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公开(公告)号：US10967506B2
公开(公告)日：2021-04-06
申请号：US15827321
申请日：2017-11-30
Applicant: X Development LLC
Inventor： Gary Bradski , Kurt Konolige , Ethan Rublee
IPC: B25J9/16 , G06T7/529 , G06T7/593 , G06T7/13 , G06T17/00 , G06K9/00 , H04N13/239 , G06T7/55 , H04N5/33 , B25J5/00 , B65G41/00 , G06T19/00 , B25J19/00 , G06K9/32 , G06K9/62 , B65G61/00 , B65H67/06 , B25J19/02 , B65G47/46 , B65G47/50 , G01B11/25 , G06K9/46 , G06K9/52 , G06T7/60 , B25J9/00 , H04N13/00
Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.
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公开(公告)号：US10671874B2
公开(公告)日：2020-06-02
申请号：US16042877
申请日：2018-07-23
Applicant: X Development LLC
Inventor： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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Patent Agency Ranking
公开(公告)号：US20200025561A1
公开(公告)日：2020-01-23
申请号：US16584770
申请日：2019-09-26
Applicant: X Development LLC
Inventor： Kurt Konolige
IPC: G01B11/25 , G01B11/24 , H04N13/254 , H04N13/271 , G01B11/02 , G06T7/593 , G06T7/521 , H04N13/239 , B25J9/16 , G05D1/02 , G06K9/00 , G06T1/00
Abstract: Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.
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公开(公告)号：US10427296B1
公开(公告)日：2019-10-01
申请号：US16051638
申请日：2018-08-01
Applicant: X Development LLC
Inventor： Peter Pastor Sampedro , Mrinal Kalakrishnan , Ali Yahya Valdovinoa , Adrian Li , Kurt Konolige , Vincent Dureau
Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.
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公开(公告)号：US20180349725A1
公开(公告)日：2018-12-06
申请号：US16042877
申请日：2018-07-23
Applicant: X Development LLC
Inventor： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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公开(公告)号：US10058995B1
公开(公告)日：2018-08-28
申请号：US15205760
申请日：2016-07-08
Applicant: X DEVELOPMENT LLC
Inventor： Peter Pastor Sampedro , Mrinal Kalakrishnan , Ali Yahya Valdovinos , Adrian Li , Kurt Konolige , Vincent Dureau
CPC classification number: B25J9/0084 , B25J9/163 , G05B2219/39271
Abstract: Methods and apparatus related to receiving a request that includes robot instructions and/or environmental parameters, operating each of a plurality of robots based on the robot instructions and/or in an environment configured based on the environmental parameters, and storing data generated by the robots during the operating. In some implementations, at least part of the stored data that is generated by the robots is provided in response to the request and/or additional data that is generated based on the stored data is provided in response to the request.
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公开(公告)号：US20180039848A1
公开(公告)日：2018-02-08
申请号：US15227612
申请日：2016-08-03
Applicant: X Development LLC
Inventor： Kurt Konolige , Nareshkumar Rajkumar , Stefan Hinterstoisser
CPC classification number: G06K9/3241 , B25J9/161 , B25J9/1692 , G05B2219/33038 , G05B2219/39046 , G05B2219/39543 , G05B2219/40564 , G06K9/00664 , G06T7/0046 , G06T7/344 , G06T17/00 , G06T2207/10012 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30244
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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