Mohammad Sameti , Simona Pescaru
IPC分类号： G06K9/00
摘要： A system and method facilitate machine-vision, for example three-dimensional pose estimation for target objects, using one or more images sensors to acquire images of the target object at one or more positions, and to identify features of the target object in the resulting images. A set of equations is set up exploiting invariant physical relationships between features such as constancy of distances, angles, and areas or volumes enclosed by or between features. The set of equations may be solved to estimate a 3D pose. The number of positions may be determined based on the number of image sensors, number of features identified, and/or number of known physical relationships between less than all features. Knowledge of physical relationships between image sensors and/or between features and image sensors may be employed. A robot path may be transformed based on the pose, to align the path with the target object.
摘要翻译： 系统和方法便于机器视觉，例如使用一个或多个图像传感器在一个或多个位置处获取目标对象的图像的目标对象的三维姿态估计，以及识别所产生的目标对象的特征 图片。 建立一组方程，利用诸如距离的恒定性，角度以及特征之间或之间的区域或体积等特征之间的不变物理关系。 可以求解该方程组以估计3D姿态。 可以基于图像传感器的数量，识别的特征数量和/或小于所有特征之间的已知物理关系的数量来确定位置数量。 可以采用图像传感器之间和/或特征和图像传感器之间的物理关系的知识。 可以基于姿态来变换机器人路径，以将路径与目标对象对准。
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公开(公告)号：US07336814B2
公开(公告)日：2008-02-26
申请号：US11183228
申请日：2005-07-14
申请人： Remus F Boca , Babak Habibi , Mohammad Sameti , Simona Pescaru
发明人： Remus F Boca , Babak Habibi , Mohammad Sameti , Simona Pescaru
IPC分类号： G06K9/00
摘要： A system and method facilitate machine-vision, for example three-dimensional pose estimation for target objects, using one or more images sensors to acquire images of the target object at one or more positions, and to identify features of the target object in the resulting images. A set of equations is set up exploiting invariant physical relationships between features such as constancy of distances, angles, and areas or volumes enclosed by or between features. The set of equations may be solved to estimate a 3D pose. The number of positions may be determined based on the number of image sensors, number of features identified, and/or number of known physical relationships between less than all features. Knowledge of physical relationships between image sensors and/or between features and image sensors may be employed. A robot path may be transformed based on the pose, to align the path with the target object.
摘要翻译： 系统和方法便于机器视觉，例如使用一个或多个图像传感器在一个或多个位置处获取目标对象的图像的目标对象的三维姿态估计，以及识别所产生的目标对象的特征 图片。 建立一组方程，利用诸如距离的恒定性，角度以及特征之间或之间的区域或体积等特征之间的不变物理关系。 可以求解该方程组以估计3D姿态。 可以基于图像传感器的数量，识别的特征数量和/或小于所有特征之间的已知物理关系的数量来确定位置数量。 可以采用图像传感器之间和/或特征和图像传感器之间的物理关系的知识。 可以基于姿态来变换机器人路径，以将路径与目标对象对准。
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公开(公告)号：US20080069435A1
公开(公告)日：2008-03-20
申请号：US11857680
申请日：2007-09-19
申请人： Remus Boca , Simona Pescaru , Jeffrey Beis , Babak Habibi
发明人： Remus Boca , Simona Pescaru , Jeffrey Beis , Babak Habibi
IPC分类号： G06K9/00
CPC分类号： G01B11/25 , G01S17/875
摘要： Briefly described, one embodiment determines pose of an object of interest at a run time by capturing a first image of a first structured light pattern projected onto a first local surface of the object of interest; determining a first run-time data set from the captured first image, wherein the first run-time data set corresponds to information determined from the first structured light pattern projected onto the first local surface; comparing the determined first run-time data set and a corresponding first reference data set, the first reference data set corresponding to an ideal pose of the first local surface on an ideally posed reference object; and determining at least one first degree of constraint that defines a first partial pose of the first local surface, the at least one first degree of constraint based upon the comparison of the first run-time data set with the corresponding first reference data set.
