公开(公告)号：US20140340398A1

公开(公告)日：2014-11-20

申请号：US14451704

申请日：2014-08-05

Applicant: Google Inc.

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

IPC: G06T15/10 ,  G06T19/20 ,  G06T15/80

CPC classification number: G06T15/10 ,  G06T9/001 ,  G06T15/80 ,  G06T19/20 ,  G06T2219/2012 ,  G06T2219/2021

Abstract: Methods and systems for encoding and compressing 3D object data models are provided. An example method may involve receiving 3D mesh data for an object that includes geometry coordinates for a surface of the object. Additionally, material properties may be associated with the geometry coordinates. The method may also include identifying multiple portions of the mesh data based on the material properties associated with the geometry coordinates. For example, a given group of adjacent geometry coordinates having common material properties may be identified as a given portion. For at least some of the identified portions of the mesh data, the method may further include encoding information related to an identified portion of the mesh data and compressing the encoded information into a file of compressed geometric data.

Abstract translation: 提供了用于编码和压缩3D对象数据模型的方法和系统。 示例性方法可以涉及接收包括对象表面的几何坐标的对象的3D网格数据。 另外，材料属性可以与几何坐标相关联。 该方法还可以包括基于与几何坐标相关联的材料属性来识别网格数据的多个部分。 例如，具有共同材料属性的给定组的相邻几何坐标可以被识别为给定部分。 对于网格数据的所识别的部分的至少一些，该方法还可以包括对与网格数据的识别部分相关的信息进行编码，并将编码的信息压缩成压缩几何数据的文件。

公开(公告)号：US08766997B1

公开(公告)日：2014-07-01

申请号：US13644488

申请日：2012-10-04

Applicant: Google, Inc.

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

IPC: G09G5/00

CPC classification number: G06T19/20 ,  G06T15/20 ,  G06T17/00 ,  G06T2219/2004 ,  G09G5/00

Abstract: Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve providing to a display device for display a first 3D object data model and a second 3D object data model. Information associated with a modification to the first 3D object data model may be received. Based on the received information, a same change may be applied to the first 3D object data model and applied to the second 3D object data model to obtain a first modified 3D object data model and a second modified 3D object data model. According to the method, the first modified 3D object data model and the second modified 3D object data model may be provided to the display device for substantially simultaneous display.

公开(公告)号：US10210618B1

公开(公告)日：2019-02-19

申请号：US14579555

申请日：2014-12-22

Applicant: Google Inc.

Inventor： James Joseph Kuffner ,  James Robert Bruce ,  Ken Conley ,  Arshan Poursohi

IPC: G06T7/194 ,  G06T15/60 ,  G06T17/00

Abstract: Within examples, object image masking is provided. An example method includes receiving a depth mask of an object, projecting the depth mask of the object onto an image of the object in a background so as to generate a depth image of the object in the background, determining portions of the depth image of the object in the background that are representative of the object and that are representative of the background, based on the portions of the depth image of the object in the background that are representative of the object determining a foreground mask of the object, and using the foreground mask of the object to identify portions of the image representative of the object.

公开(公告)号：US09807373B1

公开(公告)日：2017-10-31

申请号：US14580182

申请日：2014-12-22

Applicant: Google Inc.

Inventor： James Robert Bruce ,  Arshan Poursohi

IPC: H04N15/00 ,  H04N13/02

CPC classification number: H04N13/275 ,  G01B11/24 ,  G06T15/00 ,  H04N13/282 ,  H04N13/296

Abstract: Systems and devices for acquiring imagery and three-dimensional (3D) models of objects are provided. An example device includes a platform configured to enable an object to be positioned thereon, and a plurality of scanners configured to capture geometry and texture information of the object when the object is positioned on the platform. A first scanner is positioned below the platform so as to capture an image of a portion of an underside of the object, a second scanner is positioned above the platform, and a third scanner is positioned above the platform and offset from a position of the second scanner. The scanners are positioned such that each scanner is outside of a field of view of other scanners. Scanners may include a camera, a light source, and a light-dampening element, and the device may include a control module configured to operate the scanners to individually scan the object.

公开(公告)号：US08984136B1

公开(公告)日：2015-03-17

申请号：US13897355

申请日：2013-05-17

Applicant: Google Inc.

Inventor： Anthony G. Francis, Jr. ,  Arshan Poursohi

IPC: G06F15/18 ,  G06F17/30

CPC classification number: G06F17/30542 ,  H04W4/02 ,  H04W4/60

Abstract: Examples disclose systems and methods for recognizing objects. A method may be executable to receive a query from a robot. The query may include identification data associated with an object and contextual data associated with the object. The query may also include situational data. The method may also be executable to identify the object based at least in part on the data in the query received from the robot. Further, the method may be executable to send data associated with the identified object to the robot in response to the query.

Abstract translation: 实例公开了用于识别对象的系统和方法。 可以执行一种方法来从机器人接收查询。 查询可以包括与对象相关联的标识数据和与对象相关联的上下文数据。 该查询还可以包括情境数据。 该方法还可以是可执行的，至少部分地基于从机器人接收的查询中的数据来识别对象。 此外，该方法可以执行以响应于查询将与所识别的对象相关联的数据发送到机器人。

公开(公告)号：US20140347182A1

公开(公告)日：2014-11-27

申请号：US14455896

申请日：2014-08-09

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Ryan Hickman

IPC: G08B21/18

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：US20140253546A1

公开(公告)日：2014-09-11

申请号：US14284889

申请日：2014-05-22

Applicant: Google Inc.

