公开(公告)号：US20130262511A1

公开(公告)日：2013-10-03

申请号：US13791182

申请日：2013-03-08

Applicant: GOOGLE INC.

Inventor： James J. Kuffner, JR. ,  James R. Bruce ,  Arshan Poursohi ,  Ryan Hickman

IPC: G06F17/30

CPC classification number: G06F17/30047 ,  G06F17/30259 ,  G06F17/30268 ,  G06T15/50 ,  G06T2215/16

Abstract: Methods and systems are provided for determining and transmitting applicable lighting information, applicable viewing perspective, and a 3D model for an object in response to a search query. An example method includes receiving, at a server, a search query regarding an object. A 3D model for the object is determined. The 3D model includes three-dimensional shape information about the object. The method also includes determining, based on a plurality of stored images of the object, at least one applicable light field and at least one applicable viewing perspective. A search query result is transmitted from the server. The search query result may include the 3D model, the applicable light field(s), and the applicable viewing perspective(s). A server and a non-transitory computer readable medium are also disclosed that could perform a similar method.

Abstract translation: 提供了用于响应于搜索查询来确定和传送可应用的照明信息，适用的观看透视图和用于对象的3D模型的方法和系统。 一种示例性方法包括在服务器处接收关于对象的搜索查询。 确定对象的3D模型。 3D模型包括关于对象的三维形状信息。 该方法还包括基于对象的多个存储的图像来确定至少一个可应用的光场和至少一个适用的观看透视图。 从服务器发送搜索查询结果。 搜索查询结果可以包括3D模型，可应用的光场和适用的观看透视图。 还公开了可以执行类似方法的服务器和非暂时计算机可读介质。

公开(公告)号：US20140253546A1

公开(公告)日：2014-09-11

申请号：US14284889

申请日：2014-05-22

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, JR. ,  Anthony Gerald Francis, JR. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC: G06T19/20 ,  G06T17/00

CPC classification number: G06T19/20 ,  G06T15/20 ,  G06T17/00 ,  G06T2219/2004 ,  G09G5/00

Abstract: Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve providing to a display device for display a first 3D object data model and a second 3D object data model. Information associated with a modification to the first 3D object data model may be received. Based on the received information, a same change may be applied to the first 3D object data model and applied to the second 3D object data model to obtain a first modified 3D object data model and a second modified 3D object data model. According to the method, the first modified 3D object data model and the second modified 3D object data model may be provided to the display device for substantially simultaneous display.

Abstract translation: 提供了与多个三维（3D）对象数据模型进行交互的方法和系统。 示例性方法可以涉及向显示设备提供用于显示第一3D对象数据模型和第二3D对象数据模型。 可以接收与第一3D对象数据模型的修改相关联的信息。 基于接收到的信息，可以将相同的变化应用于第一3D对象数据模型并应用于第二3D对象数据模型以获得第一修改的3D对象数据模型和第二修改3D对象数据模型。 根据该方法，可以将第一修改3D对象数据模型和第二修改3D对象数据模型提供给显示装置，以便基本上同时显示。

公开(公告)号：US20160354923A1

公开(公告)日：2016-12-08

申请号：US15244063

申请日：2016-08-23

Applicant: Google Inc.

Inventor： James J. Kuffner, JR. ,  Ryan Hickman

IPC: B25J9/00 ,  G05B19/418 ,  B25J9/16

CPC classification number: B25J9/0084 ,  B25J9/1679 ,  G05B19/4187 ,  G05B2219/39117 ,  G05B2219/39146 ,  G05B2219/40095 ,  G06Q10/06 ,  Y02P90/205 ,  Y02P90/86 ,  Y10S901/01

Abstract: Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. The computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.

公开(公告)号：US20160207199A1

公开(公告)日：2016-07-21

申请号：US15005362

申请日：2016-01-25

Applicant: Google Inc.

