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公开(公告)号：US20230169665A1
公开(公告)日：2023-06-01
申请号：US17539625
申请日：2021-12-01
摘要： Systems and methods for calibrating an imaging device. A processing circuit identifies first timestamps of one or more events in one or more first image frames of a first imaging device, and identifies one or more corresponding events in one or more second image frames. Second timestamps may be determined for the corresponding events. A calibration value may be calculated based on a difference between the first and second timestamps. In one embodiment, the processing circuit also identifies a first plurality of events in a first sequence of image frames transmitted by a first imaging device, and selects a second plurality of events in a second sequence of image frames by a second imaging device that minimizes discrepancy between the first plurality of events and the second plurality of events. A calibration value is computed based on the timestamps of the matched events.
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公开(公告)号：US20220343537A1
公开(公告)日：2022-10-27
申请号：US17232084
申请日：2021-04-15
摘要： A method for estimating a pose of a deformable object includes: receiving, by a processor, a plurality of images depicting the deformable object from multiple viewpoints; computing, by the processor, one or more object-level correspondences and a class of the deformable object depicted in the images; loading, by the processor, a 3-D model corresponding to the class of the deformable object; aligning, by the processor, the 3-D model to the deformable object depicted in the plurality of images to compute a six-degree of freedom (6-DoF) pose of the object; and outputting, by the processor, the 3-D model and the 6-DoF pose of the object.
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公开(公告)号：US20230316571A1
公开(公告)日：2023-10-05
申请号：US17710734
申请日：2022-03-31
CPC分类号： G06T7/80 , G06T5/006 , G06T5/20 , G06T5/50 , G06T7/215 , G06T17/00 , G01S13/867 , G01S13/68 , G06T2207/10028 , G06T2207/20221 , G06T2207/20132 , G06T2207/20084
摘要： A sensor system includes: a radar system configured to emit a radar beam and receive reflected radar signals from in a field of view of the radar system; a camera system including one or more cameras, at least one camera including a linear polarization filter in an optical axis of the camera, a field of view of the camera system overlapping the field of view of the radar system; and a processing system including a processor and memory, the memory storing instructions that, when executed by the processor, cause the processor to: receive radar data based on the reflected radar signals captured by the radar system; receive polarization raw frames captured by the camera system; and compute a track of a target in the field of view of the camera system and the field of view of the radar system based on the radar data and the polarization raw frames.
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公开(公告)号：US20220410381A1
公开(公告)日：2022-12-29
申请号：US17362762
申请日：2021-06-29
摘要： A method for controlling a robotic system includes: capturing, by an imaging system, one or more images of a scene; computing, by a processing circuit including a processor and memory, one or more instance segmentation masks based on the one or more images, the one or more instance segmentation masks detecting one or more objects in the scene; computing, by the processing circuit, one or more pickability scores for the one or more objects; selecting, by the processing circuit, an object among the one or more objects based on the one or more pickability scores; computing, by the processing circuit, an object picking plan for the selected object; and outputting, by the processing circuit, the object picking plan to a controller configured to control an end effector of a robotic arm to pick the selected object.
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公开(公告)号：US20220405506A1
公开(公告)日：2022-12-22
申请号：US17354924
申请日：2021-06-22
摘要： Systems and method for an object from a plurality of objects are disclosed. An image of a scene containing the plurality of objects is obtained, and a segmentation map is generated for the objects in the scene. The shapes of the objects are determined based on the segmentation map. An end effector is adjusted in response to determining the shapes of the objects. The adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects. The plurality of objects is approached in response to the shaping of the end effector, and one of the plurality of objects is picked with the end effector.
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公开(公告)号：US20220375125A1
公开(公告)日：2022-11-24
申请号：US17314929
申请日：2021-05-07
发明人： Vage TAAMAZYAN , Guy Michael STOPPI , Bradley Craig Anderson BROWN , Agastya KALRA , Achuta KADAMBI , Kartik VENKATARAMAN
摘要： A method for estimating a pose of an object includes: receiving, by a processor, an observed image depicting the object from a viewpoint; computing, by the processor, an instance segmentation map identifying a class of the object depicted in the observed image; loading, by the processor, a 3-D model corresponding to the class of the object; computing, by the processor, a rendered image of the 3-D model in accordance with an initial pose estimate of the object and the viewpoint of the observed image; computing, by the processor, a plurality of dense image-to-object correspondences between the observed image of the object and the 3-D model based on the observed image and the rendered image; and computing, by the processor, the pose of the object based on the dense image-to-object correspondences.
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公开(公告)号：US20220295038A1
公开(公告)日：2022-09-15
申请号：US17198142
申请日：2021-03-10
摘要： A stereo camera array system includes: a first camera array at a first viewpoint including: a first camera configured to capture images in a first modality, the first modality being viewpoint-independent; and a second camera configured to capture images in a second modality different from the first modality; and a second camera array at a second viewpoint spaced apart along a first baseline from the first camera array at the first viewpoint, the second camera array including: a first camera configured to capture images in the first modality; and a second camera configured to capture images in the second modality.
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公开(公告)号：US20230154143A1
公开(公告)日：2023-05-18
申请号：US17528132
申请日：2021-11-16
CPC分类号： G06K9/6202 , G06K9/4647
摘要： A polarized event camera system includes: an event camera having a field of view centered around an optical axis, the event camera including an image sensor including a plurality of pixels, each pixel of the event camera operating independently and asynchronously and being configured to generate change events based on changes in intensity of light received by the pixel; and a rotatable linear polarizer aligned with the optical axis of the event camera, the rotatable linear polarizer having a polarization axis, the polarization axis of the rotatable linear polarizer being rotatable about the optical axis of the event camera.
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公开(公告)号：US20230084807A1
公开(公告)日：2023-03-16
申请号：US17477427
申请日：2021-09-16
摘要： Aspects of embodiments of the present disclosure relate to systems and methods for performing three-dimensional reconstruction (or depth reconstruction) and for generating segmentation masks using data captured by one or more event cameras.
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10.发明申请公开(公告)号：US20220414928A1
公开(公告)日：2022-12-29
申请号：US17359326
申请日：2021-06-25
摘要： A system for collecting data for training a computer vision model for shape estimation includes: an imaging system configured to capture one or more images; and a processing system including a processor and memory storing instructions that, when executed by the processor, cause the processor to: receive one or more input images from the imaging system; estimate a pose of an object depicted in the one or more images; render a shape estimate from a 3-D model of the object posed in accordance with the pose of the object; and generate a data point of a training dataset, the data point including one or more images based on the one or more input images and a label corresponding to the one or more images, the label including the shape estimate.
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