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公开(公告)号：US12062182B2
公开(公告)日：2024-08-13
申请号：US17331878
申请日：2021-05-27
Applicant: MUJIN, INC.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues
CPC classification number: G06T7/13 , B25J19/023 , G06T7/12
Abstract: A method and computing system for facilitating edge detection are presented. The computing system may include at least one processing circuit configured to receive image information representing a group of objects in a camera field of view, and to identify, from the image information, a plurality of candidate edges associated with the group of objects. The at least one processing circuit may further determine, when the plurality of candidate edges include a first candidate edge which is formed based on a border between a first image region and a second image region, whether the image information satisfies a defined darkness condition at the first candidate edge. The at least one processing circuit may further select a subset of the plurality of candidate edges to form a selected subset of candidate edges for representing the physical edges of the group of objects.
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公开(公告)号：US20240157566A1
公开(公告)日：2024-05-16
申请号：US18510521
申请日：2023-11-15
Applicant: MUJIN, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues
IPC: B25J9/16 , B25J19/02 , B65G61/00 , G06F18/23 , G06T1/00 , G06T7/13 , G06T7/174 , G06T7/33 , G06T7/73 , G06V10/44 , G06V20/52 , G06V20/64
CPC classification number: B25J9/1697 , B25J19/023 , B65G61/00 , G06F18/23 , G06T1/0014 , G06T7/13 , G06T7/174 , G06T7/33 , G06T7/73 , G06V10/443 , G06V10/457 , G06V20/52 , G06V20/647 , B65G2201/025 , G06T2207/20212
Abstract: The present disclosure relates to verifying an initial object estimation of an object. A two-dimensional (2D) image representative of an environment including one or more objects may be obtained. The 2D image may be inspected to detect edges of an object. The edges may be processed to verify or update an initial object estimation to increase the accuracy of an object detection result.
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公开(公告)号：US11538238B2
公开(公告)日：2022-12-27
申请号：US16991510
申请日：2020-08-12
Applicant: MUJIN, INC.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Ahmed Abouelela
IPC: B25J9/00 , G06V20/10 , B25J9/16 , G06N20/00 , B25J13/08 , G06K9/62 , G06V10/22 , G06V10/56 , G06V10/44 , G06V10/46 , B65G61/00
Abstract: Systems and methods for classifying at least a portion of an image as being textured or textureless are presented. The system receives an image generated by an image capture device, wherein the image represents one or more objects in a field of view of the image capture device. The system generates one or more bitmaps based on at least one image portion of the image. The one or more bitmaps describe whether one or more features for feature detection are present in the at least one image portion, or describe whether one or more visual features for feature detection are present in the at least one image portion, or describe whether there is variation in intensity across the at least one image portion. The system determines whether to classify the at least one image portion as textured or textureless based on the one or more bitmaps.
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4.发明申请公开(公告)号：US20200316774A1
公开(公告)日：2020-10-08
申请号：US16749354
申请日：2020-01-22
Applicant: Mujin, Inc.
Inventor： Jose Jeronimo Moreira Rodrigues , Xutao Ye , Jinze Yu , Rosen Nikolaev Diankov
Abstract: A robotic system includes: a control unit configured to: receive an object set including one or more object entries, wherein: the object entries correspond to source objects of an object source, each of the object entries are described by one or more object entry properties; receive sensor information representing one or more detectable object properties for detectable source objects of the object source; calculate an object match probability between the detectable source objects and the object entries based on a property correlation between the detectable object properties of the detectable source objects and the object entry properties of the object entries; generate an object identity approximation for each of the detectable source objects based on a comparison between the object match probability for each of the detectable source objects corresponding to a particular instance of the object entries; select a target object from the detectable source objects; generate an object handling strategy, for implementation by an object handling unit, to transfer the target object from the object source based on the object entry properties of the object entries corresponding to the object identity approximation; update the object set to indicate that the target object corresponding to a specific instance of the object entries has been removed from the object source; and a storage unit 204, coupled to the control unit, configured to store the object set.
