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1.发明公开公开(公告)号：US20240054676A1
公开(公告)日：2024-02-15
申请号：US18448824
申请日：2023-08-11
Applicant: Cognex Corporation
Inventor： Nitin M. Vaidya , Nathaniel Bogan
CPC classification number: G06T7/74 , G06T7/60 , G06T2207/10028
Abstract: The techniques described herein relate to methods, apparatus, and computer readable media configured to determining a candidate three-dimensional (3D) orientation of an object represented by a three-dimensional (3D) point cloud. The method includes receiving data indicative of a 3D point cloud comprising a plurality of 3D points, determining a first histogram for the plurality of 3D points based on geometric features determined based on the plurality of 3D points, accessing data indicative of a second histogram of geometric features of a 3D representation of a reference object, computing, for each of a plurality of different rotations between the first histogram and the second histogram in 3D space, a scoring metric for the associated rotation, and determining the candidate 3D orientation based on the scoring metrics of the plurality of different rotations.
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公开(公告)号：US11816857B2
公开(公告)日：2023-11-14
申请号：US17316327
申请日：2021-05-10
Applicant: Cognex Corporation
Inventor： Hongwei Zhu , David J. Michael , Nitin M. Vaidya
CPC classification number: G06T7/66 , G06F18/22 , G06T7/50 , G06T11/206 , G06T17/20 , G06V10/50 , G06T2207/10028 , G06T2207/20072
Abstract: The techniques described herein relate to methods, apparatus, and computer readable media configured to generate point cloud histograms. A one-dimensional histogram can be generated by determining a distance to a reference for each 3D point of a 3D point cloud. A one-dimensional histogram is generated by adding, for each histogram entry, distances that are within the entry's range of distances. A two-dimensional histogram can be determined by generating a set of orientations by determining, for each 3D point, an orientation with at least a first value for a first component and a second value for a second component. A two-dimensional histogram can be generated based on the set of orientations. Each bin can be associated with ranges of values for the first and second components. Orientations can be added for each bin that have first and second values within the first and second ranges of values, respectively, of the bin.
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公开(公告)号：US20210350595A1
公开(公告)日：2021-11-11
申请号：US17316372
申请日：2021-05-10
Applicant: Cognex Corporation
Inventor： Hongwei Zhu , David J. Michael , Nitin M. Vaidya
Abstract: The techniques described herein relate to methods, apparatus, and computer readable media configured to generate point cloud histograms. A one-dimensional histogram can be generated by determining a distance to a reference for each 3D point of a 3D point cloud. A one-dimensional histogram is generated by adding, for each histogram entry, distances that are within the entry's range of distances. A two-dimensional histogram can be determined by generating a set of orientations by determining, for each 3D point, an orientation with at least a first value for a first component and a second value for a second component. A two-dimensional histogram can be generated based on the set of orientations. Each bin can be associated with ranges of values for the first and second components. Orientations can be added for each bin that have first and second values within the first and second ranges of values, respectively, of the bin.
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公开(公告)号：US11468609B2
公开(公告)日：2022-10-11
申请号：US17316372
申请日：2021-05-10
Applicant: Cognex Corporation
Inventor： Hongwei Zhu , David J. Michael , Nitin M. Vaidya
Abstract: The techniques described herein relate to methods, apparatus, and computer readable media configured to generate point cloud histograms. A one-dimensional histogram can be generated by determining a distance to a reference for each 3D point of a 3D point cloud. A one-dimensional histogram is generated by adding, for each histogram entry, distances that are within the entry's range of distances. A two-dimensional histogram can be determined by generating a set of orientations by determining, for each 3D point, an orientation with at least a first value for a first component and a second value for a second component. A two-dimensional histogram can be generated based on the set of orientations. Each bin can be associated with ranges of values for the first and second components. Orientations can be added for each bin that have first and second values within the first and second ranges of values, respectively, of the bin.
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Patent Agency Ranking
公开(公告)号：US20210350165A1
公开(公告)日：2021-11-11
申请号：US17316327
申请日：2021-05-10
Applicant: Cognex Corporation
Inventor： Hongwei Zhu , David J. Michael , Nitin M. Vaidya
Abstract: The techniques described herein relate to methods, apparatus, and computer readable media configured to generate point cloud histograms. A one-dimensional histogram can be generated by determining a distance to a reference for each 3D point of a 3D point cloud. A one-dimensional histogram is generated by adding, for each histogram entry, distances that are within the entry's range of distances. A two-dimensional histogram can be determined by generating a set of orientations by determining, for each 3D point, an orientation with at least a first value for a first component and a second value for a second component. A two-dimensional histogram can be generated based on the set of orientations. Each bin can be associated with ranges of values for the first and second components. Orientations can be added for each bin that have first and second values within the first and second ranges of values, respectively, of the bin.
