公开(公告)号：US20240371022A1

公开(公告)日：2024-11-07

申请号：US18311024

申请日：2023-05-02

Applicant: Honda Motor Co., Ltd.

Inventor： Hongyu LI ,  Nawid JAMALI ,  Snehal DIKHALE ,  Soshi IBA

IPC: G06T7/70 ,  G06T7/50 ,  G06T9/00 ,  G06V10/44 ,  G06V10/74 ,  G06V10/82

Abstract: Systems and methods for visuotactile object pose estimation and shape completion are provided. In one embodiment, a method includes transforming at least one point cloud representation of an object into an input voxel grid of the visualized area of the object. The input voxel grid is a volumetric representation. The method further includes encoding the input voxel grid into a partial latent vector that lies on a partial latent space. The method yet further includes determining a mapping between the partial latent space and a complete latent space based on the sensor data. The method includes predicting a complete latent vector based on the complete latent space. The method also includes estimating a complete shape of an object based on the complete latent space. The method further includes estimating a 6D pose of the object based on the complete latent vector.

公开(公告)号：US20250162169A1

公开(公告)日：2025-05-22

申请号：US18517649

申请日：2023-11-22

Applicant: Honda Motor Co., Ltd.

Inventor： Nawid JAMALI ,  Hongyu LI ,  Soshi IBA

IPC: B25J13/08

Abstract: Systems and methods for taxel hyper-resolution output are provided. Tactile sensors contact an object and produce taxel data for each contact made. Taxel data from the tactile sensors is encoded and compared with detailed geometric data of a known object to generate a set of ranked poses. For each pose one or more substantially matching candidate poses from the stored geometric data are generated. Pairs of poses are iteratively compared with pairs of candidate poses to determine the most probable candidate pose for each pose. Taxel hyper-resolution data for determined poses is generated from the detailed geometric data and output for use by downstream systems.

公开(公告)号：US20250137859A1

公开(公告)日：2025-05-01

申请号：US18385541

申请日：2023-10-31

Applicant: Honda Motor Co., Ltd.

Inventor： Hongyu LI ,  Nawid JAMALI ,  Soshi IBA

IPC: G01L5/22 ,  B25J13/08

Abstract: A method for a taxel-based tactile sensor system includes receiving a set of taxel data having a subset of tactile data for an object and a subset of contact surface data for the object. The method also includes encoding the tactile data into a tactile embedding with a tactile encoder, and encoding the contact surface data into a surface embedding with a surface encoder. The method also includes computing a matrix of proximity values based on the tactile data encoded in the tactile embedding and contact surface data encoded in the surface embedding, and generating a tactile representation for the taxel data based on the proximity values.