公开(公告)号：US20210187747A1

公开(公告)日：2021-06-24

申请号：US16724883

申请日：2019-12-23

Applicant: X Development LLC

Inventor： Nils Berg ,  Michael Beardsworth

IPC: B25J9/16 ,  G06T5/00 ,  G06T7/262 ,  B25J19/02 ,  B25J9/02

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for deblurring an image captured by a robot-mounted camera. One of the methods comprises capturing, using a camera that is attached to an arm of a robot, an image at a first time, wherein the image exhibits motion blur, and wherein the exhibited blur was caused by movement of the arm of the robot at the first time; receiving, from a robot control system of the robot, motion data characterizing the movement of the arm of the robot at the first time; generating a motion kernel using the received motion data; and generating a deblurred image by processing the image using the motion kernel.