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5.发明授权公开(公告)号：US10703584B2
公开(公告)日：2020-07-07
申请号：US16539790
申请日：2019-08-13
Applicant: MUJIN, Inc.
Inventor： Rosen Nikolaev Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC: B65G61/00 , B25J9/16 , G06Q10/08 , G05B19/4093
Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location; obtaining additional data as the object is transferred to a task location, wherein the additional data includes information regarding one or more edges and/or one or more surfaces separate from portions of the object captured in the first data; and creating registration data representative of the object based on the additional data.
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Patent Agency Ranking
公开(公告)号：US12290944B2
公开(公告)日：2025-05-06
申请号：US17732271
申请日：2022-04-28
Applicant: MUJIN, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Rosen Nikolaev Diankov
Abstract: A system and method for estimating aspects of target objects and/or associated task implementations is disclosed.
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公开(公告)号：US11900652B2
公开(公告)日：2024-02-13
申请号：US17193253
申请日：2021-03-05
Applicant: MUJIN, INC.
Inventor： Jose Jeronimo Moreira Rodrigues , Rosen Nikolaev Diankov , Jinze Yu , Ahmed Abouelela , Yoshiki Kanemoto
CPC classification number: G06V10/751 , B25J9/1666 , B25J9/1697 , B25J13/08 , G06V10/25 , G06V10/443 , G06V20/10 , G06V20/647
Abstract: A method and computing system for performing the method are presented. The method may include receiving image information representing an object; identifying a set of one or more matching object recognition templates associated with a set of one or more detection hypotheses. The method may further include selecting a primary detection hypothesis associated with a matching object recognition template; generating a primary candidate region based on the matching object recognition template; determining at least one of: (i) whether the set of one or more matching object recognition templates has a subset of one or more remaining matching templates, or (ii) whether the image information has a portion representing an unmatched region; and generating a safety volume list based on at least one of: (i) the unmatched region, or (ii) one or more additional candidate regions that are generated based on the subset of one or more remaining matching templates.
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公开(公告)号：US11780101B2
公开(公告)日：2023-10-10
申请号：US17313921
申请日：2021-05-06
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC: B25J15/06 , B25J9/16 , G06T7/13 , G06T7/50 , B25J13/08 , G06T7/00 , G06T7/66 , B25J9/00 , B65G47/91 , B65G61/00 , G06T1/00 , G06V10/44 , G06V20/10 , G06F18/22
CPC classification number: B25J15/0616 , B25J9/0093 , B25J9/1697 , B25J13/085 , B65G47/91 , B65G61/00 , G06F18/22 , G06T1/0014 , G06T7/001 , G06T7/13 , G06T7/50 , G06T7/66 , G06V10/443 , G06V20/10 , G05B2219/39001 , G05B2219/40067 , G06T2207/20212
Abstract: A method of operating a robotic system includes: receiving first image data representative of a package surface; identifying a pair of edges based on the first image data; determining a minimum viable region based on the pair of edges; receiving second image data representative of the package after the lift; and creating registration data based on the first and second image data.
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公开(公告)号：US20220332524A1
公开(公告)日：2022-10-20
申请号：US17720206
申请日：2022-04-13
Applicant: MUJIN, Inc.
Inventor： Shintaro Matsuoka , Hironori Mizoguchi , Rosen Nikolaev Diankov , Yoshiki Kanemoto , Jinze Yu
IPC: B65G47/91
Abstract: A system and method for operating a transfer robot and a multi-surface gripper to grasp and transfer objects is disclosed.
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公开(公告)号：US11288814B2
公开(公告)日：2022-03-29
申请号：US16909709
申请日：2020-06-23
Applicant: Mujin, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Xutao Ye
Abstract: A system and method of detecting objects are provided. The method includes generating first edge information from first image data representing an object based on a first mode of image capture, generating second edge information from second image data representing the object based on a second mode of image capture, the second mode being different from the first mode, fusing the first edge information with the second edge information to generate fused edge information, generating an object detection hypothesis based on the fused edge information, and validating the object detection hypothesis based on the fused edge information, the first edge information, and/or the second edge information.
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