公开(公告)号：US10025886B1

公开(公告)日：2018-07-17

申请号：US14870626

申请日：2015-09-30

Applicant: X Development LLC

Inventor： Ethan Rublee ,  Hauke Malte Strasdat

IPC: G06F17/50 ,  G01B11/25

Abstract: Methods and systems for using projected patterns to facilitate mapping of an environment are provided herein. A computing system may cause fixedly-posed projectors to each provide, onto a respective area of the environment, a predetermined respective distinct pattern. The system may determine respective poses of the projectors, and further determine a map of the environment that identifies, for each distinct pattern, respective locations on one or more surfaces in the environment on which the distinct pattern is detectable. Based on sensor data the system may identify a portion of a particular distinct pattern in the environment. The system may use the map and the respective pose of a particular projector that is providing the particular pattern to make a determination that the portion is located at a new, different location compared to the map. The system may then transmit an output signal indicating the determination.

公开(公告)号：US09802317B1

公开(公告)日：2017-10-31

申请号：US14695166

申请日：2015-04-24

Applicant: X Development LLC

Inventor： Kevin William Watts ,  Ethan Rublee ,  Kyle Lutz ,  Hauke Malte Strasdat

IPC: G05B19/04 ,  B25J9/16 ,  G05B19/402

CPC classification number: B25J9/1687 ,  B25J9/1676 ,  B25J9/1679 ,  B25J9/1697 ,  G05B19/402 ,  G05B2219/40006 ,  G05B2219/40067

Abstract: Methods and systems for remote perception assistance to facilitate robotic object manipulation are provided herein. From a model of objects in an environment of a robotic manipulator, a virtual boundary line separating two adjacent identified virtual objects may be identified. The robotic manipulator may be configured to perform a task involving a manipulation of at least one object in the environment represented by the identified virtual objects. Based on the identifying, a request for remote assistance with verifying the virtual boundary line may be sent to a remote assistor device. A response to the request, including a modification to the virtual boundary line, may then be received from the remote assistor device. The robotic manipulator may then be caused to perform the task based on the modification to the virtual boundary line.