公开(公告)号：US11798183B2

公开(公告)日：2023-10-24

申请号：US17195296

申请日：2021-03-08

Applicant: NVIDIA Corporation

Inventor： Luyang Zhu ,  Arsalan Mousavian ,  Yu Xiang ,  Dieter Fox

IPC: G06T7/521 ,  G06T15/06 ,  G06N20/00 ,  G06T7/90 ,  G05D1/02 ,  G06T7/55 ,  G06N3/045

CPC classification number: G06T7/521 ,  G05D1/0214 ,  G05D1/0221 ,  G05D1/0251 ,  G06N3/045 ,  G06N20/00 ,  G06T7/55 ,  G06T7/90 ,  G06T15/06 ,  G05D2201/0213 ,  G06T2207/10028

Abstract: Apparatuses, systems, and techniques to estimate or predict depth information for image data. In at least one embodiment, depth information is predicted based at least in part on color information and geometry information associated with an image.

公开(公告)号：US11701771B2

公开(公告)日：2023-07-18

申请号：US16809087

申请日：2020-03-04

Applicant: NVIDIA Corporation

Inventor： Arsalan Mousavian ,  Clemens Eppner ,  Dieter Fox

IPC: B25J9/16 ,  G06N3/045

CPC classification number: B25J9/1612 ,  B25J9/1669 ,  B25J9/1697 ,  G06N3/045 ,  B25J9/161

Abstract: In at least one embodiment, a system determines a set of possible grasp poses that allow a robot to successfully grasp an object by generating a set of potential grasp poses, and then evaluating the performance of each potential grasp pose. In at least one embodiment, the system performs a refinement operation on the grasp poses, and based on an evaluation of the poses, creates an improved set of possible grasps for the object.

公开(公告)号：US20220318459A1

公开(公告)日：2022-10-06

申请号：US17213062

申请日：2021-03-25

Applicant: NVIDIA Corporation

Inventor： Yashraj Shyam Narang ,  Balakumar Sundaralingam ,  Karl Van Wyk ,  Arsalan Mousavian ,  Miles Macklin ,  Dieter Fox

IPC: G06F30/23 ,  G06F30/27 ,  G06N3/08

Abstract: Apparatuses, systems, and techniques to model a tactile force sensor. In at least one embodiment, output of tactile sensor is predicted from a modeled force and shape imposed on the sensor. In at least one embodiment, a shape of the surface of the tactile sensor is determined based at least in part on electrical signals received from the sensor.

公开(公告)号：US20220152826A1

公开(公告)日：2022-05-19

申请号：US17199174

申请日：2021-03-11

Applicant: NVIDIA Corporation

Inventor： Michael Danielczuk ,  Arsalan Mousavian ,  Clemens Eppner ,  Dieter Fox

IPC: B25J9/16 ,  G06T7/73 ,  G06K9/62 ,  G06N3/04

Abstract: Apparatuses, systems, and techniques for determining whether collisions will occur in potential paths of an object within a scene. In at least one embodiment, one or more neural networks determine whether collisions will occur in potential paths of an object within a scene based at least in part on point cloud data of the object and the scene.

公开(公告)号：US20240177392A1

公开(公告)日：2024-05-30

申请号：US18126900

申请日：2023-03-27

Applicant: NVIDIA Corporation

Inventor： Adithyavairavan Murali ,  Arsalan Mousavian ,  Clemens Eppner ,  Adam Fishman ,  Dieter Fox

IPC: G06T15/00 ,  B25J9/16 ,  G06T9/00

CPC classification number: G06T15/00 ,  B25J9/1697 ,  G06T9/001 ,  G06T2210/21

Abstract: One common robotic task is the rearrangement of physical objects situated in an environment. This typically involves a robot manipulator picking up a target object and placing the target object in some target location, such as a shelf, cabinet or cubby, and requires the skills of picking, placing and generating complex collision-free motions, oftentimes in a cluttered environment. The present disclosure provides collision detection for object rearrangement using a three-dimensional (3D) scene representation.

公开(公告)号：US11670001B2

公开(公告)日：2023-06-06

申请号：US16416075

申请日：2019-05-17

Applicant: NVIDIA Corporation

Inventor： Arsalan Mousavian ,  Yu Xiang ,  Dieter Fox

IPC: G06T7/73 ,  G06T11/20 ,  G06V20/58 ,  G06N3/04 ,  G06N3/08

CPC classification number: G06V20/58 ,  G06N3/0454 ,  G06N3/08 ,  G06T7/75 ,  G06T11/20 ,  G06T2207/20084 ,  G06T2210/12

Abstract: In an embodiment, a system provides object tracking and 6D pose estimations to a robot that performs different tasks such as manipulation and navigation. In an embodiment the 6D object pose is determined using a Rao-Blackwellized particle filtering framework, where the 3-D rotation and the 3-D translation of the object is decoupled. In an embodiment, the system provides the 3-D translation of an object along with a full distribution over the 3-D rotation. In an embodiment, the 3-D rotation is determined by discretizing the rotation space, and training an autoencoder network to construct a codebook of feature embeddings for the discretized rotations. In an embodiment, the system is able to track objects with arbitrary symmetries while also maintaining adequate posterior distributions.

公开(公告)号：US20220288783A1

公开(公告)日：2022-09-15

申请号：US17198082

申请日：2021-03-10

Applicant: NVIDIA Corporation

Inventor： Martin Sundermeyer ,  Arsalan Mousavian ,  Dieter Fox

IPC: B25J9/16 ,  G06N3/08 ,  G06T7/55

Abstract: Apparatuses, systems, and techniques to grasp objects with a robot. In at least one embodiment, a neural network is trained to determine a grasp pose of an object within a cluttered scene using a point cloud generated by a depth camera.

公开(公告)号：US20210158561A1

公开(公告)日：2021-05-27

申请号：US16922629

申请日：2020-07-07

Applicant: NVIDIA Corporation

Inventor： Keunhong Park ,  Arsalan Mousavian ,  Yu Xiang ,  Dieter Fox

IPC: G06T7/70 ,  G06T15/08 ,  G06T15/20 ,  G06T3/00 ,  B25J9/16

Abstract: Apparatuses, systems, and techniques estimate a pose of an object based on images generated from a combined image volume. In at least one embodiment, the combined image volume is obtained from a plurality of image volumes generated based on a plurality of images of an object.