公开(公告)号：US08639644B1

公开(公告)日：2014-01-28

申请号：US13464699

申请日：2012-05-04

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  James R. Bruce ,  Chaitanya Gharpure ,  Damon Kohler ,  Arshan Poursohi ,  Anthony G. Francis, Jr. ,  Thor Lewis

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  James R. Bruce ,  Chaitanya Gharpure ,  Damon Kohler ,  Arshan Poursohi ,  Anthony G. Francis, Jr. ,  Thor Lewis

IPC分类号： G06F15/18 ,  G06F17/00 ,  G06N5/00 ,  G06F19/00 ,  G05B19/418

CPC分类号： G05B19/042 ,  G05B2219/31205 ,  G05B2219/39393 ,  G05B2219/45084 ,  G06N3/008

摘要： The present application discloses shared robot knowledge bases for use with cloud computing systems. In one embodiment, the cloud computing system collects data from a robot about an object the robot has encountered in its environment, and stores the received data in the shared robot knowledge base. In another embodiment, the cloud computing system sends instructions for interacting with an object to a robot, receives feedback from the robot based on its interaction with the object, and updates data in the shared robot knowledge base based on the feedback. In yet another embodiment, the cloud computing system sends instructions to a robot for executing an application based on information stored in the shared robot knowledge base. In the disclosed embodiments, information in the shared robot knowledge bases is updated based on robot experiences so that any particular robot may benefit from prior experiences of other robots.

摘要翻译： 本申请公开了与云计算系统一起使用的共享机器人知识库。 在一个实施例中，云计算系统从机器人收集关于机器人在其环境中遇到的对象的数据，并将接收到的数据存储在共享机器人知识库中。 在另一个实施例中，云计算系统发送用于与对象交互到机器人的指令，基于与对象的交互从机器人接收反馈，并且基于反馈来更新共享机器人知识库中的数据。 在另一个实施例中，云计算系统基于存储在共享机器人知识库中的信息向机器人发送指令以执行应用。 在所公开的实施例中，基于机器人体验来更新共享机器人知识库中的信息，使得任何特定机器人可以受益于其他机器人的先前经验。

公开(公告)号：US08456467B1

公开(公告)日：2013-06-04

申请号：US13564911

申请日：2012-08-02

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC分类号： G06T15/00

CPC分类号： G06T15/005

摘要： Methods and systems for providing a three-dimensional (3D) image viewer in a webpage are provided. According to an example method, a webpage may be provided, and the webpage may include embedded language that identifies a 3D image viewer to be provided within the webpage. Based on the embedded language, a computer having a processor and a memory may request information associated with rendering a 3D object data model in the 3D image viewer. The method may also include providing the 3D image viewer within the webpage, and receiving information associated with rendering the 3D object data model. Additionally, the 3D object data model may be rendered in the 3D image viewer based on the received information. Additional example systems and methods are described herein.

公开(公告)号：US08854362B1

公开(公告)日：2014-10-07

申请号：US13592450

申请日：2012-08-23

申请人： Arshan Poursohi ,  Ryan Hickman ,  Chaitanya Gharpure ,  Thor Lewis

发明人： Arshan Poursohi ,  Ryan Hickman ,  Chaitanya Gharpure ,  Thor Lewis

IPC分类号： G06T17/00

CPC分类号： G06T17/00

摘要： Systems and methods for collecting data from an object are provided. In examples, a plurality of sensing components are configured to receive information indicative of one or more characteristics of the object. The information indicative of one or more characteristics of the object can be associated with respective data points of the object. The system is further configured to generate a three-dimensional (3D) view of the object based on the information indicative of one or more characteristics of the object and the association with respective data points.

摘要翻译： 提供了从对象收集数据的系统和方法。 在示例中，多个感测组件被配置为接收指示对象的一个​​或多个特征的信息。 指示对象的一个​​或多个特征的信息可以与对象的相应数据点相关联。 该系统还被配置为基于指示对象的一个​​或多个特性的信息以及与各个数据点的关联来生成对象的三维（3D）视图。

公开(公告)号：US08525846B1

公开(公告)日：2013-09-03

申请号：US13644599

申请日：2012-10-04

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC分类号： G09G5/00

CPC分类号： G09G5/00 ,  G06T15/005 ,  G06T19/20 ,  G06T2219/2012

摘要： Methods and systems for material refinement for portions of a three-dimensional (3D) object data model are provided. An example method may include rendering a portion of a 3D object data model, and determining a first appearance metric between an appearance of the portion in the rendered view and a two-dimensional (2D) image. For one or more iterations, a modification to material properties associated with the portion may be determined based on the first appearance metric, and another view of the portion of the 3D object data model may be rendered. Also for the one or more iterations, another appearance metric between and an appearance of the portion in the rendered another view and the 2D image may be determined. Additionally, modified material properties for the portion that are associated with a minimum appearance metric of the one or more iterations may be stored for the 3D object data model.

