公开(公告)号：US08456467B1

公开(公告)日：2013-06-04

申请号：US13564911

申请日：2012-08-02

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC分类号： G06T15/00

CPC分类号： G06T15/005

摘要： Methods and systems for providing a three-dimensional (3D) image viewer in a webpage are provided. According to an example method, a webpage may be provided, and the webpage may include embedded language that identifies a 3D image viewer to be provided within the webpage. Based on the embedded language, a computer having a processor and a memory may request information associated with rendering a 3D object data model in the 3D image viewer. The method may also include providing the 3D image viewer within the webpage, and receiving information associated with rendering the 3D object data model. Additionally, the 3D object data model may be rendered in the 3D image viewer based on the received information. Additional example systems and methods are described herein.

公开(公告)号：US08525846B1

公开(公告)日：2013-09-03

申请号：US13644599

申请日：2012-10-04

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC分类号： G09G5/00

CPC分类号： G09G5/00 ,  G06T15/005 ,  G06T19/20 ,  G06T2219/2012

摘要： Methods and systems for material refinement for portions of a three-dimensional (3D) object data model are provided. An example method may include rendering a portion of a 3D object data model, and determining a first appearance metric between an appearance of the portion in the rendered view and a two-dimensional (2D) image. For one or more iterations, a modification to material properties associated with the portion may be determined based on the first appearance metric, and another view of the portion of the 3D object data model may be rendered. Also for the one or more iterations, another appearance metric between and an appearance of the portion in the rendered another view and the 2D image may be determined. Additionally, modified material properties for the portion that are associated with a minimum appearance metric of the one or more iterations may be stored for the 3D object data model.

摘要翻译： 提供了用于三维（3D）对象数据模型的部分的材料细化的方法和系统。 示例性方法可以包括渲染3D对象数据模型的一部分，以及确定渲染视图中的部分的外观与二维（2D）图像之间的第一外观度量。 对于一个或多个迭代，可以基于第一出现度量来确定与该部分相关联的材料属性的修改，并且可以呈现3D对象数据模型的该部分的另一视图。 对于一次或多次迭代，也可以确定渲染的另一视图中的部分的外观与2D图像之间的另外的外观度量。 此外，可以为3D对象数据模型存储与一个或多个迭代的最小外观度量相关联的部分的修改的材料属性。

公开(公告)号：US08515982B1

公开(公告)日：2013-08-20

申请号：US13644362

申请日：2012-10-04

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  Anthony Gerald Francis, Jr. ,  Arshan Poursohi ,  James R. Bruce ,  Thor Lewis ,  Chaitanya Gharpure

IPC分类号： G06F17/30

CPC分类号： G06F17/5086 ,  G06F17/50

摘要： Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve receiving an annotated template of a first three-dimensional (3D) object data model. The annotated template may be associated with a given category of objects and may include one or more annotations to one or more aspects of an object described by the first 3D object data model. The method may also include determining matching correspondences between the first 3D object data model and a second 3D object data model that is a given object in the given category. For the one or more matching correspondences, an annotation that is associated with a correspondence point of the first 3D object data model may be applied as a call-out to a matching correspondence point of the second 3D object data model.

摘要翻译： 提供了与多个三维（3D）对象数据模型交互的方法和系统。 示例性方法可以涉及接收第一三维（3D）对象数据模型的注释模板。 注释的模板可以与给定类别的对象相关联，并且可以包括对由第一3D对象数据模型描述的对象的一个​​或多个方面的一个或多个注释。 该方法还可以包括确定第一3D对象数据模型与作为给定类别中的给定对象的第二3D对象数据模型之间的匹配对应关系。 对于一个或多个匹配对应，可以将与第一3D对象数据模型的对应点相关联的注释应用于第二3D对象数据模型的匹配对应点的调出。

公开(公告)号：US08639644B1

公开(公告)日：2014-01-28

申请号：US13464699

申请日：2012-05-04

申请人： Ryan Hickman ,  James J. Kuffner, Jr. ,  James R. Bruce ,  Chaitanya Gharpure ,  Damon Kohler ,  Arshan Poursohi ,  Anthony G. Francis, Jr. ,  Thor Lewis

