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公开(公告)号：US20250010481A1
公开(公告)日：2025-01-09
申请号：US18750263
申请日：2024-06-21
Applicant: Dexterity, Inc.
Inventor： Neeraja Abhyankar , Harry Zhe Su , Joseph W. Weber , Kevin Jose Chavez , Neeraj Basu , Cuthbert Sun , Vikram Ramanathan , Arth Beladiya
IPC: B25J9/16
Abstract: Performing a “cold start” of a robotic stacking operation is disclosed. In various embodiments, estimated state information representing an estimated state of one or both of a receptacle and one or more objects stacked on or in the receptacle is stored. An indication is received that the estimated state information is not suitable to make a next placement decision with respect to a next object to be stacked on or in the receptacle. Constructed estimated state information is generated at least in part by processing sensor information generated by one or more sensors positioned and configured to generate sensor information providing an at least partial view of one or both of the receptacle and the one or more objects stacked on or in the receptacle.
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公开(公告)号：US20240135585A1
公开(公告)日：2024-04-25
申请号：US18491259
申请日：2023-10-19
Applicant: Dexterity, Inc.
Inventor： Ayush Sharma , Joseph W. Weber , Cyril Nader , Jonathan Anglingdarma , Vladimir Bulvakhter
CPC classification number: G06T7/80 , B25J9/1692 , B25J9/1697 , H04N17/002 , H04N23/66 , G06T2200/24 , G06T2207/30204
Abstract: Techniques are disclosed to calibrate a camera for use with one or more robots to perform a robotic application. In various embodiments, selection of a camera to be calibrated is received via a user interface. A region of interest associated with the camera and a robot with which the camera is associated is determined. A set of sample points within the region of interest is selected. The robot is moved through a set of trajectories to position the robot, successively with respect to each of at least a subset of the sample points, in a predetermined pose at a location associated with the sample point and, at each location cause the camera to generate a corresponding image that includes at least a fiducial marker located on the robot. The respective predetermined poses and corresponding images are used to perform a set of calibration computations with respect to the camera.
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公开(公告)号：US20240233182A9
公开(公告)日：2024-07-11
申请号：US18491259
申请日：2023-10-20
Applicant: Dexterity, Inc.
Inventor： Ayush Sharma , Joseph W. Weber , Cyril Nader , Jonathan Anglingdarma , Vladimir Bulvakhter
CPC classification number: G06T7/80 , B25J9/1692 , B25J9/1697 , H04N17/002 , H04N23/66 , G06T2200/24 , G06T2207/30204
Abstract: Techniques are disclosed to calibrate a camera for use with one or more robots to perform a robotic application. In various embodiments, selection of a camera to be calibrated is received via a user interface. A region of interest associated with the camera and a robot with which the camera is associated is determined. A set of sample points within the region of interest is selected. The robot is moved through a set of trajectories to position the robot, successively with respect to each of at least a subset of the sample points, in a predetermined pose at a location associated with the sample point and, at each location cause the camera to generate a corresponding image that includes at least a fiducial marker located on the robot. The respective predetermined poses and corresponding images are used to perform a set of calibration computations with respect to the camera.
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