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公开(公告)号：US12228937B2
公开(公告)日：2025-02-18
申请号：US17377890
申请日：2021-07-16
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Jinwook Huh , Ibrahim Volkan Isler , Daniel Dongyuel Lee
Abstract: A system and a method for generating a trajectory of a target device from a current position to a goal position within an environment is provided. The method may include: inputting physical workspace information associated with the environment in which the target device, to a first neural network to obtain a set of weights representing a cost-to-go function that defines a cost-to-go function relating to a length of a collision-free path from one position to the goal position; configuring a second neural network based on the set of weights; identifying a next position of the target device based on the current position and a motion control input of the target; and inputting the identified next position of the target device and the goal position to the second neural network to identify the trajectory to the goal position, and the motion control input corresponding to the trajectory.
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2.发明授权公开(公告)号：US12145832B2
公开(公告)日：2024-11-19
申请号：US17576108
申请日：2022-01-14
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Pedro Piacenza , Daewon Lee , Daniel Dongyuel Lee , Ibrahim Volkan Isler
Abstract: A method of estimating an amount of liquid poured from a container includes receiving a tactile signal detected by at least one tactile sensor of an end effector holding the container containing the liquid; receiving a joint signal including an angular position, angular velocity, and torque of a joint connected to the end effector; and estimating, based on the tactile signal and the joint signal, the amount of liquid poured from the container.
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公开(公告)号：US20230081827A1
公开(公告)日：2023-03-16
申请号：US17553321
申请日：2021-12-16
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Xiaoran Fan , Daewon Lee , Lawrence Jackel , Richard Howard , Daniel Dongyuel Lee , Ibrahim Volkan Isler
Abstract: A tactile sensing system of a robot may include: a plurality of piezoelectric elements disposed at an object, and including a transmission (TX) piezoelectric element and a reception (RX) piezoelectric element; and at least one processor configured to: control the TX piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of the object; receive, via the RX piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; select frequency bands from a plurality of frequency bands of the acoustic wave signal; and estimate a location of a touch input on the surface of the object by inputting the acoustic wave signal of the selected frequency bands into a neural network configured to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object.
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公开(公告)号：US20220024034A1
公开(公告)日：2022-01-27
申请号：US17131194
申请日：2020-12-22
Applicant: Samsung Electronics Co., Ltd.
Inventor： Minghan Wei , DaeWon Lee , Ibrahim Volkan Isler , Daniel Dongyuel Lee
Abstract: A method of predicting occupancy of unseen areas in a region of interest (ROI) includes obtaining a depth image of the ROI, the depth image being captured from a first height; generating an occupancy map based on the obtained depth image, the occupancy map comprising an array of cells corresponding to locations in the ROI; and generating an inpainted map by inputting the occupancy map into a trained inpainting network, the inpainted map comprising an array of cells corresponding to the ROI, and wherein the inpainting network is trained by comparing an output of the inpainting network, based on inputting a training depth image taken from the first height, to a ground truth map, the ground truth map being based on a combination of the training depth image and a depth image taken at a height different than the first height.
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公开(公告)号：US11931900B2
公开(公告)日：2024-03-19
申请号：US17131194
申请日：2020-12-22
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Minghan Wei , Dae Won Lee , Ibrahim Volkan Isler , Daniel Dongyuel Lee
CPC classification number: B25J9/1664 , G05D1/0221 , G06F17/18 , G06N3/045 , G06N3/08 , G06T17/00 , G06V10/25
Abstract: A method of predicting occupancy of unseen areas in a region of interest (ROI) includes obtaining a depth image of the ROI, the depth image being captured from a first height; generating an occupancy map based on the obtained depth image, the occupancy map comprising an array of cells corresponding to locations in the ROI; and generating an inpainted map by inputting the occupancy map into a trained inpainting network, the inpainted map comprising an array of cells corresponding to the ROI, and wherein the inpainting network is trained by comparing an output of the inpainting network, based on inputting a training depth image taken from the first height, to a ground truth map, the ground truth map being based on a combination of the training depth image and a depth image taken at a height different than the first height.