发明人： Ryan Hickman ,  James J. Kuffner, Jr. ,  James R. Bruce ,  Chaitanya Gharpure ,  Damon Kohler ,  Arshan Poursohi ,  Anthony G. Francis, Jr. ,  Thor Lewis

IPC分类号： G06F15/18 ,  G06F17/00 ,  G06N5/00 ,  G06F19/00 ,  G05B19/418

CPC分类号： G05B19/042 ,  G05B2219/31205 ,  G05B2219/39393 ,  G05B2219/45084 ,  G06N3/008

摘要： The present application discloses shared robot knowledge bases for use with cloud computing systems. In one embodiment, the cloud computing system collects data from a robot about an object the robot has encountered in its environment, and stores the received data in the shared robot knowledge base. In another embodiment, the cloud computing system sends instructions for interacting with an object to a robot, receives feedback from the robot based on its interaction with the object, and updates data in the shared robot knowledge base based on the feedback. In yet another embodiment, the cloud computing system sends instructions to a robot for executing an application based on information stored in the shared robot knowledge base. In the disclosed embodiments, information in the shared robot knowledge bases is updated based on robot experiences so that any particular robot may benefit from prior experiences of other robots.

摘要翻译： 本申请公开了与云计算系统一起使用的共享机器人知识库。 在一个实施例中，云计算系统从机器人收集关于机器人在其环境中遇到的对象的数据，并将接收到的数据存储在共享机器人知识库中。 在另一个实施例中，云计算系统发送用于与对象交互到机器人的指令，基于与对象的交互从机器人接收反馈，并且基于反馈来更新共享机器人知识库中的数据。 在另一个实施例中，云计算系统基于存储在共享机器人知识库中的信息向机器人发送指令以执行应用。 在所公开的实施例中，基于机器人体验来更新共享机器人知识库中的信息，使得任何特定机器人可以受益于其他机器人的先前经验。

公开(公告)号：US08854362B1

公开(公告)日：2014-10-07

申请号：US13592450

申请日：2012-08-23

申请人： Arshan Poursohi ,  Ryan Hickman ,  Chaitanya Gharpure ,  Thor Lewis

发明人： Arshan Poursohi ,  Ryan Hickman ,  Chaitanya Gharpure ,  Thor Lewis

IPC分类号： G06T17/00

CPC分类号： G06T17/00

摘要： Systems and methods for collecting data from an object are provided. In examples, a plurality of sensing components are configured to receive information indicative of one or more characteristics of the object. The information indicative of one or more characteristics of the object can be associated with respective data points of the object. The system is further configured to generate a three-dimensional (3D) view of the object based on the information indicative of one or more characteristics of the object and the association with respective data points.

摘要翻译： 提供了从对象收集数据的系统和方法。 在示例中，多个感测组件被配置为接收指示对象的一个​​或多个特征的信息。 指示对象的一个​​或多个特征的信息可以与对象的相应数据点相关联。 该系统还被配置为基于指示对象的一个​​或多个特性的信息以及与各个数据点的关联来生成对象的三维（3D）视图。

公开(公告)号：US08712737B1

公开(公告)日：2014-04-29

申请号：US13603359

申请日：2012-09-04

申请人： Ryan Hickman ,  Arshan Poursohi ,  Thor Lewis

发明人： Ryan Hickman ,  Arshan Poursohi ,  Thor Lewis

IPC分类号： G06F17/50 ,  G06F7/60

CPC分类号： G06F17/50 ,  G01B11/2545 ,  G06F7/60 ,  G06T17/00 ,  G06T19/20 ,  G06T2210/16 ,  G06T2219/2021

摘要： Disclosed are methods and systems for determining and displaying a simulated deformation of a 3D object data model. In one aspect, a method is disclosed that includes causing a force to be applied to an object to cause a deformation of the object and causing a plurality of reference scans of the object to be captured. The method further includes, based on the plurality of reference scans, generating a 3D object data model representing the object and, further based on the plurality of reference scans, identifying a constraint point of the 3D object data model, where the constraint point represents a point of minimum deformation of the object. The method still further includes selecting a predefined deformation model, where the predefined deformation model defines a simulated deformation, and where the simulated deformation simulates at least a portion of the deformation of the object proximate to the point of minimum deformation.

