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1.发明申请公开(公告)号：US20190051042A1
公开(公告)日：2019-02-14
申请号：US16055456
申请日：2018-08-06
Applicant: HONDA MOTOR CO., LTD.
Inventor： Kaoru Toba , Soshi Iba , Yuji Hasegawa
CPC classification number: G06T17/05 , G06T3/4038 , G06T7/215 , G06T7/246 , G06T7/262 , G06T7/33 , G06T7/37 , G06T7/62 , G06T2200/32 , G06T2207/10016 , G06T2207/10024 , G06T2207/30208
Abstract: A ceiling map building method includes estimating a scale of each ceiling image based on information related to the ceiling image and information related to another ceiling image including a same object as included in the ceiling image, the scale being represented as a ratio of an amount of movement of the object between the two ceiling images to an amount of movement of the camera (6) between the positions thereof when the two ceiling images were respectively captured (ST16), and building a ceiling map (2) (ST2) by converting the ceiling images in accordance with the respective scales so as to have sizes suitable for the ceiling map and combining the converted ceiling images (ST84).
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公开(公告)号：US11185978B2
公开(公告)日：2021-11-30
申请号：US16242856
申请日：2019-01-08
Applicant: HONDA MOTOR CO., LTD.
Inventor： Nawid Jamali , Soshi Iba
Abstract: Methods, grasping systems, and computer-readable mediums storing computer executable code for grasping an object are provided. In an example, a depth image of the object may be obtained by a grasping system. A potential grasp point of the object may be determined by the grasping system based on the depth image. A tactile output corresponding to the potential grasp point may be estimated by the grasping system based on data from the depth image. The grasping system may be controlled to grasp the object at the potential grasp point based on the estimated tactile output.
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公开(公告)号：US20180203462A1
公开(公告)日：2018-07-19
申请号：US15821968
申请日：2017-11-24
Applicant: HONDA MOTOR CO., LTD.
Inventor： Kenichiro Sugiyama , Soshi Iba
IPC: G05D1/02
CPC classification number: G05D1/0287 , G05D1/0246 , G05D1/027 , G05D1/0274 , G05D1/0297 , G05D2201/0211
Abstract: An operation management system includes: a plurality of robots; and an operation management unit server configured to manage an operation route in a predetermined region. Each robot has a sensor that recognizes a surrounding environment. When the sensor of a first robot recognizes a predetermined surrounding environment, the server refers to a position of the surrounding environment and sets an operation route of a second robot.
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公开(公告)号：US20210270605A1
公开(公告)日：2021-09-02
申请号：US17024003
申请日：2020-09-17
Applicant: Honda Motor Co., Ltd.
Inventor： Karankumar Patel , Soshi Iba , Nawid Jamali
Abstract: Systems and methods for tactile output estimation are provided. In one embodiment, the system includes a depth map module, an estimation module, and a surface module. The depth map module is configured to identify a region of interest (RoI) of an object. The area of the RoI corresponds to a tactile sensor size of a tactile sensor. The depth module is further configured to receive depth data for the RoI from a depth sensor and generate a depth map for the RoI based on a volume of the depth data relative to a frame of reference of the RoI. The estimation module is configured to estimate a tactile sensor output based on the depth map. The surface module configured to determine surface properties based on the estimated tactile sensor output.
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公开(公告)号：US20200215685A1
公开(公告)日：2020-07-09
申请号：US16242856
申请日：2019-01-08
Applicant: HONDA MOTOR CO., LTD.
Inventor： Nawid JAMALI , Soshi Iba
Abstract: Methods, grasping systems, and computer-readable mediums storing computer executable code for grasping an object are provided. In an example, a depth image of the object may be obtained by a grasping system. A potential grasp point of the object may be determined by the grasping system based on the depth image. A tactile output corresponding to the potential grasp point may be estimated by the grasping system based on data from the depth image. The grasping system may be controlled to grasp the object at the potential grasp point based on the estimated tactile output.
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Patent Agency Ranking
公开(公告)号：US20200174480A1
公开(公告)日：2020-06-04
申请号：US16205572
申请日：2018-11-30
Applicant: Honda Motor Co., Ltd.
