公开(公告)号：US09237329B1

公开(公告)日：2016-01-12

申请号：US14053368

申请日：2013-10-14

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Thor Lewis, Jr.

IPC: H04N13/02 ,  H04N13/04 ,  H04N13/00

CPC classification number: H04N13/204 ,  G03B15/00 ,  G03B35/08 ,  H04N13/111 ,  H04N13/189 ,  H04N13/239 ,  H04N13/243 ,  H04N13/296 ,  H04N13/398

Abstract: Systems and methods for capturing data of an object are provided. In an example system, a suspension component for suspending an object so that the object is stationary in space is provided. A plurality of image capture devices are configured to capture a plurality of images of the object simultaneously while the object is suspended. The plurality of image capture devices are each positioned at a different location so as to capture a plurality of different views of the object. The system is also configured to generate a three-dimensional (3D) view of the object based on the plurality of images and the plurality of different views.

Abstract translation: 提供了用于捕获对象的数据的系统和方法。 在示例性系统中，提供了用于悬挂对象以使得对象在空间中静止的悬架组件。 多个图像捕获装置被配置为在对象被暂停时同时捕获对象的多个图像。 多个图像捕获装置各自位于不同的位置，以捕获对象的多个不同视图。 该系统还被配置为基于多个图像和多个不同视图来生成对象的三维（3D）视图。

公开(公告)号：US08886829B1

公开(公告)日：2014-11-11

申请号：US13897934

申请日：2013-05-20

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Ryan Hickman

IPC: G06F15/173 ,  H04L29/08

CPC classification number: H04L67/10 ,  G06F9/5038

Abstract: A method includes receiving a first request for a first robot to perform a first task and processing the first request through first and second computing resources to identify instructions for the first robot to perform the first task. The method also includes providing the one or more instructions to the first robot and identifying information associated with the second computing resource, wherein such information includes environmental information related to a location where the first task is to be performed. The method further includes associating the identified information with the first computing resource, receiving a second request for a second robot to perform a second task, processing the second request through the first computing resource, accessing the information associated with the first computing resource, and, based upon the accessed information, providing instructions to the second robot to perform the second task.

Abstract translation: 一种方法包括：接收对第一机器人执行第一任务的第一请求，并通过第一和第二计算资源处理第一请求，以识别第一机器人执行第一任务的指令。 该方法还包括向第一机器人提供一个或多个指令并识别与第二计算资源相关联的信息，其中这样的信息包括与要执行第一任务的位置有关的环境信息。 该方法还包括将识别的信息与第一计算资源相关联，接收第二机器人执行第二任务的第二请求，通过第一计算资源处理第二请求，访问与第一计算资源相关联的信息， 基于所访问的信息，向第二机器人提供指令以执行第二任务。

公开(公告)号：US08830057B1

公开(公告)日：2014-09-09

申请号：US13758055

申请日：2013-02-04

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Ryan Hickman

IPC: G08B21/00 ,  G08B23/00

CPC classification number: G08B21/182 ,  B25J9/161 ,  B25J9/1671 ,  G01N33/00 ,  G05B15/02 ,  G05B2219/2642 ,  G05B2219/39168 ,  G06N3/008 ,  G08B13/00 ,  G08B17/00 ,  G08B21/12

Abstract: Methods and devices are disclosed for monitoring environmental conditions in one or more environments. In one embodiment, the method includes maintaining a plurality of environmental-condition thresholds, each of which corresponds to an environmental condition and is predetermined based on data corresponding to the environmental condition that is received from a plurality of robots. The method further includes receiving from a first robot first data corresponding to a first environmental condition in a first environment. The method may still further include making a first comparison of the first data and a first environmental-condition threshold corresponding to the first environmental condition and, based on the first comparison, triggering a notification. Triggering the notification may comprise transmitting to the robot instructions to transmit the notification to at least one of a call center and a remote device.

Abstract translation: 公开了用于监视一个或多个环境中的环境条件的方法和装置。 在一个实施例中，该方法包括保持多个环境条件阈值，每个环境条件阈值对应于环境条件，并且基于与从多个机器人接收到的环境条件相对应的数据来预定。 该方法还包括从第一机器人接收与第一环境中的第一环境条件相对应的第一数据。 该方法还可以进一步包括对第一数据和对应于第一环境条件的第一环境条件阈值进行第一比较，并且基于第一比较来触发通知。 触发通知可以包括向机器人发送指令以将通知发送到呼叫中心和远程设备中的至少一个。

公开(公告)号：US09870435B1

公开(公告)日：2018-01-16

申请号：US14195475

申请日：2014-03-03

Applicant: Google Inc.