摘要翻译： 简要描述，一个实施例通过捕获投射到感兴趣对象的第一局部表面上的第一结构化光图案的第一图像，在运行时确定感兴趣对象的姿态; 从所捕获的第一图像确定第一运行时数据集，其中所述第一运行时数据集对应于从投射到所述第一局部表面上的所述第一结构光图案确定的信息; 将所确定的第一运行时数据集和对应的第一参考数据集进行比较，所述第一参考数据集对应于理想姿势的参考对象上的第一局部表面的理想姿势; 以及基于所述第一运行时数据集与所述对应的第一参考数据集的比较来确定定义所述第一局部表面的第一部分姿态的所述至少一个第一约束度，所述至少一个第一约束度。
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公开(公告)号：US06816755B2
公开(公告)日：2004-11-09
申请号：US10153680
申请日：2002-05-24
申请人： Babak Habibi , Simona Pescaru
发明人： Babak Habibi , Simona Pescaru
IPC分类号： G05B1900
CPC分类号： G06K9/209 , B25J9/1697 , G01S5/16 , G05B2219/39057 , G05B2219/39393 , G06T1/0007 , G06T7/73 , G06T7/80 , G06T2207/30164
摘要： A method of three-dimensional handling of an object by a robot uses a tool and one camera mounted on the robot and at least six target features which are normal features of the object are selected on the object. The features are used to train the robot in the frame of reference of the object so that when the same object is subsequently located, the robot's path of operation can be quickly transformed into the frame of reference of the object.
摘要翻译： 由机器人对物体进行三维处理的方法使用安装在机器人上的工具和一个照相机，并且在物体上选择作为物体的正常特征的至少六个目标特征。 这些特征用于在对象的参考框架中训练机器人，使得当随后定位相同的对象时，机器人的操作路径可以快速地变换成对象的参考系。
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公开(公告)号：US20070276539A1
公开(公告)日：2007-11-29
申请号：US11754218
申请日：2007-05-25
申请人： Babak Habibi , Geoff Clark , Mohammad Sameti
发明人： Babak Habibi , Geoff Clark , Mohammad Sameti
IPC分类号： G06F19/00
CPC分类号： B25J9/1612 , B25J9/1697 , G05B2219/37555 , G05B2219/39001 , G05B2219/40564 , G05B2219/40583 , G05B2219/40622
摘要： Briefly described, one embodiment is a method for imprecisely engaging an object or tool, the method comprising capturing an image of an imprecisely-engaged object with an image capture device, processing the captured image to identify a pose of the imprecisely-engaged object, and determining a pose deviation based upon the pose of the imprecisely-engaged object and the pose of a corresponding ideally-engaged object.
摘要翻译： 简要描述，一个实施例是用于不精确地接合物体或工具的方法，所述方法包括用图像捕获装置捕获不精确地接合的物体的图像，处理所捕获的图像以识别不精确地接合的物体的姿势，以及 基于不精确接合的物体的姿态和相应的理想接合物体的姿态确定姿态偏差。
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公开(公告)号：US20060178898A1
公开(公告)日：2006-08-10
申请号：US11186782
申请日：2005-07-22
申请人： Babak Habibi
发明人： Babak Habibi
CPC分类号： G06Q10/10 , G06Q30/0601
摘要： The present invention provides a system that integrates requests and responses thereto for Operation and Business Support Systems (OSS/BSS) that comprise many discrete and non-inclusive systems with disparate interfaces. The integration of these systems poses a complex problem. Moreover, costs of licenses, maintenance fees, and training for day-to-day use are prohibitively expensive. The present invention is an open and inclusive system that interfaces easily with existing OSS/BSS systems to provide visibility into all network elements and events. It is an advanced, multi-vendor management system designed to increase efficiency and productivity and reduce network administration costs by providing an integrated system for monitoring, troubleshooting, and managing the network. The present invention has as an objective to unite different systems under one common platform. The present invention collects and manipulates information centrally, within a single system, enabling critical data to be shared seamlessly between applications. This provides for Data Consolidation, Data Extendibility, and Reduced Cost. In addition, this solution is robust, as it is expandable and considerate of new systems and technologies as they emerge.