Inventor： Peter Trautman , Soshi Iba , Shih-Yun Lo , Katsu Yamane , Chao Cao
Abstract: Embodiments, systems, and methods for navigational planning of a mobile programmable agent are provided. In some embodiments, the navigational planning may include identifying a plurality of dynamic objects in a physical environment having an origin and a destination. The physical environment is divided into a plurality of plane figures. The location of a centroid of each plane figure can then be calculated. A network of segments is formed from the origin to the destination intersecting the centroids. At least one channel is determined from the origin to the destination using a set of segments. A set of gates is identified along the at least one channel. The state of the gates is selectively determined based on movement of the dynamic objects. A pathway can then be identified within the channel for the mobile programmable agent to traverse from the origin to the destination based on the state of the gates.
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公开(公告)号：US10649467B2
公开(公告)日：2020-05-12
申请号：US15821968
申请日：2017-11-24
Applicant: HONDA MOTOR CO., LTD.
Inventor： Kenichiro Sugiyama , Soshi Iba
IPC: G05B19/418 , G05D1/02
Abstract: An operation management system includes: a plurality of robots; and an operation management unit server configured to manage an operation route in a predetermined region. Each robot has a sensor that recognizes a surrounding environment. When the sensor of a first robot recognizes a predetermined surrounding environment, the server refers to a position of the surrounding environment and sets an operation route of a second robot.
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公开(公告)号：US10166677B2
公开(公告)日：2019-01-01
申请号：US14977805
申请日：2015-12-22
Applicant: HONDA MOTOR CO., LTD.
Inventor： Soshi Iba
Abstract: To provide a system that can enhance stability of a result of predicting the state of an object. At least one candidate trajectory having a degree of approximation to a reference trajectory generated based on a current state of the object being in a specified rank or higher over a first specification period is specified as “a first candidate trajectory”. At least one candidate trajectory, extending from a last time point of being the first candidate trajectory to before elapse of a second specification period, is specified as “a second candidate trajectory”. Accordingly, it becomes possible to enhance stability of the specification result of the candidate trajectory as a result of predicting the state of the object.
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公开(公告)号：US12087012B2
公开(公告)日：2024-09-10
申请号：US17372869
申请日：2021-07-12
Applicant: Honda Motor Co., Ltd.
Inventor： Snehal Dikhale , Karankumar Patel , Daksh Dhingra , Soshi Iba , Nawid Jamali
CPC classification number: G06T7/74 , G01S13/867 , G01S17/86 , G06T7/11 , G06T2207/10024 , G06T2207/10028 , G06T2207/20084 , G06T2207/20221
Abstract: Systems and methods for visuo-tactile object pose estimation are provided. In one embodiment, a computer implemented method includes receiving image data, depth data, and tactile data about the object in the environment. The computer implemented method also includes generating a visual estimate of the object that includes an object point cloud. The computer implemented method further includes generating a tactile estimate of the object that includes a surface point cloud based on the tactile data. The computer implemented method yet further includes estimating a pose of the object based on the visual estimate and the tactile estimate by fusing the object point cloud and the surface point cloud in a 3D space. The pose is a six-dimensional pose.
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公开(公告)号：US11958201B2
公开(公告)日：2024-04-16
申请号：US17024647
申请日：2020-09-17
Applicant: Honda Motor Co., Ltd.
Inventor： Nawid Jamali , Huckleberry Febbo , Karankumar Patel , Soshi Iba , Akinobu Hayashi , Itoshi Naramura
CPC classification number: B25J9/1697 , B25J9/08 , B25J9/161 , B25J13/084 , B25J13/088 , G06T7/70 , G06T7/73 , G05B2219/40575
Abstract: Systems and methods for visuo-tactile object pose estimation are provided. In one embodiment, a method includes receiving image data about an object and receiving depth data about the object. The method also includes generating a visual estimate of the object based on the image data and the depth data. The method further includes receiving tactile data about the object. The method yet further includes generating a tactile estimate of the object based on the tactile data. The method includes estimating a pose of the object based on the visual estimate and the tactile estimate.
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