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公开(公告)号：US11373395B2
公开(公告)日：2022-06-28
申请号：US16845544
申请日：2020-04-10
Applicant: X Development LLC
Inventor： Dirk Holz , Troy Straszheim
IPC: G06V10/70 , G06V10/75 , G01C21/20 , G05D1/02 , B66F9/00 , B66F9/075 , B66F9/06 , G06V20/10 , G06V20/56 , G06V30/196
Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.
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172.发明申请公开(公告)号：US20220196433A1
公开(公告)日：2022-06-23
申请号：US17131098
申请日：2020-12-22
Applicant: X Development LLC
Inventor： Alan Eneev , Jie Yang , Yueqi Li , Yujing Qian , Nanzhu Wang , Sicong Wang , Sergey Yaroshenko
Abstract: Implementations are directed to assigning corresponding semantic identifiers to a plurality of rows of an agricultural field, generating a local mapping of the agricultural field that includes the plurality of rows of the agricultural field, and subsequently utilizing the local mapping in performance of one or more agricultural operations. In some implementations, the local mapping can be generated based on overhead vision data that captures at least a portion of the agricultural field. In these implementations, the local mapping can be generated based on GPS data associated with the portion of the agricultural field captured in the overhead vision data. In other implementations, the local mapping can be generated based on driving data generated during an episode of locomotion of a vehicle through the agricultural field. In these implementations, the local mapping can be generated based on GPS data associated with the vehicle traversing through the agricultural field.
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公开(公告)号：US20220193888A1
公开(公告)日：2022-06-23
申请号：US17382561
申请日：2021-07-22
Applicant: X Development LLC
Inventor： Eden Rephaeli , Guy Satat , Daniel Lam , Benjamin Holson , Jiajun Xu
Abstract: A system includes a robotic device, a sensor disposed on the robotic device, and circuitry configured to perform operations. The operations include determining a map that represents stationary features of an environment and receiving, from the sensor, sensor data representing the environment. The operations also include determining, based on the sensor data, a representation of an actor within the environment, where the representation includes keypoints representing corresponding body locations of the actor. The operations also include determining that a portion of a particular stationary feature is positioned within a threshold distance of a particular keypoint and, based on thereon, updating the map to indicate that the portion is to be cleaned. The operations further include, based on the map as updated, causing the robotic device to clean the portion of the particular stationary feature.
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174.发明申请公开(公告)号：US20220188081A1
公开(公告)日：2022-06-16
申请号：US17123768
申请日：2020-12-16
Applicant: X Development LLC
Inventor： Bin Ni , Owen Lewis , Qianyu Zhang
Abstract: Implementations are described herein for leveraging prior source code transformations to facilitate automatic creation and/or recommendation of tools for automating aspects of source code transformations captured in real time. In various implementations, a transformation made by a programmer to a source code snipped may be captured in a source code editor application in real time. Based on the transformation and the intent, one or more candidate source code transformations may be identified from one or more repositories of prior source code transformations made by one or more other programmers. The source code editor application may be caused to provide output indicative of a tool that is operable to automate one or more edits associated with both the transformation made by the programmer to the source code snippet and with one or more of the candidate source code transformations.
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公开(公告)号：US11351576B2
公开(公告)日：2022-06-07
申请号：US16892861
申请日：2020-06-04
Applicant: X Development LLC
Inventor： Thomas Peter Hunt , Neil David Treat , Karen R Davis , Artem Goncharuk , Vikram Neal Sahney
IPC: B07C5/34 , B07C5/342 , B07C5/344 , B07C5/346 , G01N23/20091 , G01N23/223 , G01N23/207 , G01N33/24 , G06N3/08 , G06V10/42 , G06V20/00
Abstract: Techniques for processing ore include the steps of causing an imaging capture system to record a plurality of images of a stream of ore fragments en route from a first location in an ore processing facility to a second location in the ore processing facility; correlating the plurality of images of the stream of ore fragments with at least one or more characteristics of the ore fragments using a machine learning model that includes a plurality of ore parameter measurements associated with the one or more characteristics of the ore fragments; determining, based on the correlation, at least one of the one or more characteristics of the ore fragments; and generating, for display on a user computing device, data indicating the one or more characteristics of the ore fragments or data indicating an action or decision based on the one or more characteristics of the ore fragments.
