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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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Patent Agency Ranking
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：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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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
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.
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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
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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