公开(公告)号：US08831366B1

公开(公告)日：2014-09-09

申请号：US13673994

申请日：2012-11-10

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: G06K9/36 ,  G06K9/46 ,  G06T9/00

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：US08817021B1

公开(公告)日：2014-08-26

申请号：US13644680

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: G06T17/00

CPC classification number: G06T15/00 ,  G06F17/30271

Abstract: Methods and systems for writing, interpreting, and translating three-dimensional (3D) scenes are provided. An example method may involve accessing data associated with a three-dimensional (3D) scene that includes one or more objects of the 3D scene and one or more rendering effects for the one or more objects. Requests for assets and instructions associated with rendering the one or more objects based on the data associated with the 3D scene may be determined and sent to a server. Additionally, the method may include receiving from the server assets and instructions that facilitate rendering the one or more objects based on the one or more rendering effects. According to the method, the one or more objects of the 3D scene may be rendered based on the received instructions and the received assets.

Abstract translation: 提供了编写，解释和翻译三维（3D）场景的方法和系统。 示例性方法可以涉及访问与包括3D场景的一个或多个对象和一个或多个对象的一个​​或多个呈现效果的三维（3D）场景相关联的数据。 可以确定与基于与3D场景相关联的数据呈现一个或多个对象相关联的资产和指令的请求，并将其发送到服务器。 另外，该方法可以包括从服务器接收资源和基于一个或多个呈现效果来促进呈现一个或多个对象的指令。 根据该方法，3D场景的一个或多个对象可以基于接收到的指令和接收到的资产来呈现。

公开(公告)号：US20170324947A1

公开(公告)日：2017-11-09

申请号：US15658126

申请日：2017-07-24

Applicant: Google Inc.

Inventor： James Robert Bruce ,  Arshan Poursohi

IPC: 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：US09787908B1

公开(公告)日：2017-10-10

申请号：US15200139

申请日：2016-07-01

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Daniel Aden ,  Matthew Amacker

IPC: H04N5/222 ,  H04N5/235 ,  H04N5/225

CPC classification number: H04N5/2354 ,  H04N5/2256 ,  H04N5/2351

Abstract: Systems are provided to facilitate imaging of a person or other target in an environment by providing modulated illumination to the target and to other aspects of the environment. Modulated illumination is provided to the target such that the target receives more illumination when a camera is capturing images of the target than during other periods of time. Modulated illumination is provided to background objects or other portions of the environment of the target such that the background or other non-target elements of the environment receive less illumination when the camera is capturing images than during other periods of time. In this way, imaging of a target can be improved by increasing effective illumination of the target while decreasing glare and other effects of illumination of background objects. The illumination can be modulated at a sufficiently high frequency that the illumination appears, to the human eye, to be substantially constant.

公开(公告)号：US09600927B1

公开(公告)日：2017-03-21

申请号：US14055169

申请日：2013-10-16

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Thor Lewis ,  Anthony Gerald Francis, Jr.

IPC: G06T15/60 ,  G06T17/00

CPC classification number: G06T15/60 ,  G06T7/564 ,  G06T17/00 ,  G06T2207/30184

Abstract: Methods and systems for determining the shape of an object based on shadows cast by the object are described. An example method may include receiving a plurality of images of an object casting a shadow. Each image may include a shadow cast by the object as the object is illuminated by a light source that moves over a plurality of positions. The method may further include determining, by a computing device, respectively for each image of the plurality of images a two-dimensional (2D) silhouette of the object and a respective position of the light source relative to the object. According to the method, a three-dimensional (3D) object data model of the object may be generated by the computing device based on the 2D silhouette of the object and the respective position of the light source relative to the object for each image of the plurality of images.

公开(公告)号：US09437097B2

公开(公告)日：2016-09-06

申请号：US14455896

申请日：2014-08-09

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Ryan Hickman

IPC: G08B21/00 ,  G08B21/18 ,  B25J9/16 ,  G06N3/00 ,  G01N33/00 ,  G05B15/02 ,  G08B13/00 ,  G08B17/00 ,  G08B21/12

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：US20140350890A1

公开(公告)日：2014-11-27

申请号：US14454655

申请日：2014-08-07

Applicant: Google Inc.

Inventor： Arshan Poursohi ,  Ryan Hickman

IPC: G01N33/00

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.

公开(公告)号：US08848201B1

公开(公告)日：2014-09-30

申请号：US13793071

申请日：2013-03-11

Applicant: Google Inc.

Inventor： James R. Bruce ,  Ryan Hickman ,  Arshan Poursohi

IPC: G01B11/24

CPC classification number: G01B11/24 ,  G01B21/047

Abstract: Methods and systems for multi-modal three-dimensional (3D) scanning of objects are described. An example method may include receiving, from a scanning system, 3D information associated with an object having a first resolution. A region of interest of the object may be determined by a processor based on the 3D information associated with the object. Additionally, instructions for operating the scanning system to determine additional information associated with the region of interest of the object may be determined. The additional information associated with the region of interest may have a second resolution that is higher than the first resolution. The instructions may be provided to the scanning system to determine the additional information associated with the region of interest of the object.

Abstract translation: 描述了用于多模态三维（3D）扫描对象的方法和系统。 示例性方法可以包括从扫描系统接收与具有第一分辨率的对象相关联的3D信息。 对象的感兴趣区域可以由处理器基于与对象相关联的3D信息来确定。 此外，可以确定用于操作扫描系统以确定与对象的感兴趣区域相关联的附加信息的指令。 与感兴趣区域相关联的附加信息可以具有高于第一分辨率的第二分辨率。 可以向扫描系统提供指令以确定与对象的感兴趣区域相关联的附加信息。

公开(公告)号：US20130262511A1

公开(公告)日：2013-10-03

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: 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。