公开(公告)号：US11727593B1

公开(公告)日：2023-08-15

申请号：US17397296

申请日：2021-08-09

Applicant: X Development LLC

Inventor： Kurt Konolige ,  Nareshkumar Rajkumar ,  Stefan Hinterstoisser ,  Paul Wohlhart

IPC: G06T7/73 ,  G06T7/60 ,  G06N3/08 ,  G06F16/583 ,  G06V10/42 ,  G06V10/46 ,  G06V30/194 ,  G06F18/214

CPC classification number: G06T7/73 ,  G06F16/5854 ,  G06F18/214 ,  G06N3/08 ,  G06T7/60 ,  G06V10/42 ,  G06V10/462 ,  G06V30/194 ,  G06T2200/04 ,  G06T2207/30244 ,  G06T2219/004

Abstract: Methods for annotating objects within image frames are disclosed. Information is obtained that represents a camera pose relative to a scene. The camera pose includes a position and a location of the camera relative to the scene. Data is obtained that represents multiple images, including a first image and a plurality of other images, being captured from different angles by the camera relative to the scene. A 3D pose of the object of interest is identified with respect to the camera pose in at least the first image. A 3D bounding region for the object of interest in the first image is defined, which indicates a volume that includes the object of interest. A location and orientation of the object of interest is determined in the other images based on the defined 3D bounding region of the object of interest and the camera pose in the other images.

公开(公告)号：US11691273B2

公开(公告)日：2023-07-04

申请号：US17520152

申请日：2021-11-05

Applicant: X Development LLC

Inventor： Kurt Konolige ,  Nareshkumar Rajkumar ,  Stefan Hinterstoisser

IPC: B25J9/16 ,  G06T7/73 ,  G06V20/10 ,  G06T17/00 ,  G06T7/33 ,  G06T7/70

CPC classification number: B25J9/161 ,  B25J9/1692 ,  G06T7/344 ,  G06T7/70 ,  G06T7/75 ,  G06T17/00 ,  G06V20/10 ,  G05B2219/33038 ,  G05B2219/39046 ,  G05B2219/39543 ,  G05B2219/40564 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30244

Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.

公开(公告)号：US10981270B1

公开(公告)日：2021-04-20

申请号：US16530711

申请日：2019-08-02

Applicant: X Development LLC

Inventor： Peter Pastor Sampedro ,  Mrinal Kalakrishnan ,  Ali Yahya Valdovinos ,  Adrian Li ,  Kurt Konolige ,  Vincent Dureau

IPC: B25J9/00 ,  B25J9/16

Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.

公开(公告)号：US10656646B2

公开(公告)日：2020-05-19

申请号：US15841605

申请日：2017-12-14

Applicant: X Development LLC

Inventor： Kevin William Watts ,  Kurt Konolige

IPC: G05D1/00 ,  G05D1/02 ,  G06K9/00 ,  G01S17/88

Abstract: An example method includes determining a target area of a ground plane in an environment of a mobile robotic device, where the target area of the ground plane is in front of the mobile robotic device in a direction of travel of the mobile robotic device. The method further includes receiving depth data from a depth sensor on the mobile robotic device. The method also includes identifying a portion of the depth data representative of the target area. The method additionally includes determining that the portion of the depth data lacks information representing at least one section of the target area. The method further includes providing an output signal identifying at least one zone of non-traversable space for the mobile robotic device in the environment, where the at least one zone of non-traversable space corresponds to the at least one section of the target area.

公开(公告)号：US09987746B2

公开(公告)日：2018-06-05

申请号：US15093118

申请日：2016-04-07

Applicant: X Development LLC

Inventor： Gary Bradski ,  Kurt Konolige ,  Ethan Rublee ,  Troy Straszheim ,  Hauke Strasdat ,  Stefan Hinterstoisser ,  Steve Croft ,  John Zevenbergen

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G06T17/00 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G06K9/00 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  H04N5/33 ,  H04N13/02 ,  B25J9/00 ,  B25J5/00 ,  B65G41/00 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  B65G61/00 ,  B65H67/06 ,  H04N13/00

CPC classification number: B25J9/163 ,  B25J5/00 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/162 ,  B25J9/1664 ,  B25J9/1671 ,  B25J9/1687 ,  B25J9/1694 ,  B25J9/1697 ,  B25J19/00 ,  B25J19/021 ,  B65G41/008 ,  B65G47/46 ,  B65G47/50 ,  B65G61/00 ,  B65H67/065 ,  G01B11/254 ,  G05B2219/31312 ,  G05B2219/39391 ,  G05B2219/40053 ,  G05B2219/40298 ,  G05B2219/40442 ,  G05B2219/40543 ,  G06K9/00201 ,  G06K9/00664 ,  G06K9/3208 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6202 ,  G06T7/0065 ,  G06T7/13 ,  G06T7/529 ,  G06T7/55 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  G06T19/003 ,  G06T2200/04 ,  H04N5/33 ,  H04N13/239 ,  H04N2013/0081 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09 ,  Y10S901/47