Inventor： James J. Kuffner, JR. ,  Peter Elving Anderson-Sprecher

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J19/06 ,  G05B2219/40196 ,  G05B2219/40202 ,  G05B2219/40203 ,  Y10S901/47 ,  Y10S901/49

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract translation: 提供了确定和呈现虚拟安全网箱的方法和系统。 示例性方法可以包括接收用于机器人设备在由机器人设备占据的物理环境中执行物理动作的指令。 所述方法还可以包括响应于接收到所述指令，并且基于所述机器人设备的一个或多个物理组件的一个或多个参数，确定估计所述机器人装置的所述一个或多个物理组件的一个或多个估计的轨迹 随机器人设备执行物理动作而移动。 所述方法还可以基于所述一个或多个估计的轨迹，确定所述机器人装置估计在进行所述物理动作时在所述物理环境中占据的空间的虚拟表示。 该方法然后可以包括向物理环境提供空间的位置的指示。

公开(公告)号：US20160042555A1

公开(公告)日：2016-02-11

申请号：US14880411

申请日：2015-10-12

Applicant: Google Inc.

Inventor： Chaitanya Gharpure ,  James J. Kuffner, JR.

IPC: G06T15/20 ,  H04N13/02 ,  H04N13/00

CPC classification number: G06T15/205 ,  H04N13/111 ,  H04N13/117 ,  H04N13/139 ,  H04N13/279 ,  H04N2213/003

Abstract: A method and system for video encoding assets for swivel/360-degree spinners is disclosed. Still images of a 3D object from different perspectives about the 3D object may be stacked and then video encoded to generate video frames of the object from the different perspectives. The video-encoded assets may be stored on a server or other network-connected device, and later retrieved by a connected client device for display processing by a swivel/360-degree spinner on the client device. The swivel/360-degree spinner may utilize native video processing capabilities of the client device and/or of a browser running on the client device to display video motion of the object moving through different angular orientations in response to movement of an interactive cursor.

Abstract translation: 公开了用于旋转/ 360度旋转器的视频编码资产的方法和系统。 可以堆叠来自关于3D对象的不同观点的3D对象的静止图像，然后被视频编码以从不同的角度生成对象的视频帧。 视频编码资产可以存储在服务器或其他网络连接的设备上，并且稍后由连接的客户端设备检索，以便通过客户端设备上的旋转/ 360度旋转器进行显示处理。 旋转/ 360度旋转器可以利用客户端设备和/或在客户端设备上运行的浏览器的本地视频处理功能来响应于交互式光标的移动来显示通过不同角度定向移动的对象的视频运动。

公开(公告)号：US20160016315A1

公开(公告)日：2016-01-21

申请号：US14333173

申请日：2014-07-16

Applicant: Google Inc.

Inventor： James J. Kuffner, JR. ,  Peter Elving Anderson-Sprecher

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J19/06 ,  G05B2219/40196 ,  G05B2219/40202 ,  G05B2219/40203 ,  Y10S901/47 ,  Y10S901/49

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract translation: 提供了确定和呈现虚拟安全网箱的方法和系统。 示例性方法可以包括接收用于机器人设备在由机器人设备占据的物理环境中执行物理动作的指令。 所述方法还可以包括响应于接收到所述指令，并且基于所述机器人设备的一个或多个物理组件的一个或多个参数，确定估计所述机器人装置的所述一个或多个物理组件的一个或多个估计的轨迹 随机器人设备执行物理动作而移动。 所述方法还可以基于所述一个或多个估计的轨迹，确定所述机器人装置估计在进行所述物理动作时在所述物理环境中占据的空间的虚拟表示。 该方法然后可以包括向物理环境提供空间位置的指示。

公开(公告)号：US20150148957A1

公开(公告)日：2015-05-28

申请号：US14556846

申请日：2014-12-01

Applicant: Google Inc.

Inventor： James J. Kuffner, JR. ,  Ryan Hickman

IPC: G05B19/18

CPC classification number: B25J9/1692 ,  B25J5/005 ,  B25J9/1674 ,  B62D55/075 ,  G05B2219/39413 ,  G06F9/5072 ,  H04L67/12

Abstract: Methods and systems for determining a status of a component of a device are provided. An example method includes triggering an action of a component of a device, and responsively receiving information associated with the action of the component from a sensor. The method further includes a computing system having a processor and a memory comparing the information with calibration data and determining a status of the component based on the comparison. In some examples, the calibration data may include information derived from data received from a pool of one or more devices utilizing same or similar components as the component. The determined status may include information associated with a performance of the component with respect to performances of same or similar components of the pool of devices. In one example, the device may self-calibrate the component based on the status.