摘要翻译： 提供了用于三维（3D）对象数据模型的部分的材料细化的方法和系统。 示例性方法可以包括渲染3D对象数据模型的一部分，以及确定渲染视图中的部分的外观与二维（2D）图像之间的第一外观度量。 对于一个或多个迭代，可以基于第一出现度量来确定与该部分相关联的材料属性的修改，并且可以呈现3D对象数据模型的该部分的另一视图。 对于一次或多次迭代，也可以确定渲染的另一视图中的部分的外观与2D图像之间的另外的外观度量。 此外，可以为3D对象数据模型存储与一个或多个迭代的最小外观度量相关联的部分的修改的材料属性。

公开(公告)号：US08515982B1

公开(公告)日：2013-08-20

申请号：US13644362

申请日：2012-10-04

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC分类号： G06F17/30

CPC分类号： G06F17/5086 ,  G06F17/50

摘要： Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve receiving an annotated template of a first three-dimensional (3D) object data model. The annotated template may be associated with a given category of objects and may include one or more annotations to one or more aspects of an object described by the first 3D object data model. The method may also include determining matching correspondences between the first 3D object data model and a second 3D object data model that is a given object in the given category. For the one or more matching correspondences, an annotation that is associated with a correspondence point of the first 3D object data model may be applied as a call-out to a matching correspondence point of the second 3D object data model.

摘要翻译： 提供了与多个三维（3D）对象数据模型交互的方法和系统。 示例性方法可以涉及接收第一三维（3D）对象数据模型的注释模板。 注释的模板可以与给定类别的对象相关联，并且可以包括对由第一3D对象数据模型描述的对象的一个​​或多个方面的一个或多个注释。 该方法还可以包括确定第一3D对象数据模型与作为给定类别中的给定对象的第二3D对象数据模型之间的匹配对应关系。 对于一个或多个匹配对应，可以将与第一3D对象数据模型的对应点相关联的注释应用于第二3D对象数据模型的匹配对应点的调出。

公开(公告)号：US20140028799A1

公开(公告)日：2014-01-30

申请号：US13648393

申请日：2012-10-10

申请人： James Kuffner ,  Arshan Poursohi ,  Chaitanya Gharpure ,  Ryan Hickman

发明人： James Kuffner ,  Arshan Poursohi ,  Chaitanya Gharpure ,  Ryan Hickman

IPC分类号： H04N13/02

CPC分类号： G01B11/24 ,  G01B11/245 ,  G06T17/00

摘要： Methods and systems for using a mobile device with a multi-element display, a camera, and a controller to determine a 3D model of a target object. The multi-element display is configured to generate a light field. At least a portion of the light field reflects from a target object. The camera is configured to capture a plurality of images based on the portion of the light field reflected from the target object. The controller is configured to determine a 3D model of the target object based on the images. The 3D model includes three-dimensional shape and color information about the target object. In some examples, the light field could include specific light patterns, spectral content, and other forms of modulated/structured light.

摘要翻译： 用于使用具有多元素显示器，相机和控制器的移动设备来确定目标对象的3D模型的方法和系统。 多元素显示器被配置为产生光场。 光场的至少一部分从目标物体反射。 相机被配置为基于从目标对象反射的光场的部分捕获多个图像。 控制器被配置为基于图像来确定目标对象的3D模型。 3D模型包括关于目标对象的三维形状和颜色信息。 在一些示例中，光场可以包括特定光图案，光谱含量和其他形式的调制/结构光。

公开(公告)号：US08712737B1

公开(公告)日：2014-04-29

申请号：US13603359

申请日：2012-09-04

申请人： Ryan Hickman ,  Arshan Poursohi ,  Thor Lewis

发明人： Ryan Hickman ,  Arshan Poursohi ,  Thor Lewis

IPC分类号： G06F17/50 ,  G06F7/60

CPC分类号： G06F17/50 ,  G01B11/2545 ,  G06F7/60 ,  G06T17/00 ,  G06T19/20 ,  G06T2210/16 ,  G06T2219/2021

摘要： Disclosed are methods and systems for determining and displaying a simulated deformation of a 3D object data model. In one aspect, a method is disclosed that includes causing a force to be applied to an object to cause a deformation of the object and causing a plurality of reference scans of the object to be captured. The method further includes, based on the plurality of reference scans, generating a 3D object data model representing the object and, further based on the plurality of reference scans, identifying a constraint point of the 3D object data model, where the constraint point represents a point of minimum deformation of the object. The method still further includes selecting a predefined deformation model, where the predefined deformation model defines a simulated deformation, and where the simulated deformation simulates at least a portion of the deformation of the object proximate to the point of minimum deformation.