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公开(公告)号：US11605177B2
公开(公告)日：2023-03-14
申请号：US16437241
申请日：2019-06-11
Applicant: Cognex Corporation
Inventor： Ben R. Carey , Nickolas J. Mullan , Gilbert Chiang , Yukang Liu , Nitin M. Vaidya , Hongwei Zhu , Daniel Moreno , David J. Michael
IPC: G06T7/62 , G06T7/64 , G06F3/04847 , H04N13/296 , H04N5/235 , H04N13/361 , G06V20/64 , H04N13/00
Abstract: A system and method for estimating dimensions of an approximately cuboidal object from a 3D image of the object acquired by an image sensor of the vision system processor is provided. An identification module, associated with the vision system processor, automatically identifies a 3D region in the 3D image that contains the cuboidal object. A selection module, associated with the vision system processor, automatically selects 3D image data from the 3D image that corresponds to approximate faces or boundaries of the cuboidal object. An analysis module statistically analyzes, and generates statistics for, the selected 3D image data that correspond to approximate cuboidal object faces or boundaries. A refinement module chooses statistics that correspond to improved cuboidal dimensions from among cuboidal object length, width and height. The improved cuboidal dimensions are provided as dimensions for the object. A user interface displays a plurality of interface screens for setup and runtime operation.
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公开(公告)号：US20220358668A1
公开(公告)日：2022-11-10
申请号：US17745087
申请日：2022-05-16
Applicant: Cognex Corporation
Inventor： Nitin M. Vaidya , Hongwei Zhu , Daniel Moreno , Ben R. Carey , Nickolas J. Mullan , Gilbert Chiang , Yukang Liu , David J. Michael
Abstract: A system and method for estimating dimensions of an approximately cuboidal object from a 3D image of the object acquired by an image sensor of the vision system processor is provided. An identification module, associated with the vision system processor, automatically identifies a 3D region in the 3D image that contains the cuboidal object. A selection module, associated with the vision system processor, automatically selects 3D image data from the 3D image that corresponds to approximate faces or boundaries of the cuboidal object. An analysis module statistically analyzes, and generates statistics for, the selected 3D image data that correspond to approximate cuboidal object faces or boundaries. A refinement module chooses statistics that correspond to improved cuboidal dimensions from among cuboidal object length, width and height. The improved cuboidal dimensions are provided as dimensions for the object. A user interface displays a plurality of interface screens for setup and runtime operation.
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公开(公告)号：US11335021B1
公开(公告)日：2022-05-17
申请号：US16437180
申请日：2019-06-11
Applicant: Cognex Corporation
Inventor： Nitin M. Vaidya , Hongwei Zhu , Daniel Moreno , Ben R. Carey , Nickolas J. Mullan , Gilbert Chiang , Yukang Liu , David J. Michael
Abstract: A system and method for estimating dimensions of an approximately cuboidal object from a 3D image of the object acquired by an image sensor of the vision system processor is provided. An identification module, associated with the vision system processor, automatically identifies a 3D region in the 3D image that contains the cuboidal object. A selection module, associated with the vision system processor, automatically selects 3D image data from the 3D image that corresponds to approximate faces or boundaries of the cuboidal object. An analysis module statistically analyzes, and generates statistics for, the selected 3D image data that correspond to approximate cuboidal object faces or boundaries. A refinement module chooses statistics that correspond to improved cuboidal dimensions from among cuboidal object length, width and height. The improved cuboidal dimensions are provided as dimensions for the object. A user interface displays a plurality of interface screens for setup and runtime operation.
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公开(公告)号：US11810314B2
公开(公告)日：2023-11-07
申请号：US17745087
申请日：2022-05-16
Applicant: Cognex Corporation
Inventor： Nitin M. Vaidya , Hongwei Zhu , Daniel Moreno , Ben R. Carey , Nickolas J. Mullan , Gilbert Chiang , Yukang Liu , David J. Michael
CPC classification number: G06T7/62 , G06T7/64 , G06T2200/24 , G06T2207/10012
Abstract: A system and method for estimating dimensions of an approximately cuboidal object from a 3D image of the object acquired by an image sensor of the vision system processor is provided. An identification module, associated with the vision system processor, automatically identifies a 3D region in the 3D image that contains the cuboidal object. A selection module, associated with the vision system processor, automatically selects 3D image data from the 3D image that corresponds to approximate faces or boundaries of the cuboidal object. An analysis module statistically analyzes, and generates statistics for, the selected 3D image data that correspond to approximate cuboidal object faces or boundaries. A refinement module chooses statistics that correspond to improved cuboidal dimensions from among cuboidal object length, width and height. The improved cuboidal dimensions are provided as dimensions for the object. A user interface displays a plurality of interface screens for setup and runtime operation.
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