Inventor： Ryan Hickman ,  Arshan Poursohi ,  Thor Lewis

IPC: G06F17/50

CPC classification number: G06F17/50 ,  G01B11/2545 ,  G06F7/60 ,  G06T17/00 ,  G06T19/20 ,  G06T2210/16 ,  G06T2219/2021

Abstract: Disclosed are methods and systems for determining and displaying a simulated deformation of a 3D object data model. In one aspect, a method is disclosed that includes causing a force to be applied to an object to cause a deformation of the object and causing a plurality of reference scans of the object to be captured. The method further includes, based on the plurality of reference scans, generating a 3D object data model representing the object and, further based on the plurality of reference scans, identifying a constraint point of the 3D object data model, where the constraint point represents a point of minimum deformation of the object. The method still further includes selecting a predefined deformation model, where the predefined deformation model defines a simulated deformation, and where the simulated deformation simulates at least a portion of the deformation of the object proximate to the point of minimum deformation.

公开(公告)号：US09836483B1

公开(公告)日：2017-12-05

申请号：US14010642

申请日：2013-08-27

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, Jr. ,  James R. Bruce ,  Anthony G. Francis, Jr. ,  Arshan Poursohi ,  Chaitanya Gharpure

IPC: G06F17/30

CPC classification number: G06F17/30259

Abstract: Methods and systems for comparing a 3D model of a target object to a shape-search database are provided. An example method includes using a mobile device to acquire a plurality of images of a target object, determining a 3D model based on the images, transmitting a search query that includes the 3D model, and receiving a search query result. In another example method, a server could receive a search query that includes a 3D model of an object, compare the 3D model to a shape-search database, generate a search query result based on the comparison, and transmit the search query result. The search query result could include one or more of: information regarding the target object, information regarding one or more objects similar to the target object, and a suggestion for acquiring additional images of the target object.

公开(公告)号：US20170148217A1

公开(公告)日：2017-05-25

申请号：US15213843

申请日：2016-07-19

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Daniel Aden ,  Matthew Amacker ,  Charles Robert Barker ,  Paul Vincent Byrne ,  Paul Du Bois ,  Greg Joseph Klein ,  Steve Scott Tompkins

IPC: G06T19/00

CPC classification number: G06T19/006 ,  G06K9/00771 ,  G06K9/2081

Abstract: Example implementations may relate to methods and systems for detecting an event in a physical region within a physical space. Accordingly, a computing system may receive from a subscriber device an indication of a virtual region within a virtual representation of the physical space such that the virtual region corresponds to the physical region. The system may also receive from the subscriber a trigger condition associated with the virtual region, where the trigger condition corresponds to a particular physical change in the physical region. The system may also receive sensor data from sensors in the physical space and a portion of the sensor data may be associated with the physical region. Based on the sensor data, the system may detect an event in the physical region that satisfies the trigger condition and may responsively provide to the subscriber a notification that indicates that the trigger condition has been satisfied.

公开(公告)号：US09417185B1

公开(公告)日：2016-08-16

申请号：US14058949

申请日：2013-10-21

Applicant: Google Inc.

Inventor： James R. Bruce ,  Ryan Hickman ,  James J. Kuffner, Jr. ,  Arshan Poursohi

IPC: G01N21/55 ,  G06T15/04 ,  G06T15/00 ,  G06T7/40

CPC classification number: G01N21/55 ,  G01N2021/559 ,  G06T7/40 ,  G06T15/00 ,  G06T15/04

Abstract: Methods and systems for controlling light arrays to determine properties of an object are described. An example method includes causing illumination of a surface of an object from multiple illumination positions using a programmable array of lights, and receiving images from an image-capture device while the surface of the object is illuminated. For example, the programmable array of lights may be modulated to cause illumination of a portion of the surface of the object from first and second illumination positions, and a first and second image of the surface of the object captured during illumination from the first and second illumination positions respectively may be received. Subsequently, a processor may determine material information for the object based on an amount of specular reflectivity for the surface of the object and reference to a database of known amounts of specular reflectivity for a plurality of materials.

