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    SIMULATING PHYSICAL INTERACTIONS FOR AUTOMATED SYSTEMS
    1.
    发明公开
    SIMULATING PHYSICAL INTERACTIONS FOR AUTOMATED SYSTEMS 审中-公开

    公开(公告)号：US20230294276A1

    公开(公告)日：2023-09-21

    申请号：US18148548

    申请日：2022-12-30

    Applicant: Nvidia Corporation

    Inventor： Yu-Wei Chao ,  Yu Xiang ,  Wei Yang ,  Dieter Fox ,  Chris Paxton ,  Balakumar Sundaralingam ,  Maya Cakmak

    IPC: B25J9/16

    CPC classification number: B25J9/1605 ,  B25J9/163 ,  G05B2219/39001

    Abstract: Approaches presented herein provide for simulation of human motion for human-robot interactions, such as may involve a handover of an object. Motion capture can be performed for a hand grasping and moving an object to a location and orientation appropriate for a handover, without a need for a robot to be present or an actual handover to occur. This motion data can be used to separately model the hand and the object for use in a handover simulation, where a component such as a physics engine may be used to ensure realistic modeling of the motion or behavior. During a simulation, a robot control model or algorithm can predict an optimal location and orientation to grasp an object, and an optimal path to move to that location and orientation, using a control model or algorithm trained, based at least in part, using the motion models for the hand and object.

    Object pose estimation
    4.
    发明授权
    Object pose estimation 有权

    公开(公告)号：US11670001B2

    公开(公告)日：2023-06-06

    申请号：US16416075

    申请日：2019-05-17

    Applicant: NVIDIA Corporation

    Inventor： Arsalan Mousavian ,  Yu Xiang ,  Dieter Fox

    IPC: G06T7/73 ,  G06T11/20 ,  G06V20/58 ,  G06N3/04 ,  G06N3/08

    CPC classification number: G06V20/58 ,  G06N3/0454 ,  G06N3/08 ,  G06T7/75 ,  G06T11/20 ,  G06T2207/20084 ,  G06T2210/12

    Abstract: In an embodiment, a system provides object tracking and 6D pose estimations to a robot that performs different tasks such as manipulation and navigation. In an embodiment the 6D object pose is determined using a Rao-Blackwellized particle filtering framework, where the 3-D rotation and the 3-D translation of the object is decoupled. In an embodiment, the system provides the 3-D translation of an object along with a full distribution over the 3-D rotation. In an embodiment, the 3-D rotation is determined by discretizing the rotation space, and training an autoencoder network to construct a codebook of feature embeddings for the discretized rotations. In an embodiment, the system is able to track objects with arbitrary symmetries while also maintaining adequate posterior distributions.

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