公开(公告)号：US11006039B1

公开(公告)日：2021-05-11

申请号：US16789570

申请日：2020-02-13

Applicant: MUJIN, INC.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues ,  Xutao Ye

IPC: H04N5/232 ,  H04N5/217 ,  B25J9/16

Abstract: A system and method for determining occlusion are presented. The system receives camera data generated by at least one camera, which includes a first camera having a first camera field of view. The camera data is generated when a stack having a plurality of objects is in the first camera field of view, and describes a stack structure formed from at least an object structure for a first object of the plurality of objects. The system identifies a target feature of or disposed on the object structure, and determines a 2D region that is co-planar with and surrounds the target feature. The system determines a 3D region defined by connecting a location of the first camera and the 2D region. The system determines, based on the camera data and the 3D region, a size of an occluding region, and determines a value of an object recognition confidence parameter.

公开(公告)号：US20210023717A1

公开(公告)日：2021-01-28

申请号：US16824680

申请日：2020-03-19

Applicant: MUJIN, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues

IPC: B25J9/16 ,  B25J19/02 ,  B65G61/00 ,  G06K9/46 ,  G06T1/00 ,  G06K9/62 ,  G06K9/00

Abstract: The present disclosure relates to verifying an initial object estimation of an object. A two-dimensional (2D) image representative of an environment including one or more objects may be obtained. The 2D image may be inspected to detect edges of an object. The edges may be processed to verify or update an initial object estimation to increase the accuracy of an object detection result.

公开(公告)号：US20200294244A1

公开(公告)日：2020-09-17

申请号：US16888376

申请日：2020-05-29

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: G06T7/13 ,  B25J9/16 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/08 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  G06K9/00 ,  G06K9/32

Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.

公开(公告)号：US10562189B1

公开(公告)日：2020-02-18

申请号：US16443757

申请日：2019-06-17

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J9/16 ,  G06T7/00 ,  B25J13/08 ,  G06T7/50 ,  G06T7/13 ,  G06K9/62

Abstract: A method of operating a package handling system includes: receiving first image data representative of a first surface image of a package surface; identifying a pair of intersecting edges for the package surface based on the first image; determining a minimum viable region based on the pair of edges, the minimum viable region for gripping and lifting the package; receiving second image data representative of the package after the lift; and creating registration data based on the third image data.

公开(公告)号：US12236609B2

公开(公告)日：2025-02-25

申请号：US17863013

申请日：2022-07-12

Applicant: MUJIN, INC.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues

IPC: G06K9/00 ,  G06F17/16 ,  G06T7/12 ,  G06T7/13 ,  G06V10/44

Abstract: A system and method for processing candidate edges are presented. The method may be performed when spatial structure information and 2D image information are stored. The method may include identifying, based on the spatial structure information, a 3D location that represents a corner of an object structure; identifying, based on the spatial structure information, a 3D vector that extends from the 3D location and is parallel with an edge; determining a 2D location within the 2D image information that corresponds to the 3D location; determining a 2D vector within the 2D image information that corresponds to the 3D vector; determining an edge detection region; identifying a cluster of candidate edges within the edge detection region that does not represent any object edge; identifying, as a 2D object edge, a candidate edge that is not part of the identified cluster; and performing segmentation based on the 2D object edge.

公开(公告)号：US12136223B2

公开(公告)日：2024-11-05

申请号：US17746524

申请日：2022-05-17

Applicant: MUJIN, INC.

Inventor： Jinze Yu ,  Yoshiki Kanemoto ,  Jose Jeronimo Moreira Rodrigues ,  Rosen Nikolaev Diankov

IPC: G06T7/13 ,  B25J9/16 ,  G06T1/00 ,  G06T7/60 ,  G06K15/02 ,  G06V10/44 ,  H04N1/409

Abstract: A computing system including a processing circuit in communication with a camera having a field of view. The processing circuit obtains image information based on the objects in the field of view and defines a minimum viable region for a target open corner. Potential minimum viable regions are defined by identifying candidate edges of an object and determining potential intersection points based on the candidate edges. The minimum viable region may then be identified and validated from the potential minimum viable regions.

