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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：US11961042B2
公开(公告)日：2024-04-16
申请号：US17527012
申请日：2021-11-15
Applicant: MUJIN, Inc.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Rosen Nikolaev Diankov , Xutao Ye , Russell Islam
IPC: G06F7/00 , B25J9/16 , B65B43/46 , B65G61/00 , G05B19/4093 , G06Q10/087 , G06T7/11 , G06T7/13 , G06T7/50 , G06T7/62 , G06T7/73 , G06T19/20 , G06V10/20 , G06V10/25 , G06V20/64 , G06V10/44
CPC classification number: G06Q10/087 , B25J9/1676 , B25J9/1687 , B25J9/1697 , B65B43/46 , B65G61/00 , G05B19/40935 , G06T7/11 , G06T7/13 , G06T7/50 , G06T7/62 , G06T7/73 , G06T19/20 , G06V10/25 , G06V10/255 , G06V20/64 , G05B2219/40006 , G05B2219/40607 , G06T2200/04 , G06T2207/10028 , G06T2207/20164 , G06T2207/30108 , G06V10/44
Abstract: The present disclosure relates to detecting and registering unrecognized or unregistered objects. A minimum viable range (MVR) may be derived based on inspecting image data that represents objects. The MVR may be determined to be a certain MVR or an uncertain MVR according to one or more features represented in the image data. The MVR may be used to register corresponding objects according to the certain or uncertain determination.
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公开(公告)号：US11772271B2
公开(公告)日：2023-10-03
申请号：US16991466
申请日：2020-08-12
Applicant: MUJIN, INC.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues
CPC classification number: B25J9/1697 , B25J9/163 , B25J9/1661 , B25J9/1664 , B25J13/08 , G06F18/241 , G06N20/00 , G06V10/22 , G06V10/443 , G06V20/10 , B65G61/00 , G06V2201/06 , G06V2201/07
Abstract: A computing system and method for object recognition is presented. The method includes the computing system obtaining an image for representing the one or more objects, and generating a target image portion associated with one of the one or more objects. The computing system determines whether to classify the target image portion as textured or textureless, and selects a template storage space from among a first and second template storage space, wherein the first template storage space is cleared more often relative to the second template storage space. The first template storage space is selected in response to a textureless classification, and the second template storage space is selected as the template storage space in response to a textured classification. The computing system performs object recognition based on the target image portion and the selected template storage space.
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公开(公告)号：US20230041343A1
公开(公告)日：2023-02-09
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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9.发明授权公开(公告)号：US11288810B2
公开(公告)日：2022-03-29
申请号：US16888376
申请日：2020-05-29
Applicant: MUJIN, Inc.
Inventor： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC: G06T7/13 , G06T7/73 , G06T7/50 , G06T7/62 , G06T19/20 , G06T7/11 , G06K9/00 , G06K9/32 , B25J9/16 , B65G61/00 , G05B19/4093 , G06Q10/08 , B65B43/46
Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.
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公开(公告)号：US11006039B1
公开(公告)日：2021-05-11
申请号：US16789570
申请日：2020-02-13
Applicant: MUJIN, INC.
Inventor： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Xutao Ye
Abstract: A system and method for determining occlusion are presented. The system receives camera data generated by at least one camera, which includes a first camera having a first camera field of view. The camera data is generated when a stack having a plurality of objects is in the first camera field of view, and describes a stack structure formed from at least an object structure for a first object of the plurality of objects. The system identifies a target feature of or disposed on the object structure, and determines a 2D region that is co-planar with and surrounds the target feature. The system determines a 3D region defined by connecting a location of the first camera and the 2D region. The system determines, based on the camera data and the 3D region, a size of an occluding region, and determines a value of an object recognition confidence parameter.
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