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    Projected pattern motion/vibration for depth sensing
    21.
    发明授权
    Projected pattern motion/vibration for depth sensing 有权

    公开(公告)号：US10455212B1

    公开(公告)日：2019-10-22

    申请号：US14583903

    申请日：2014-12-29

    Applicant: X Development LLC

    Inventor： Kurt Konolige ,  Ethan Rublee

    IPC: H04N13/00 ,  G06T7/00 ,  B25J9/00 ,  G01B11/25 ,  H04N13/122 ,  H04N13/167 ,  H04N13/282

    Abstract: Example implementations relate to determining depth information using stereo sensor data. An example system may include at least one projector coupled to a robotic manipulator and configured to project a texture pattern onto an environment. The system may further include a displacer coupled to the at least one texture projector and configured to repeatedly change a position of the texture pattern within the environment. The system may also include at least two optical sensors configured to capture stereo sensor data for the environment. And the system may include a computing device configured to determine, using the stereo sensor data, an output including a virtual representation of the environment.

    Ground Plane Detection to Verify Depth Sensor Status for Robot Navigation
    22.
    发明申请
    Ground Plane Detection to Verify Depth Sensor Status for Robot Navigation 审中-公开

    公开(公告)号：US20180107218A1

    公开(公告)日：2018-04-19

    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

    CPC classification number: G05D1/0088 ,  G01S17/88 ,  G05D1/0251 ,  G05D1/0276 ,  G05D2201/0216 ,  G06K9/00805

    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.

    Using laser sensors to augment stereo sensor readings for robotic devices
    23.
    发明授权
    Using laser sensors to augment stereo sensor readings for robotic devices 有权

    公开(公告)号：US09746852B1

    公开(公告)日：2017-08-29

    申请号：US14828437

    申请日：2015-08-17

    Applicant: X Development LLC

    Inventor： Kevin William Watts ,  Kurt Konolige

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

    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.

    Two-faced linearly actuated gripper
    26.
    发明授权
    Two-faced linearly actuated gripper 有权
    双面线性致动夹爪

    公开(公告)号：US09498887B1

    公开(公告)日：2016-11-22

    申请号：US14340398

    申请日：2014-07-24

    Applicant: X Development LLC

    Inventor： John Zevenbergen ,  Ethan Rublee ,  Kurt Konolige ,  Troy Straszheim

    IPC: B25J15/06 ,  B65G59/04

    CPC classification number: B25J15/0616 ,  B25J15/0052 ,  B65G47/918 ,  B65G59/04 ,  B65G2203/042

    Abstract: An example two-faced linearly actuated suction gripper includes a first gripping surface having one or more first suction cups arranged to provide suction in a first direction. The suction gripper also includes a second gripping surface comprising one or more second suction cups arranged to provide suction in a second direction which is perpendicular to the first direction. The suction gripper further includes a linear actuator configured to provide movement of the second gripping surface parallel to the second direction towards a face of an object. The suction gripper includes a sensor configured to generate data indicating that the face of the object is adjacent to the second gripping surface; and an engageable brake that, when engaged, stops the movement of the linear actuator in response to the data from the sensor indicating that the second gripping surface is adjacent to the face of the object.

    Abstract translation: 一个示例性的双面线性致动吸力夹持器包括具有一个或多个第一吸盘的第一夹紧表面，该第一吸盘布置成在第一方向上提供吸力。 抽吸夹持器还包括第二抓握表面，其包括一个或多个第二吸盘，其布置成在垂直于第一方向的第二方向上提供吸力。 抽吸夹持器还包括线性致动器，该线性致动器被配置为提供平行于第二方向的第二夹持表面朝向物体的表面的运动。 抽吸夹持器包括：传感器，被配置为产生指示物体的表面与第二夹持表面相邻的数据; 以及可接合的制动器，当接合时，响应于来自传感器的指示第二夹持表面与物体的表面相邻的数据，停止线性致动器的运动。

    Systems and Methods for Stereo Depth Sensing
    27.
    发明申请
    Systems and Methods for Stereo Depth Sensing 有权

    公开(公告)号：US20230090275A1

    公开(公告)日：2023-03-23

    申请号：US17820332

    申请日：2022-08-17

    Applicant: X Development LLC

    Inventor： Kurt Konolige

    IPC: G06V10/74 ,  G06V10/50 ,  B25J9/16 ,  G06V10/75

    Abstract: A method includes determining, based on a similarity measure, correlation scores between a target pixel and each of a candidate matching pixel, a left neighboring pixel of the candidate matching pixel, and a right neighboring pixel of the candidate matching pixel. When the correlation scores indicate that a neighboring pixel of the candidate matching pixel is better correlated to the target pixel than the candidate matching pixel, (i) a correlation score is determined between the target pixel and a second neighboring pixel of the neighboring pixel that is opposite the candidate matching pixel in the second image and (ii) an interpolation is fit to the correlation scores of the neighboring pixel, the second neighboring pixel, and the candidate matching pixel.

    Disparity interpolation refinement for stereo vision
    29.
    发明授权
    Disparity interpolation refinement for stereo vision 有权

    公开(公告)号：US11425353B1

    公开(公告)日：2022-08-23

    申请号：US15355285

    申请日：2016-11-18

    Applicant: X Development LLC

    Inventor： Kurt Konolige

    IPC: H04N13/128 ,  H04N13/111

    Abstract: An example method includes receiving first and second images from a first and second imager. The method further includes determining first correlation scores between a target pixel from the first image and respective pixels from the second image based on a first similarity measure. The method also includes identifying a candidate matching pixel to the target pixel based on the first correlation scores. The method further includes determining second correlation scores between the target pixel and each of the candidate matching pixel, a left neighboring pixel, and a right neighboring pixel based on a second similarity measure. The method also includes determining whether the candidate matching pixel is better correlated to the target pixel than each of the neighboring pixels based on the second correlation scores. After determining that the candidate matching pixel is better correlated, the method further includes determining a disparity value by interpolating the second correlation scores.

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