公开(公告)号：US12080006B2

公开(公告)日：2024-09-03

申请号：US18145512

申请日：2022-12-22

Applicant: MUJIN, INC.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigue ,  Ahmed Abouelela

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  G06F18/241 ,  G06N20/00 ,  G06T7/41 ,  G06V10/22 ,  G06V10/44 ,  G06V10/56 ,  G06V20/10 ,  B65G61/00

CPC classification number: G06T7/41 ,  B25J9/163 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1697 ,  B25J13/08 ,  G06F18/241 ,  G06N20/00 ,  G06V10/22 ,  G06V10/443 ,  G06V10/56 ,  G06V20/10 ,  B65G61/00 ,  G06V10/44 ,  G06V2201/06 ,  G06V2201/07

Abstract: Systems and methods for classifying at least a portion of an image as being textured or textureless are presented. The system receives an image generated by an image capture device, wherein the image represents one or more objects in a field of view of the image capture device. The system generates one or more bitmaps based on at least one image portion of the image. The one or more bitmaps describe whether one or more features for feature detection are present in the at least one image portion, or describe whether one or more visual features for feature detection are present in the at least one image portion, or describe whether there is variation in intensity across the at least one image portion. The system determines whether to classify the at least one image portion as textured or textureless based on the one or more bitmaps.

公开(公告)号：US11911919B2

公开(公告)日：2024-02-27

申请号：US17193268

申请日：2021-03-05

Applicant: MUJIN, INC.

Inventor： Jose Jeronimo Moreira Rodrigues ,  Rosen Nikolaev Diankov ,  Jinze Yu ,  Ahmed Abouelela ,  Yoshiki Kanemoto

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

公开(公告)号：US20240020637A1

公开(公告)日：2024-01-18

申请号：US18303323

申请日：2023-04-19

Applicant: MUJIN, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues ,  Rosen Nikolaev Diankov ,  Xutao Ye

IPC: G06Q10/087 ,  G06T7/13 ,  B25J9/16 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  B65G61/00 ,  G05B19/4093 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  G06V10/25 ,  G06V20/64 ,  G06V10/20

CPC classification number: G06Q10/087 ,  G06T7/13 ,  B25J9/1697 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  B25J9/1687 ,  B65G61/00 ,  G05B19/40935 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  B25J9/1676 ,  G06V10/25 ,  G06V20/64 ,  G06V10/255 ,  G06T2207/30108 ,  G06T2207/20164 ,  G06T2200/04 ,  G05B2219/40006 ,  G05B2219/40607 ,  G06T2207/10028 ,  G06V10/44

Abstract: The present disclosure relates to methods and systems for generating a verified minimum viable range (MVR) of an object. An exposed outer corner and exposed edges of an object may be identified by processing one or more image data. An initial MVR may be generated by identifying opposing parallel edges opposing the exposed edges. The initial MVR may be adjusted, and the adjusted result may be tested to generate a verified MVR.

公开(公告)号：US20230415360A1

公开(公告)日：2023-12-28

申请号：US18463233

申请日：2023-09-07

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J15/06 ,  B25J9/16 ,  G06T7/13 ,  G06T7/50 ,  B25J13/08 ,  G06T7/00 ,  G06T7/66 ,  B25J9/00 ,  B65G47/91 ,  B65G61/00 ,  G06T1/00 ,  G06V10/44 ,  G06V20/10 ,  G06F18/22

CPC classification number: B25J15/0616 ,  B25J9/1697 ,  G06T7/13 ,  G06T7/50 ,  B25J13/085 ,  G06T7/001 ,  G06T7/66 ,  B25J9/0093 ,  B65G47/91 ,  B65G61/00 ,  G06T1/0014 ,  G06V10/443 ,  G06V20/10 ,  G06F18/22 ,  G05B2219/40067 ,  G06T2207/20212 ,  G05B2219/39001

Abstract: A method of operating a robotic system includes: receiving first image data representative of a package surface; identifying a pair of edges based on the first image data; determining a minimum viable region based on the pair of edges; receiving second image data representative of the package after the lift; and creating registration data based on the first and second image data.