Abstract translation: 提供了用于确定设备的部件的状态的方法和系统。 示例性方法包括触发设备的组件的动作，以及响应地从传感器接收与组件的动作相关联的信息。 该方法还包括具有处理器和存储器的信息与校准数据进行比较的计算系统，并且基于该比较来确定组件的状态。 在一些示例中，校准数据可以包括从使用与组件相同或相似的组件的一个或多个设备的池接收的数据导出的信息。 所确定的状态可以包括与组件的性能相关的信息相对于设备池的相同或相似组件的性能。 在一个示例中，设备可以基于状态来自校准组件。

公开(公告)号：US20160207200A1

公开(公告)日：2016-07-21

申请号：US15085239

申请日：2016-03-30

Applicant: Google Inc.

Inventor： James J. Kuffner, JR. ,  Ryan Hickman

IPC: B25J9/16 ,  H04L29/08

CPC classification number: B25J9/1692 ,  B25J5/005 ,  B25J9/1674 ,  B62D55/075 ,  G05B2219/39413 ,  G06F9/5072 ,  H04L67/12

Abstract: Methods and systems for determining a status of a component of a device are provided. An example method includes triggering an action of a component of a device, and responsively receiving information associated with the action of the component from a sensor. The method further includes a computing system having a processor and a memory comparing the information with calibration data and determining a status of the component based on the comparison. In some examples, the calibration data may include information derived from data received from a pool of one or more devices utilizing same or similar components as the component. The determined status may include information associated with a performance of the component with respect to performances of same or similar components of the pool of devices. In one example, the device may self-calibrate the component based on the status.

公开(公告)号：US20150185729A1

公开(公告)日：2015-07-02

申请号：US14645135

申请日：2015-03-11

Applicant: GOOGLE INC.

Inventor： James J. Kuffner, JR. ,  Ryan Hickman

IPC: G05B19/418

CPC classification number: B25J9/0084 ,  B25J9/1679 ,  G05B19/4187 ,  G05B2219/39117 ,  G05B2219/39146 ,  G05B2219/40095 ,  G06Q10/06 ,  Y02P90/205 ,  Y02P90/86 ,  Y10S901/01

Abstract: Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. The computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.

Abstract translation: 提供了将任务分配给机器人设备的方法和系统。 示例性方法包括接收与多个机器人设备的任务日志相关联的信息，并且在被配置为访问处理器和存储器的计算系统中，基于与所述任务相关联的信息确定与所述多个机器人设备的健康水平相关联的信息 日志。 给定机器人设备的健康水平可以与执行功能的当前能力水平成比例，其可以在给定的机器人设备的寿命期内改变。 还可以确定与由一个或多个或机器人设备执行的多个任务相关联的信息。 计算系统可以优化多个任务的分配，使得可以将高精度任务分配给具有比另一机器人设备更大的当前健康水平的机器人设备。

公开(公告)号：US20140340398A1

公开(公告)日：2014-11-20

申请号：US14451704

申请日：2014-08-05

Applicant: Google Inc.

Inventor： Ryan Hickman ,  James J. Kuffner, JR. ,  Anthony Gerald Francis, JR. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure ,  Won Chun

IPC: G06T15/10 ,  G06T19/20 ,  G06T15/80

CPC classification number: G06T15/10 ,  G06T9/001 ,  G06T15/80 ,  G06T19/20 ,  G06T2219/2012 ,  G06T2219/2021

Abstract: Methods and systems for encoding and compressing 3D object data models are provided. An example method may involve receiving 3D mesh data for an object that includes geometry coordinates for a surface of the object. Additionally, material properties may be associated with the geometry coordinates. The method may also include identifying multiple portions of the mesh data based on the material properties associated with the geometry coordinates. For example, a given group of adjacent geometry coordinates having common material properties may be identified as a given portion. For at least some of the identified portions of the mesh data, the method may further include encoding information related to an identified portion of the mesh data and compressing the encoded information into a file of compressed geometric data.

Abstract translation: 提供了用于编码和压缩3D对象数据模型的方法和系统。 示例性方法可以涉及接收包括对象表面的几何坐标的对象的3D网格数据。 另外，材料属性可以与几何坐标相关联。 该方法还可以包括基于与几何坐标相关联的材料属性来识别网格数据的多个部分。 例如，具有共同材料属性的给定组的相邻几何坐标可以被识别为给定部分。 对于网格数据的所识别的部分的至少一些，该方法还可以包括对与网格数据的识别部分相关的信息进行编码，并将编码的信息压缩成压缩几何数据的文件。