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公开(公告)号：US12165361B2
公开(公告)日：2024-12-10
申请号：US17956274
申请日：2022-09-29
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye
Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.
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32.发明授权公开(公告)号：US11961042B2
公开(公告)日：2024-04-16
申请号：US17527012
申请日：2021-11-15
Applicant: MUJIN, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Rosen Nikolaev Diankov , Xutao Ye , Russell Islam
IPC: G06F7/00 , 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: The present disclosure relates to detecting and registering unrecognized or unregistered objects. A minimum viable range (MVR) may be derived based on inspecting image data that represents objects. The MVR may be determined to be a certain MVR or an uncertain MVR according to one or more features represented in the image data. The MVR may be used to register corresponding objects according to the certain or uncertain determination.
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33.发明公开公开(公告)号：US20240078512A1
公开(公告)日：2024-03-07
申请号：US18468591
申请日：2023-09-15
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Russell Islam , Xutao Ye
IPC: G06Q10/087 , B25J9/16 , B65B43/46 , B65G61/00 , G05B19/4093 , G06T7/11 , G06T7/13 , G06T7/50 , G06T7/62 , G06T7/73 , G06T19/20 , G06V10/20 , G06V10/25 , G06V20/64
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 register unrecognized objects is disclosed. The robotic system may use first image data representative of an unrecognized object to derive an initial minimum viable region (MVR). The robotic system may analyze second image data representative of the unrecognized object to detect a condition representative of an accuracy of the initial MVR. The robotic system may register the initial MVR or an adjustment thereof based on the detected condition.
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34.发明授权公开(公告)号：US11883964B2
公开(公告)日：2024-01-30
申请号：US18164295
申请日：2023-02-03
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
CPC classification number: B25J9/1692 , B25J9/1697 , G06T7/80 , G05B2219/39008 , G06T2207/30164
Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.
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公开(公告)号：US11571816B2
公开(公告)日：2023-02-07
申请号：US16749365
申请日：2020-01-22
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A robot control system and a method for updating camera calibration is presented. The method comprises the robot control system performing a first camera calibration to determine camera calibration information, and outputting a first movement command based on the camera calibration information for a robot operation. The method further comprises outputting, after the first camera calibration, a second movement command to move a calibration pattern within a camera field of view, receiving one or more calibration images, and adding the one or more calibration images to a captured image set. The method further comprises performing a second camera calibration based on calibration images in the captured image set to determine updated camera calibration information, determining whether a deviation between the camera calibration information and the updated camera calibration information exceeds a defined threshold, and outputting a notification signal if the deviation exceeds the defined threshold.
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Patent Agency Ranking
36.发明授权公开(公告)号：US11288810B2
公开(公告)日：2022-03-29
申请号：US16888376
申请日：2020-05-29
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC: G06T7/13 , G06T7/73 , G06T7/50 , G06T7/62 , G06T19/20 , G06T7/11 , G06K9/00 , G06K9/32 , B25J9/16 , B65G61/00 , G05B19/4093 , G06Q10/08 , B65B43/46
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.
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37.发明授权公开(公告)号：US11176674B2
公开(公告)日：2021-11-16
申请号：US16667882
申请日：2019-10-29
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Russell Islam , Xutao Ye
IPC: G06T7/11 , G06T7/13 , B25J9/16 , G06T7/73 , G06T7/50 , G06T7/62 , B65G61/00 , G05B19/4093 , G06Q10/08 , G06T19/20 , B65B43/46 , G06K9/00 , G06K9/32
Abstract: A system and method for operating a robotic system to register unrecognized objects is disclosed. The robotic system may use first image data representative of an unrecognized object located at a start location to derive an initial minimum viable region (MVR) and to implement operations for initially displacing the unrecognized object. The robotic system may analyze second image data representative of the unrecognized object after the initial displacement operations to detect a condition representative of an accuracy of the initial MVR. The robotic system may register the initial MVR or an adjustment thereof based on the detected condition.
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公开(公告)号：US11080876B2
公开(公告)日：2021-08-03
申请号：US16668492
申请日：2019-10-30
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye
Abstract: A method and system for processing camera images is presented. The system receives a first depth map generated based on information sensed by a first type of depth-sensing camera, and receives a second depth map generated based on information sensed by a second type of depth-sensing camera. The first depth map includes a first set of pixels that indicate a first set of respective depth values. The second depth map includes a second set of pixels that indicate a second set of respective depth values. The system identifies a third set of pixels of the first depth map that correspond to the second set of pixels of the second depth map, identifies one or more empty pixels from the third set of pixels, and updates the first depth map by assigning to each empty pixel a respective depth value based on the second depth map.
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39.发明授权公开(公告)号：US10906184B2
公开(公告)日：2021-02-02
申请号：US16864071
申请日：2020-04-30
Applicant: MUJIN, INC.
Inventor： Russell Islam , Xutao Ye , Rosen Diankov
Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.
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40.发明申请公开(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.
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