摘要翻译： 公开了用于确定和显示3D对象数据模型的模拟变形的方法和系统。 在一个方面，公开了一种方法，其包括使力施加到物体以引起物体的变形并导致被捕获物体的多个基准扫描。 所述方法还包括基于所述多个参考扫描，生成表示所述对象的3D对象数据模型，并且还基于所述多个参考扫描来识别所述3D对象数据模型的约束点，其中所述约束点表示 物体的最小变形点。 该方法还包括选择预定义的变形模型，其中预定义的变形模型定义了模拟变形，并且其中模拟变形模拟了最接近于最小变形点的物体的变形的至少一部分。

公开(公告)号：US08451323B1

公开(公告)日：2013-05-28

申请号：US13611673

申请日：2012-09-12

申请人： Arshan Poursohi ,  Thor Lewis

发明人： Arshan Poursohi ,  Thor Lewis

IPC分类号： H04N7/18

CPC分类号： G06T7/70 ,  G01B11/00 ,  G01B11/24

摘要： Disclosed are methods and systems for building data models by using light to determine material properties of illuminated objects. In an embodiment, a system includes a set of device pairs (of lighting-source and image-capture devices) arranged on the perimeter (and directed at a central region of) a 3D shape. The system iterates from an initial state through a plurality of imaging states. The initial state involves (1) an object being situated in a controlled-lighting space and (2) the device pairs being positioned within the controlled-lighting space and around the object, which is situated in the central region of the 3D shape. Each imaging state involves the activation of an imaging-state-specific subset of lighting-source and image-capture devices. The system captures image data indicative of the appearance of the object during the imaging states, and stores that data in a 3D-data model of the object.

摘要翻译： 公开了通过使用光来确定照明物体的材料性质来构建数据模型的方法和系统。 在一个实施例中，系统包括布置在3D形状的周边（并且指向3D中心区域）的一组装置对（照明源和图像捕获装置）。 系统通过多个成像状态从初始状态迭代。 初始状态包括（1）物体位于受控照明空间中，以及（2）设备对定位在受控照明空间内并围绕位于3D形状的中心区域中的物体。 每个成像状态包括激活照明源和图像捕获设备的成像状态特定子集。 该系统在成像状态期间捕获指示对象的外观的图像数据，并将该数据存储在对象的3D数据模型中。

公开(公告)号：US08918208B1

公开(公告)日：2014-12-23

申请号：US13440600

申请日：2012-04-05

申请人： Ryan Hickman ,  Anthony G. Francis, Jr. ,  Thor Lewis

发明人： Ryan Hickman ,  Anthony G. Francis, Jr. ,  Thor Lewis

IPC分类号： G05B19/04 ,  G05B19/18

CPC分类号： B25J9/1664 ,  B25J9/1602 ,  B25J9/1697 ,  G05B2219/39252 ,  G05B2219/40178 ,  G06F17/30268 ,  G06N3/008 ,  H04L67/42 ,  Y10S901/01 ,  Y10S901/47

摘要： Methods and systems for robot cloud computing are described. Within examples, cloud-based computing generally refers to networked computer architectures in which application execution and storage may be divided, to some extent, between client and server devices. A robot may be any device that has a computing ability and interacts with its surroundings with an actuation capability (e.g., electromechanical capabilities). A client device may be configured as a robot including various sensors and devices in the forms of modules, and different modules may be added or removed from robot depending on requirements. In some example, a robot may be configured to receive a second device, such as mobile phone, that may be configured to function as an accessory or a “brain” of the robot. A robot may interact with the cloud to perform any number of actions, such as to share information with other cloud computing devices.