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

IPC: G06T19/20 ,  G06T17/00

CPC classification number: G06T19/20 ,  G06T15/20 ,  G06T17/00 ,  G06T2219/2004 ,  G09G5/00

Abstract: Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve providing to a display device for display a first 3D object data model and a second 3D object data model. Information associated with a modification to the first 3D object data model may be received. Based on the received information, a same change may be applied to the first 3D object data model and applied to the second 3D object data model to obtain a first modified 3D object data model and a second modified 3D object data model. According to the method, the first modified 3D object data model and the second modified 3D object data model may be provided to the display device for substantially simultaneous display.

Abstract translation: 提供了与多个三维（3D）对象数据模型进行交互的方法和系统。 示例性方法可以涉及向显示设备提供用于显示第一3D对象数据模型和第二3D对象数据模型。 可以接收与第一3D对象数据模型的修改相关联的信息。 基于接收到的信息，可以将相同的变化应用于第一3D对象数据模型并应用于第二3D对象数据模型以获得第一修改的3D对象数据模型和第二修改3D对象数据模型。 根据该方法，可以将第一修改3D对象数据模型和第二修改3D对象数据模型提供给显示装置，以便基本上同时显示。

公开(公告)号：US09399290B2

公开(公告)日：2016-07-26

申请号：US14493676

申请日：2014-09-23

Applicant: Google Inc.

Inventor： Anthony G. Francis, Jr. ,  Ryan Hickman ,  Arshan Poursohi

IPC: B25J9/16 ,  G05B23/02 ,  G06F9/50

CPC classification number: B25J9/161 ,  G05B23/0221 ,  G06F9/5072

Abstract: A method includes receiving first sensor data acquired by a first sensor in communication with a cloud computing system. The first sensor data has a first set of associated attributes including a time and a location at which the first sensor data was acquired. The method also includes receiving second sensor data acquired by a second sensor in communication with the cloud computing system. The second data has a second set of associated attributes including a time and a location at which the second sensor data was acquire. Further, the method includes generating a data processing result based at least in part on the first sensor data, the first set of associated attributes, the second sensor data, and the second set of associated attributes and instructing a robot in communication with the cloud computing system to perform a task based at least in part on the data processing result.

Abstract translation: 一种方法包括接收与云计算系统通信的由第一传感器采集的第一传感器数据。 第一传感器数据具有第一组关联属性，包括时间和获取第一传感器数据的位置。 该方法还包括接收由与云计算系统通信的第二传感器采集的第二传感器数据。 第二数据具有包括第二传感器数据获取的时间和位置的第二组关联属性。 此外，该方法包括至少部分地基于第一传感器数据，第一组关联属性，第二传感器数据和第二组关联属性生成数据处理结果，并且指示机器人与云计算通信 系统至少部分地基于数据处理结果执行任务。

公开(公告)号：US20150012132A1

公开(公告)日：2015-01-08

申请号：US14493676

申请日：2014-09-23

Applicant: Google Inc.

Inventor： Anthony G. Francis, Jr. ,  Ryan Hickman ,  Arshan Poursohi

IPC: B25J9/16

CPC classification number: B25J9/161 ,  G05B23/0221 ,  G06F9/5072

Abstract: A method includes receiving first sensor data acquired by a first sensor in communication with a cloud computing system. The first sensor data has a first set of associated attributes including a time and a location at which the first sensor data was acquired. The method also includes receiving second sensor data acquired by a second sensor in communication with the cloud computing system. The second data has a second set of associated attributes including a time and a location at which the second sensor data was acquire. Further, the method includes generating a data processing result based at least in part on the first sensor data, the first set of associated attributes, the second sensor data, and the second set of associated attributes and instructing a robot in communication with the cloud computing system to perform a task based at least in part on the data processing result.

Abstract translation: 一种方法包括接收与云计算系统通信的由第一传感器采集的第一传感器数据。 第一传感器数据具有第一组关联属性，包括时间和获取第一传感器数据的位置。 该方法还包括接收由与云计算系统通信的第二传感器采集的第二传感器数据。 第二数据具有包括第二传感器数据获取的时间和位置的第二组关联属性。 此外，该方法包括至少部分地基于第一传感器数据，第一组关联属性，第二传感器数据和第二组关联属性生成数据处理结果，并且指示机器人与云计算通信 系统至少部分地基于数据处理结果执行任务。

公开(公告)号：US08922576B2

公开(公告)日：2014-12-30

申请号：US14284889

申请日：2014-05-22

Applicant: Google Inc.

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

IPC: G09G5/00 ,  G06T19/20 ,  G06T17/00

CPC classification number: G06T19/20 ,  G06T15/20 ,  G06T17/00 ,  G06T2219/2004 ,  G09G5/00

Abstract: Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve providing to a display device for display a first 3D object data model and a second 3D object data model. Information associated with a modification to the first 3D object data model may be received. Based on the received information, a same change may be applied to the first 3D object data model and applied to the second 3D object data model to obtain a first modified 3D object data model and a second modified 3D object data model. According to the method, the first modified 3D object data model and the second modified 3D object data model may be provided to the display device for substantially simultaneous display.

Abstract translation: 提供了与多个三维（3D）对象数据模型交互的方法和系统。 示例性方法可以涉及向显示设备提供用于显示第一3D对象数据模型和第二3D对象数据模型。 可以接收与第一3D对象数据模型的修改相关联的信息。 基于接收到的信息，可以将相同的变化应用于第一3D对象数据模型并应用于第二3D对象数据模型以获得第一修改的3D对象数据模型和第二修改3D对象数据模型。 根据该方法，可以将第一修改3D对象数据模型和第二修改3D对象数据模型提供给显示装置，以便基本上同时显示。