摘要翻译： 公开了用于确定和显示3D对象数据模型的模拟变形的方法和系统。 在一个方面，公开了一种方法，其包括使力施加到物体以引起物体的变形并导致被捕获物体的多个基准扫描。 所述方法还包括基于所述多个参考扫描，生成表示所述对象的3D对象数据模型，并且还基于所述多个参考扫描来识别所述3D对象数据模型的约束点，其中所述约束点表示 物体的最小变形点。 该方法还包括选择预定义的变形模型，其中预定义的变形模型定义了模拟变形，并且其中模拟变形模拟了最接近于最小变形点的物体的变形的至少一部分。

公开(公告)号：US08874266B1

公开(公告)日：2014-10-28

申请号：US13564313

申请日：2012-08-01

申请人： Anthony G. Francis, Jr. ,  Ryan Hickman ,  Arshan Poursohi

发明人： Anthony G. Francis, Jr. ,  Ryan Hickman ,  Arshan Poursohi

IPC分类号： G05B19/04 ,  G05B19/18 ,  G05B15/00 ,  G05B19/00

CPC分类号： B25J9/161 ,  G05B23/0221 ,  G06F9/5072

摘要： A method includes receiving first sensor data acquired by a first sensor in communication with a cloud computing system. The first sensor data has a first set of associated attributes including a time and a location at which the first sensor data was acquired. The method also includes receiving second sensor data acquired by a second sensor in communication with the cloud computing system. The second data has a second set of associated attributes including a time and a location at which the second sensor data was acquire. Further, the method includes generating a data processing result based at least in part on the first sensor data, the first set of associated attributes, the second sensor data, and the second set of associated attributes and instructing a robot in communication with the cloud computing system to perform a task based at least in part on the data processing result.

摘要翻译： 一种方法包括接收与云计算系统通信的由第一传感器采集的第一传感器数据。 第一传感器数据具有第一组关联属性，包括时间和获取第一传感器数据的位置。 该方法还包括接收由与云计算系统通信的第二传感器采集的第二传感器数据。 第二数据具有包括第二传感器数据获取的时间和位置的第二组关联属性。 此外，该方法包括至少部分地基于第一传感器数据，第一组关联属性，第二传感器数据和第二组关联属性生成数据处理结果，并且指示机器人与云计算通信 系统至少部分地基于数据处理结果执行任务。

公开(公告)号：US08451323B1

公开(公告)日：2013-05-28

申请号：US13611673

申请日：2012-09-12

申请人： Arshan Poursohi ,  Thor Lewis

发明人： Arshan Poursohi ,  Thor Lewis

IPC分类号： H04N7/18

CPC分类号： G06T7/70 ,  G01B11/00 ,  G01B11/24

摘要： Disclosed are methods and systems for building data models by using light to determine material properties of illuminated objects. In an embodiment, a system includes a set of device pairs (of lighting-source and image-capture devices) arranged on the perimeter (and directed at a central region of) a 3D shape. The system iterates from an initial state through a plurality of imaging states. The initial state involves (1) an object being situated in a controlled-lighting space and (2) the device pairs being positioned within the controlled-lighting space and around the object, which is situated in the central region of the 3D shape. Each imaging state involves the activation of an imaging-state-specific subset of lighting-source and image-capture devices. The system captures image data indicative of the appearance of the object during the imaging states, and stores that data in a 3D-data model of the object.

摘要翻译： 公开了通过使用光来确定照明物体的材料性质来构建数据模型的方法和系统。 在一个实施例中，系统包括布置在3D形状的周边（并且指向3D中心区域）的一组装置对（照明源和图像捕获装置）。 系统通过多个成像状态从初始状态迭代。 初始状态包括（1）物体位于受控照明空间中，以及（2）设备对定位在受控照明空间内并围绕位于3D形状的中心区域中的物体。 每个成像状态包括激活照明源和图像捕获设备的成像状态特定子集。 该系统在成像状态期间捕获指示对象的外观的图像数据，并将该数据存储在对象的3D数据模型中。

公开(公告)号：US08436853B1

公开(公告)日：2013-05-07

申请号：US13594913

申请日：2012-08-27

申请人： Ryan Hickman ,  James R. Bruce ,  Arshan Poursohi

发明人： Ryan Hickman ,  James R. Bruce ,  Arshan Poursohi

IPC分类号： G06T15/00

CPC分类号： G06T7/55 ,  G06T17/00 ,  G06T2200/08 ,  G06T2207/10016

摘要： Methods and systems for acquiring and ranking image sets are described. In an example, a computing device may be configured to determine a feature-based score that may be based on features of the object including geometry of the object. The computing device also may be configured to receive a plurality of sets of images of the object. A number of respective images of each set of images may be based on the feature-based score. The computing device further may be configured to determine for each set of images a respective image-based score based on a prospective three-dimensional (3D) visualization of the object to be generated by a merged output of that set of images. The computing device also may be configured to determine a respective ranking for each set of images based on the respective image-based score; and select a set of images based on the respective ranking.

摘要翻译： 描述用于获取和排列图像集的方法和系统。 在一个示例中，计算设备可以被配置为确定可以基于包括对象的几何的对象的特征的基于特征的分数。 计算设备还可以被配置为接收对象的多组图像。 每组图像的各个图像的数量可以基于基于特征的分数。 计算设备还可以被配置为基于由该组图像的合并输出生成的对象的预期三维（3D）可视化来为每组图像确定相应的基于图像的分数。 计算设备还可以被配置为基于相应的基于图像的分数来确定每组图像的相应排名; 并根据各自的排名选择一组图像。