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Patent Agency Ranking
公开(公告)号：US20220276657A1
公开(公告)日：2022-09-01
申请号：US17377890
申请日：2021-07-16
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Jinwook Huh , Ibrahim Volkan Isler , Daniel Dongyuel Lee
Abstract: A system and a method for generating a trajectory of a target device from a current position to a goal position within an environment is provided. The method may include: inputting physical workspace information associated with the environment in which the target device, to a first neural network to obtain a set of weights representing a cost-to-go function that defines a cost-to-go function relating to a length of a collision-free path from one position to the goal position; configuring a second neural network based on the set of weights; identifying a next position of the target device based on the current position and a motion control input of the target; and inputting the identified next position of the target device and the goal position to the second neural network to identify the trajectory to the goal position, and the motion control input corresponding to the trajectory.
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公开(公告)号：US11380061B2
公开(公告)日：2022-07-05
申请号：US17177896
申请日：2021-02-17
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Ziyun Wang , Eric Anthony Mitchell , Ibrahim Volkan Isler , Daniel Dongyuel Lee
Abstract: An apparatus for reconstructing a 3D object, includes a memory storing instructions, and at least one processor configured to execute the instructions to obtain, using a first neural network, mapping function weights of a mapping function of a second neural network, based on an image feature vector corresponding to a 2D image of the 3D object, set the mapping function of the second neural network, using the obtained mapping function weights, and based on sampled points of a canonical sampling domain, obtain, using the second neural network of which the mapping function is set, 3D point coordinates and geodesic lifting coordinates of each of the sampled points in the 3D object corresponding to the 2D image, wherein the 3D point coordinates are first three dimensions of an embedding vector of a respective one of the sampled points, and the geodesic lifting coordinates are remaining dimensions of the embedding vector.
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公开(公告)号：US20210158483A1
公开(公告)日：2021-05-27
申请号：US17105028
申请日：2020-11-25
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Daniel Robert Kepple , Dae Won Lee , Ibrahim Volkan Isler , Kanaka Rajan , Il Memming Park , Daniel Dongyuel Lee
Abstract: A method may include obtaining a set of events, of a set of pixels of a dynamic vision sensor, associated with an object; determining a set of voltages of the set of pixels, based on the set of events; generating a set of images, based on the set of voltages of the set of pixels; inputting the set of images into a first neural network configured to output a visual motion estimation of the object; inputting the set of images into a second neural network configured to output a confidence score of the visual motion estimation output by the first neural network; obtaining the visual motion estimation of the object and the confidence score of the visual motion estimation of the object, based on inputting the set of images into the first neural network and the second neural network; and providing the visual motion estimation of the object and the confidence score.
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公开(公告)号：US12299899B2
公开(公告)日：2025-05-13
申请号：US17978873
申请日：2022-11-01
Inventor： Ziyun Wang , Fernando Cladera Ojeda , Anthony Robert Bisulco , Dae Won Lee , Camillo J. Taylor , Konstantinos Daniilidis , Ani Hsieh , Ibrahim Volkan Isler
Abstract: Provided is a method for predicting a location of a fast-moving object. The method includes receiving event information from an event camera, the event information corresponding to an event detected by the event camera, generating a Binary Event History Image (BEHI) based on the event information, providing the BEHI as an input to an event-based neural network, obtaining, as an output of the event-based neural network, a first predicted location of the fast-moving object, a normal distribution indicating prediction uncertainty of the predicted location, and a predicted time-to-collision (TTC). The method further includes estimating a second predicted location of the fast-moving object based on the first predicted location, the normal distribution, and the predicted TTC output by the event-based neural network, and actuating a mechanical catching device to be at the second predicted location.
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公开(公告)号：US20250091225A1
公开(公告)日：2025-03-20
申请号：US18965244
申请日：2024-12-02
Applicant: SAMSUNG ELECTRONICS CO., LTD.
Inventor： Xiaoran FAN , Daewon LEE , Lawrence Jackel , Richard Howard , Ibrahim Volkan Isler
Abstract: A tactile sensing system of a robot may include: a plurality of piezoelectric elements disposed at an object, and including a transmission (TX) piezoelectric element and a reception (RX) piezoelectric element; and at least one processor configured to: control the TX piezoelectric element to generate an acoustic wave having a chirp spread spectrum (CSS) at every preset time interval, along a surface of the object; receive, via the RX piezoelectric element, an acoustic wave signal corresponding to the generated acoustic wave; select frequency bands from a plurality of frequency bands of the acoustic wave signal; and estimate a location of a touch input on the surface of the object by inputting the acoustic wave signal of the selected frequency bands into a neural network configured to provide a touch prediction score for each of a plurality of predetermined locations on the surface of the object.
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