摘要翻译： 描述了机器人云计算的方法和系统。 在实例中，基于云的计算通常是指网络计算机体系结构，其中应用程序执行和存储在一定程度上可以在客户端和服务器设备之间划分。 机器人可以是具有计算能力并与其周围环境具有致动能力（例如机电能力）相互作用的任何装置。 客户端设备可以被配置为包括模块形式的各种传感器和设备的机器人，并且可以根据需要从机器人添加或移除不同的模块。 在一些示例中，机器人可以被配置为接收可被配置为用作机器人的附件或“大脑”的第二设备，诸如移动电话。 机器人可以与云交互以执行任何数量的动作，例如与其他云计算设备共享信息。

公开(公告)号：US08718822B1

公开(公告)日：2014-05-06

申请号：US13440656

申请日：2012-04-05

申请人： Ryan Hickman ,  Thor Lewis

发明人： Ryan Hickman ,  Thor Lewis

IPC分类号： G05B15/00 ,  G06F7/00

CPC分类号： B25J9/1697 ,  B25J9/1674 ,  G05B2219/40163 ,  G05B2219/40165 ,  Y10S901/47

摘要： Methods and systems for robot functions and user interfaces are described. A server may receive a set of robot parameters, and may predict new parameters based on a robot command. In this manner, a user may receive parameters corresponding to the predicted values and mitigate network and processing latency. In other examples, a robot may provide a forward looking image and a robot speed. When a command to move forward is issued, the server may provide a predicted image and predicted speed. The server may be able to calculate a predicted image and a predicted speed (or other parameter) more quickly than the robot could provide the same information. The predicted information may be displayed on a user interface with a corresponding indication that the values are predicted. The robot may provide the server and the user interface with the actual data when it is available.

摘要翻译： 描述了机器人功能和用户界面的方法和系统。 服务器可以接收一组机器人参数，并且可以基于机器人命令来预测新参数。 以这种方式，用户可以接收对应于预测值的参数并且减轻网络和处理等待时间。 在其他示例中，机器人可以提供前视图像和机器人速度。 当发出向前移动的命令时，服务器可以提供预测图像和预测速度。 服务器可以比机器人可以提供相同的信息更快地计算预测图像和预测速度（或其他参数）。 预测信息可以在具有预测值的相应指示的用户界面上显示。 机器人可以在可用时向服务器和用户界面提供实际数据。

公开(公告)号：US08854485B1

公开(公告)日：2014-10-07

申请号：US13213678

申请日：2011-08-19

申请人： Munjal Desai ,  Ryan Hickman ,  Thor Lewis ,  Damon Kohler

发明人： Munjal Desai ,  Ryan Hickman ,  Thor Lewis ,  Damon Kohler

IPC分类号： H04N5/232 ,  H04N7/18

CPC分类号： H04N5/23203 ,  H04N5/23206 ,  H04N5/23293

摘要： Methods and systems for providing functionality of an interface to include an artificial horizon are provided. In one example, a method includes receiving information indicating a range of motion of a camera on a device, and providing an interface on a second device remote from the device. The interface may be configured to receive an input indicating a command for an orientation of the camera on the device. The method may further include based on the information indicating the range of motion of the camera, providing an artificial horizon at a fixed position on the interface that indicates the range of motion of the camera on either side of the artificial horizon. The fixed position of the artificial horizon may be associated with an orientation of the camera having a tilt value of about zero or having a pan value of about zero.

摘要翻译： 提供了用于提供包括人造视野的界面的功能的方法和系统。 在一个示例中，一种方法包括接收指示设备上的照相机的运动范围的信息，以及在远离设备的第二设备上提供接口。 接口可以被配置为接收指示用于设备上的相机的定向的命令的输入。 该方法还可以包括基于指示摄像机的运动范围的信息，在接口上的固定位置处提供人造地平线，其指示相机在人造水平线的任一侧上的运动范围。 人造水平线的固定位置可以与具有约零倾斜度或平移值约为零的相机的方向相关联。