公开(公告)号：US09665800B1

公开(公告)日：2017-05-30

申请号：US14059082

申请日：2013-10-21

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr.

IPC: G06K9/62 ,  G06T15/50 ,  G06K9/00

CPC classification number: G06K9/6256 ,  G06F17/30 ,  G06K9/00208 ,  G06K9/00214 ,  G06K9/6255 ,  G06T15/50

Abstract: Methods and systems for rendering virtual views of three-dimensional (3D) object data models are described. An example method may include receiving information associated with rendering a 3D object data model, and determining virtual views for rendering the 3D object data model. Based on the virtual views and the received information, synthetic training images of the object may be rendered, and information identifying a given virtual view used to render a synthetic training image may be stored with the synthetic training images. A visual object recognition module may determine from a plurality of images and image that substantially matches one or more of the synthetic training images, and the matched image may be associated with information identifying the object and a virtual view used to render a matching synthetic training image. Another method may also leverage information from a synthetic training image to help recognize other objects of the matched image.

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：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：US09283678B2

公开(公告)日：2016-03-15

申请号：US14333173

申请日：2014-07-16

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Peter Elving Anderson-Sprecher

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1676 ,  B25J19/06 ,  G05B2219/40196 ,  G05B2219/40202 ,  G05B2219/40203 ,  Y10S901/47 ,  Y10S901/49

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract translation: 提供了确定和呈现虚拟安全网箱的方法和系统。 示例性方法可以包括接收用于机器人设备在由机器人设备占据的物理环境中执行物理动作的指令。 所述方法还可以包括响应于接收到所述指令，并且基于所述机器人设备的一个或多个物理组件的一个或多个参数，确定估计所述机器人装置的所述一个或多个物理组件的一个或多个估计的轨迹 随机器人设备执行物理动作而移动。 所述方法还可以基于所述一个或多个估计的轨迹，确定所述机器人装置估计在进行所述物理动作时在所述物理环境中占据的空间的虚拟表示。 该方法然后可以包括向物理环境提供空间位置的指示。

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：US20150213417A1

公开(公告)日：2015-07-30

申请号：US14681878

申请日：2015-04-08

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Ryan Hickman

IPC: G06Q10/00 ,  B25J9/16 ,  B25J9/00

CPC classification number: G06Q10/20 ,  B25J9/0084 ,  B25J9/1674 ,  G08B21/18 ,  Y10S901/49

Abstract: Methods and systems for proactively preventing hazardous or other situations in a robot-cloud interaction are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices. The task logs may include information associated with tasks performed by the plurality of robotic devices. The method may also include a computing system determining information associated with hazardous situations based on the information associated with the task logs. For example, the hazardous situations may comprise situations associated with failures of one or more components of the plurality of robotic devices. According to the method, information associated with a contextual situation of a first robotic device may be determined, and when the information associated with the contextual situation is consistent with information associated with the one or more hazardous situations, an alert indicating a potential failure of the first robotic device may be provided.

Abstract translation: 提供了主动防止机器人 - 云相互作用中的危险或其他情况的方法和系统。 示例性方法包括接收与多个机器人设备的任务日志相关联的信息。 任务日志可以包括与由多个机器人设备执行的任务相关联的信息。 该方法还可以包括基于与任务日志相关联的信息来确定与危险情况相关联的信息的计算系统。 例如，危险情况可以包括与多个机器人装置中的一个或多个部件的故障有关的情况。 根据该方法，可以确定与第一机器人设备的上下文情况相关联的信息，并且当与上下文情况相关联的信息与与一个或多个危险情况相关联的信息一致时，指示潜在故障的警报 可以提供第一机器人装置。

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。

公开(公告)号：US08878846B1

公开(公告)日：2014-11-04

申请号：US13662675

申请日：2012-10-29

Applicant: Google Inc.

Inventor： Anthony Gerald Francis, Jr. ,  James J. Kuffner, Jr.

IPC: G06T17/00 ,  G06T19/00 ,  G06T17/10

CPC classification number: G06T19/006

Abstract: Methods and systems for superimposing virtual views of 3D objects with live images are provided. An example method may include determining 3D geometry information associated with an environment using one or more sensors of a mobile device, and recognizing 3D objects in the environment based on a database of 3D objects and the 3D geometry information. The method may also include determining a field of view of the environment based on a position of the mobile device in the environment and rendering an image of one or more of the 3D objects that are within the field of view. The rendered image may have a given perspective that is based on a viewpoint position from which the mobile device is viewed. The rendered image may also be combined with a live image of the field of view that is presented by the mobile device.

Abstract translation: 提供了用于将3D对象的虚拟视图与实时图像叠加的方法和系统。 示例性方法可以包括使用移动设备的一个或多个传感器来确定与环境相关联的3D几何信息，以及基于3D对象的数据库和3D几何信息来识别环境中的3D对象。 该方法还可以包括基于移动设备在环境中的位置来确定环境的视场，并且渲染处于视野范围内的一个或多个3D对象的图像。 渲染图像可以具有基于从其观看移动设备的视点位置的给定透视图。 渲染图像还可以与由移动设备呈现的视场的实时图像组合。

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.