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Patent Agency Ranking
176.发明申请公开(公告)号：US20220168909A1
公开(公告)日：2022-06-02
申请号：US17106906
申请日：2020-11-30
Applicant: X Development LLC
Inventor： Guy Satat , Eden Rephaeli
Abstract: A method includes receiving, from at least two fixed cameras in a static sensor arrangement on a mobile robotic device, one or more images representative of an environment of the mobile robotic device, wherein the at least two fixed cameras have a combined 360 degree horizontal field of view around the mobile robotic device. The method further includes determining, from the one or more images, a presence of an object in the environment of the mobile robotic device. The method additionally includes controlling a moveable sensor arrangement of the mobile robotic device to move towards the object, wherein the movable sensor arrangement comprises at least one movable camera on the mobile robotic device. The method also includes receiving, from the at least one movable camera of the moveable sensor arrangement, one or more additional images representative of the object.
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公开(公告)号：US11341656B1
公开(公告)日：2022-05-24
申请号：US17095845
申请日：2020-11-12
Applicant: X Development LLC
Inventor： Yueqi Li
Abstract: Implementations are described herein are directed to reconciling disparate orientations of multiple vision sensors deployed on a mobile robot (or other mobile vehicle) by altering orientations of the vision sensors or digital images they generate. In various implementations, this reconciliation may be performed with little or no ground truth knowledge of movement of the robot. Techniques described herein also avoid the use of visual indicia of known dimensions and/or other conventional tools for determining vision sensor orientations. Instead, techniques described herein allow vision sensor orientations to be determined and/or reconciled using less resources, and are more scalable than conventional techniques.
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178.发明授权公开(公告)号：US11341406B1
公开(公告)日：2022-05-24
申请号：US16133409
申请日：2018-09-17
Applicant: X Development LLC
Inventor： Joseph Redmon , Anelia Angelova
Abstract: Methods and apparatus related to training and/or utilizing a convolutional neural network to generate grasping parameters for an object. The grasping parameters can be used by a robot control system to enable the robot control system to position a robot grasping end effector to grasp the object. The trained convolutional neural network provides a direct regression from image data to grasping parameters. For example, the convolutional neural network may be trained to enable generation of grasping parameters in a single regression through the convolutional neural network. In some implementations, the grasping parameters may define at least: a “reference point” for positioning the grasping end effector for the grasp; and an orientation of the grasping end effector for the grasp.
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公开(公告)号：US20220156401A1
公开(公告)日：2022-05-19
申请号：US17585878
申请日：2022-01-27
Applicant: X Development LLC
Inventor： Joel Fraser Atwater , Peter Light
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing confidential data and confidential programs while providing mutual security to the data and programs. A method includes receiving, from a first system, customer energy data, including data representing energy consumption by a customer; receiving, from a second system, program data representing one or more programs for processing the customer energy data; executing the programs with the customer energy data as input to produce output that includes estimated energy consumption data, while providing security for the program data from access by the first system and any third party and while providing security for the customer energy data and the estimated energy consumption data from access by the second system and any third party; and providing the estimated energy consumption data as output (i) to the first system or (ii) to the customer or (iii) both.
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公开(公告)号：US11331799B1
公开(公告)日：2022-05-17
申请号：US16886583
申请日：2020-05-28
Applicant: X Development LLC
Inventor： Alex Shafer
Abstract: Grasping of an object, by an end effector of a robot, based on a final grasp pose, of the end effector, that is determined after the end effector has been traversed to a pre-grasp pose. An end effector vision component can be utilized to capture instance(s) of end effector vision data after the end effector has been traversed to the pre-grasp pose, and the final grasp pose can be determined based on the end effector vision data. For example, the final grasp pose can be determined based on selecting instance(s) of pre-stored visual features(s) that satisfy similarity condition(s) relative to current visual features of the instance(s) of end effector vision data, and determining the final grasp pose based on pre-stored grasp criteria stored in association with the selected instance(s) of pre-stored visual feature(s).
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