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

IPC: G01B21/18 ,  G06T7/50 ,  G06T7/40 ,  G01B21/30 ,  G01L5/00 ,  B25J13/08

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.

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

IPC: G06T7/73 ,  G01S13/86 ,  G01S17/86 ,  G06T7/11

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.

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

IPC: B25J9/16 ,  B25J9/08 ,  B25J13/08 ,  G06T7/70 ,  G06T7/73

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.

公开(公告)号：US12018935B2

公开(公告)日：2024-06-25

申请号：US17024003

申请日：2020-09-17

Applicant: Honda Motor Co., Ltd.

Inventor： Karankumar Patel ,  Soshi Iba ,  Nawid Jamali

IPC: G01B21/18 ,  B25J13/08 ,  G01B21/30 ,  G01L5/00 ,  G06T7/40 ,  G06T7/50

CPC classification number: G01B21/18 ,  B25J13/084 ,  G01B21/30 ,  G01L5/0061 ,  G06T7/40 ,  G06T7/50 ,  G06T2207/20081 ,  G06T2207/20084

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.

公开(公告)号：US20220080598A1

公开(公告)日：2022-03-17

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

IPC: B25J9/16 ,  B25J13/08 ,  B25J9/08

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.