摘要翻译： 本发明提供了一种系统，其将包括许多具有不同接口的离散和非包容性系统的操作和业务支持系统（OSS / BSS）的请求和响应集成在一起。 这些系统的整合构成了一个复杂的问题。 此外，许可费用，维护费用和日常使用培训的成本是非常昂贵的。 本发明是一种开放且包容性的系统，其容易地与现有的OSS / BSS系统接口，以提供对所有网络元件和事件的可见性。 它是一个先进的多供应商管理系统，旨在通过提供一个用于监控，故障排除和管理网络的集成系统来提高效率和生产力并降低网络管理成本。 本发明的目的是在一个共同的平台下统一不同的系统。 本发明在单个系统内集中收集和操纵信息，使关键数据能够在应用之间无缝共享。 这提供了数据整合，数据可扩展性和降低成本。 此外，该解决方案是强大的，因为它们可以扩展和体现新的系统和技术。
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公开(公告)号：US08437535B2
公开(公告)日：2013-05-07
申请号：US11857680
申请日：2007-09-19
IPC分类号： G06K9/00
CPC分类号： G01B11/25 , G01S17/875
摘要： Briefly described, one embodiment determines pose of an object of interest at a run time by capturing a first image of a first structured light pattern projected onto a first local surface of the object of interest; determining a first run-time data set from the captured first image, wherein the first run-time data set corresponds to information determined from the first structured light pattern projected onto the first local surface; comparing the determined first run-time data set and a corresponding first reference data set, the first reference data set corresponding to an ideal pose of the first local surface on an ideally posed reference object; and determining at least one first degree of constraint that defines a first partial pose of the first local surface, the at least one first degree of constraint based upon the comparison of the first run-time data set with the corresponding first reference data set.
摘要翻译： 简要描述，一个实施例通过捕获投射到感兴趣对象的第一局部表面上的第一结构化光图案的第一图像，在运行时确定感兴趣对象的姿态; 从所捕获的第一图像确定第一运行时数据集，其中所述第一运行时数据集对应于从投射到所述第一局部表面上的所述第一结构光图案确定的信息; 将所确定的第一运行时数据集和对应的第一参考数据集进行比较，所述第一参考数据集对应于理想姿势的参考对象上的第一局部表面的理想姿势; 以及基于所述第一运行时数据集与所述对应的第一参考数据集的比较来确定定义所述第一局部表面的第一部分姿态的所述至少一个第一约束度，所述至少一个第一约束度。
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公开(公告)号：US20080181485A1
公开(公告)日：2008-07-31
申请号：US11957258
申请日：2007-12-14
申请人： Jeffrey S. Beis , Babak Habibi
发明人： Jeffrey S. Beis , Babak Habibi
CPC分类号： G05B19/402 , B25J9/1697 , G05B2219/37555 , G05B2219/39109 , G05B2219/40584 , G05B2219/45063
摘要： A system and method for identifying objects using a robotic system are disclosed. Briefly described, one embodiment is a method that captures a first image of at least one object with an image capture device that is moveable with respect to the object, processes the first captured image to determine a first pose of at least one feature the object, determines a first hypothesis that predicts a predicted pose of the identified feature based upon the determined first pose, moves the image capture device, captures a second image of the object, processes the captured second image to identify a second pose of the feature, and compares the second pose of the object with the predicted pose of the object.
摘要翻译： 公开了一种使用机器人系统识别物体的系统和方法。 简要描述，一个实施例是一种利用可相对于对象可移动的图像捕获装置来捕获至少一个对象的第一图像的方法，处理第一拍摄图像以确定对象的至少一个特征的第一姿态， 确定基于所确定的第一姿势来预测所识别的特征的预测姿态的第一假设，移动图像捕获装置，捕获对象的第二图像，处理所捕获的第二图像以识别特征的第二姿势，并且比较 物体的第二姿势与物体的预测姿态。
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公开(公告)号：US20080144884A1
公开(公告)日：2008-06-19
申请号：US11779812
申请日：2007-07-18
申请人： Babak Habibi
发明人： Babak Habibi
IPC分类号： G06K9/00
CPC分类号： G08B13/19689 , B64C2201/101 , B64C2201/127 , G01C11/02 , G05D1/0094 , G05D1/0202 , G06K9/00771 , G08B13/19602 , G08B13/1965
摘要： A system and method for an aerial surveillance system are disclosed. Briefly described, one embodiment comprises a lighter-than-air aerial platform, at least one image capture device carried by the lighter-than-air aerial platform and operable to sequentially capture a plurality of images, and at least one control surface physically coupled to the lighter-than-air aerial platform and operable to control direction of movement of the lighter-than-air aerial platform along a surveillance path in response to a guidance control signal determined in part upon the sequentially captured plurality of images.
摘要翻译： 公开了一种用于空中监视系统的系统和方法。 简要描述，一个实施例包括轻于空中的空中平台，至少一个图像采集装置由轻于空中的空中平台承载并且可操作以顺序地捕获多个图像，以及至少一个控制表面物理耦合到 比空中空中高空作业平台，可响应于部分由顺序捕获的多个图像确定的引导控制信号，来控制轻型空中高空作业平台沿着监视路径的移动方向。
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