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

公开(公告)号：US09886035B1

公开(公告)日：2018-02-06

申请号：US14828445

申请日：2015-08-17

Applicant: X Development LLC

Inventor： Kevin William Watts ,  Kurt Konolige

IPC: B25J9/16 ,  G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0088 ,  G01S17/88 ,  G05D1/0251 ,  G05D1/0276 ,  G05D2201/0216 ,  G06K9/00

Abstract: An example method includes determining a target area of a ground plane in an environment of a mobile robotic device, where the target area of the ground plane is in front of the mobile robotic device in a direction of travel of the mobile robotic device. The method further includes receiving depth data from a depth sensor on the mobile robotic device. The method also includes identifying a portion of the depth data representative of the target area. The method additionally includes determining that the portion of the depth data lacks information representing at least one section of the target area. The method further includes providing an output signal identifying at least one zone of non-traversable space for the mobile robotic device in the environment, where the at least one zone of non-traversable space corresponds to the at least one section of the target area.

公开(公告)号：US20170308086A1

公开(公告)日：2017-10-26

申请号：US15642530

申请日：2017-07-06

Applicant: X Development LLC

Inventor： Kevin William Watts ,  Kurt Konolige

IPC: G05D1/00 ,  G01C21/00 ,  G01S17/08 ,  G01S17/93

CPC classification number: G01S17/936 ,  G01S17/023 ,  G01S17/87 ,  G05D1/0248 ,  G05D1/0251 ,  G05D2201/0216

Abstract: An example system includes one or more laser sensors on a robotic device, where the one or more laser sensors are configured to produce laser sensor data indicative of a first area within a first distance in front of the robotic device. The system further includes one or more stereo sensors on the robotic device, where the stereo sensors on the robotic device are configured to produce stereo sensor data indicative of a second area past a second distance in front of the robotic device. The system also includes a controller configured to receive the laser sensor data, receive the stereo sensor data, detect one or more objects in front of the robotic device based on at least one of the laser sensor data and the stereo sensor data, and provide instructions for the robotic device to navigate based on the one or more detected objects.

公开(公告)号：US11209265B2

公开(公告)日：2021-12-28

申请号：US16584770

申请日：2019-09-26

Applicant: X Development LLC

Inventor： Kurt Konolige

IPC: G06K9/28 ,  G06T15/00 ,  G01B11/25 ,  H04N13/254 ,  H04N13/271 ,  G01B11/02 ,  G06T7/593 ,  G06T7/521 ,  H04N13/239 ,  G01B11/24 ,  B25J9/16 ,  G05D1/02 ,  G06K9/00 ,  G06T1/00 ,  H04N13/00

Abstract: Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.

公开(公告)号：US11151744B1

公开(公告)日：2021-10-19

申请号：US16571841

申请日：2019-09-16

Applicant: X Development LLC

Inventor： Kurt Konolige ,  Nareshkumar Rajkumar ,  Stefan Hinterstoisser ,  Paul Wohlhart

IPC: G06T7/73 ,  G06F16/583 ,  G06N3/08 ,  G06K9/52 ,  G06K9/66 ,  G06K9/46 ,  G06T7/60 ,  G06K9/62

Abstract: Methods for annotating objects within image frames are disclosed. Information is obtained that represents a camera pose relative to a scene. The camera pose includes a position and a location of the camera relative to the scene. Data is obtained that represents multiple images, including a first image and a plurality of other images, being captured from different angles by the camera relative to the scene. A 3D pose of the object of interest is identified with respect to the camera pose in at least the first image. A 3D bounding region for the object of interest in the first image is defined, which indicates a volume that includes the object of interest. A location and orientation of the object of interest is determined in the other images based on the defined 3D bounding region of the object of interest and the camera pose in the other images.

公开(公告)号：US20210187736A1

公开(公告)日：2021-06-24

申请号：US17196660

申请日：2021-03-09

Applicant: X Development LLC

Inventor： Gary Bradski ,  Kurt Konolige ,  Ethan Rublee

IPC: B25J9/16 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  G06T17/00 ,  G06K9/00 ,  H04N13/239 ,  G06T7/55 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  H04N5/33 ,  B25J9/00 ,  B25J5/00 ,  B65G41/00 ,  G06T19/00 ,  B25J19/00 ,  G06K9/32 ,  G06K9/62

Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.