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    Method and system for determining occlusion within a camera field of view
    52.
    发明授权
    Method and system for determining occlusion within a camera field of view 有权

    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.

    ROBOTIC SYSTEMS WITH OBJECT HANDLING MECHANISM AND ASSOCIATED SYSTEMS AND METHODS
    54.
    发明公开
    ROBOTIC SYSTEMS WITH OBJECT HANDLING MECHANISM AND ASSOCIATED SYSTEMS AND METHODS 审中-公开

    公开(公告)号：US20230321846A1

    公开(公告)日：2023-10-12

    申请号：US18296762

    申请日：2023-04-06

    Applicant: MUJIN, Inc.

    Inventor： Lei Lei ,  Xutao Ye ,  Xu Chen ,  Yixuan Zhang ,  Zhili Lai ,  Long Du ,  Pai Zheng ,  Rosen Nikolaev Diankov

    IPC: B25J15/06 ,  B25J9/16 ,  B25J19/02

    CPC classification number: B25J15/0616 ,  B25J9/1612 ,  B25J19/023

    Abstract: Robotic systems with griping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a frame and an actuator system coupled to the frame. The end-of-arm tool can also include a first clamping component, a second clamping component, and a third clamping component each coupled to the frame. The third clamping component is positioned peripheral to the second clamping component with respect to the first clamping component and includes one or more extension portions extending toward the first clamping component. The actuator system can be coupled to the first, second, and/or third clamping components to move the first, second, and/or third clamping components along a transverse axis of the end-of-arm tool.

    Method and system for performing automatic camera calibration
    56.
    发明授权
    Method and system for performing automatic camera calibration 有权

    公开(公告)号：US11508088B2

    公开(公告)日：2022-11-22

    申请号：US16871361

    申请日：2020-05-11

    Applicant: MUJIN, INC.

    Inventor： Russell Islam ,  Xutao Ye

    IPC: G06T7/80 ,  B25J9/16

    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.

    Method and computing system for performing container detection and object detection
    59.
    发明授权
    Method and computing system for performing container detection and object detection 有权

    公开(公告)号：US11130237B1

    公开(公告)日：2021-09-28

    申请号：US16929854

    申请日：2020-07-15

    Applicant: MUJIN, INC.

    Inventor： Xutao Ye ,  Kazuto Murase

    IPC: B25J9/16 ,  G06T7/50 ,  G06T7/73 ,  B25J13/08 ,  H04N5/232

    Abstract: A system and method for performing object detection are presented. The system receives spatial structure information associated with an object which is or has been in a camera field of view of a spatial structure sensing camera. The spatial structure information is generated by the spatial structure sensing camera, and includes depth information for an environment in the camera field of view. The system determines a container pose based on the spatial structure information, wherein the container pose is for describing at least one of an orientation for the container or a depth value for at least a portion of the container. The system further determines an object pose based on the container pose, wherein the object pose is for describing at least one of an orientation for the object or a depth value for at least a portion of the object.

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