Abstract translation: 描述了用于控制光阵列以确定对象的属性的方法和系统。 示例性方法包括：使用可编程阵列阵列从多个照明位置照射物体的表面，并且在物体的表面被照亮的同时从图像捕获装置接收图像。 例如，可编程阵列的光可以被调制以使得来自第一和第二照明位置的物体表面的一部分的照明，以及在照明期间从第一和第二照明位置捕获的物体的表面的第一和第二图像 可以分别接收照明位置。 随后，处理器可以基于物体表面的镜面反射率的量并且参考多个材料的已知量的镜面反射率的数据库来确定物体的材料信息。

公开(公告)号：US09183672B1

公开(公告)日：2015-11-10

申请号：US13895167

申请日：2013-05-15

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC: G06T17/00 ,  G06T19/00

CPC classification number: G06T15/005 ,  G06F17/2247

Abstract: Methods and systems for providing a three-dimensional (3D) image viewer in a webpage are provided. According to an example method, a webpage may be provided, and the webpage may include embedded language that identifies a 3D image viewer to be provided within the webpage. Based on the embedded language, a computer having a processor and a memory may request information associated with rendering a 3D object data model in the 3D image viewer. The method may also include providing the 3D image viewer within the webpage, and receiving information associated with rendering the 3D object data model. Additionally, the 3D object data model may be rendered in the 3D image viewer based on the received information. Additional example systems and methods are described herein.

Abstract translation: 提供了一种用于在网页中提供三维（3D）图像查看器的方法和系统。 根据示例性方法，可以提供网页，并且网页可以包括标识要在网页内提供的3D图像查看器的嵌入语言。 基于嵌入式语言，具有处理器和存储器的计算机可以请求与在3D图像查看器中呈现3D对象数据模型相关联的信息。 该方法还可以包括在网页内提供3D图像查看器，以及接收与呈现3D对象数据模型相关联的信息。 另外，3D对象数据模型可以基于所接收的信息在3D图像查看器中呈现。 本文描述了另外的示例性系统和方法。

公开(公告)号：US09019268B1

公开(公告)日：2015-04-28

申请号：US13673390

申请日：2012-11-09

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  James R. Bruce ,  Arshan Poursohi

IPC: G06T15/00 ,  G06T17/00

CPC classification number: G06T17/00 ,  G06T15/506 ,  G06T19/20 ,  G06T2219/2012

Abstract: System and methods for rendering three-dimensional (3D) object data models based on a comparison of images. A 3D object data model of an object can be characterized by parameters defining rendering features of the 3D object data model. A comparison can be made of a first rendering of the 3D object data model to one or more reference images related to the object and, based on the comparison, the parameters of the 3D object data model can be modified. Following the modification, the 3D object data model can be rendered to generate a second rendering. Based on the second rendered 3D object data model, statistical information can be obtained and based on the statistical information, the parameters of the 3D object data model can be modified again to further adjust the appearance of the second rendering of the 3D object data model.

Abstract translation: 基于图像比较的渲染三维（3D）对象数据模型的系统和方法。 可以通过定义3D对象数据模型的渲染特征的参数来表征对象的3D对象数据模型。 可以将3D对象数据模型的第一次渲染与与对象相关的一个或多个参考图像进行比较，并且基于该比较，可以修改3D对象数据模型的参数。 在修改之后，可以渲染3D对象数据模型以生成第二渲染。 基于第二渲染的3D对象数据模型，可以获得统计信息，并且基于统计信息，可以再次修改3D对象数据模型的参数，以进一步调整3D对象数据模型的第二次呈现的外观。

公开(公告)号：US08976179B2

公开(公告)日：2015-03-10

申请号：US13791182

申请日：2013-03-08

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  James R. Bruce ,  Arshan Poursohi ,  Ryan Hickman

IPC: G06T15/50 ,  G06K9/00 ,  G06F7/00 ,  G06F17/30

CPC classification number: G06F17/30047 ,  G06F17/30259 ,  G06F17/30268 ,  G06T15/50 ,  G06T2215/16

Abstract: Methods and systems are provided for determining and transmitting applicable lighting information, applicable viewing perspective, and a 3D model for an object in response to a search query. An example method includes receiving, at a server, a search query regarding an object. A 3D model for the object is determined. The 3D model includes three-dimensional shape information about the object. The method also includes determining, based on a plurality of stored images of the object, at least one applicable light field and at least one applicable viewing perspective. A search query result is transmitted from the server. The search query result may include the 3D model, the applicable light field(s), and the applicable viewing perspective(s). A server and a non-transitory computer readable medium are also disclosed that could perform a similar method.

Abstract translation: 提供了用于响应于搜索查询来确定和传送可应用的照明信息，适用的观看透视图和用于对象的3D模型的方法和系统。 一种示例性方法包括在服务器处接收关于对象的搜索查询。 确定对象的3D模型。 3D模型包括关于对象的三维形状信息。 该方法还包括基于对象的多个存储的图像来确定至少一个可应用的光场和至少一个适用的观看透视图。 从服务器发送搜索查询结果。 搜索查询结果可以包括3D模型，可应用的光场和适用的观看透视图。 还公开了可以执行类似方法的服务器和非暂时计算机可读介质。