公开(公告)号：US20230128352A1

公开(公告)日：2023-04-27

申请号：US18145512

申请日：2022-12-22

Applicant: MUJIN, INC.

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

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

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：US20230071488A1

公开(公告)日：2023-03-09

申请号：US17901739

申请日：2022-09-01

Applicant: MUJIN, Inc.

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

IPC: B25J9/16

Abstract: A system and method for processing overlapped flexible objects is disclosed.

公开(公告)号：US20230008540A1

公开(公告)日：2023-01-12

申请号：US17944117

申请日：2022-09-13

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 ,  G06Q10/08 ,  G06T7/11 ,  G06T7/50 ,  G06V10/25 ,  G06T19/20 ,  G06T7/62 ,  B65G61/00 ,  G06V20/64 ,  G05B19/4093 ,  B65B43/46 ,  G06T7/73

Abstract: A system and method for operating a robotic system to scan and register unrecognized objects is disclosed. The robotic system may use an image data representative of an unrecognized object located at a start location to implement operations for transferring the unrecognized object from the start location. While implementing the operations, the robotic system may obtain additional data, including scanning results of one or more portions of the unrecognized object not included in the image data. The robotic system may use the additional data to register the unrecognized object.

公开(公告)号：US20220297305A1

公开(公告)日：2022-09-22

申请号：US17806379

申请日：2022-06-10

Applicant: MUJIN, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues

IPC: B25J9/16 ,  B25J19/02 ,  B65G61/00 ,  G06T1/00 ,  G06K9/62 ,  G06V10/44 ,  G06V20/64 ,  G06T7/73 ,  G06T7/13 ,  G06T7/174

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：US10583560B1

公开(公告)日：2020-03-10

申请号：US16374617

申请日：2019-04-03

Applicant: Mujin, Inc.

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

IPC: B25J9/16 ,  B65G1/137 ,  G06K9/62 ,  G06K9/00

Abstract: A robotic system includes: a control unit configured to: receive an object set including one or more object entries, wherein: the object entries correspond to source objects of an object source, each of the object entries are described by one or more object entry properties; receive sensor information representing one or more detectable object properties for detectable source objects of an object source; calculate an object match probability between the detectable source objects and the object entries based on a property correlation between the detectable object properties of the detectable source objects and the object entry properties of the object entries; generate an object identity approximation for each of the detectable source objects based on a comparison between the object match probability for each of the detectable source objects corresponding to a particular instance of the object entries; select a target object from the detectable source objects; generate an object handling strategy, for implementation by an object handling unit, to transfer the target object from the object source based on the object entry properties of the object entries corresponding to the object identity approximation; update the object set to indicate that the target object corresponding to a specific instance of the object entries has been removed from the object source; and a storage unit 204, coupled to the control unit, configured to store the object set.

公开(公告)号：US12243117B2

公开(公告)日：2025-03-04

申请号：US18510521

申请日：2023-11-15

Applicant: MUJIN, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues

IPC: G06T1/00 ,  B25J9/16 ,  B25J19/02 ,  B65G61/00 ,  G06F18/23 ,  G06T7/13 ,  G06T7/174 ,  G06T7/33 ,  G06T7/73 ,  G06V10/44 ,  G06V20/52 ,  G06V20/64

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：US12219269B2

公开(公告)日：2025-02-04

申请号：US18591980

申请日：2024-02-29

Applicant: MUJIN, INC.

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

IPC: H04N23/80 ,  B25J9/16 ,  H04N23/698 ,  H04N23/81

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：US12002007B2

公开(公告)日：2024-06-04

申请号：US17944117

申请日：2022-09-13

Applicant: MUJIN, Inc.

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

IPC: G06Q10/08 ,  B25J9/16 ,  B65B43/46 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/087 ,  G06T7/11 ,  G06T7/13 ,  G06T7/50 ,  G06T7/62 ,  G06T7/73 ,  G06T19/20 ,  G06V10/20 ,  G06V10/25 ,  G06V20/64 ,  G06V10/44

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

Abstract: A system and method for operating a robotic system to scan and register unrecognized objects is disclosed. The robotic system may use an image data representative of an unrecognized object located at a start location to implement operations for transferring the unrecognized object from the start location. While implementing the operations, the robotic system may obtain additional data, including scanning results of one or more portions of the unrecognized object not included in the image data. The robotic system may use the additional data to register the unrecognized object.

公开(公告)号：US11924559B2

公开(公告)日：2024-03-05

申请号：US17228783

申请日：2021-04-13

Applicant: MUJIN, INC.

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

IPC: H04N23/80 ,  B25J9/16 ,  H04N23/698 ,  H04N23/81

CPC classification number: H04N23/80 ,  H04N23/698 ,  H04N23/81 ,  B25J9/1612

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：US11850760B2

公开(公告)日：2023-12-26

申请号：US17806379

申请日：2022-06-10

Applicant: MUJIN, Inc.

Inventor： Jinze Yu ,  Jose Jeronimo Moreira Rodrigues

IPC: G06T7/13 ,  G06T7/33 ,  G06T7/174 ,  G06T7/73 ,  G06T1/00 ,  B25J9/16 ,  B25J9/02 ,  B65G61/00 ,  G06V10/44 ,  G06V20/64 ,  B25J19/02 ,  G06F18/23

CPC classification number: B25J9/1697 ,  B25J19/023 ,  B65G61/00 ,  G06F18/23 ,  G06T1/0014 ,  G06T7/13 ,  G06T7/174 ,  G06T7/33 ,  G06T7/73 ,  G06V10/443 ,  G06V20/647 ,  B65G2201/025 ,  G06T2207/20212

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.