公开(公告)号：US20240091951A1

公开(公告)日：2024-03-21

申请号：US18367827

申请日：2023-09-13

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Nikhil Narsingh CHAVAN DAFLE ,  Vasileios VASILOPOULOS ,  Shubham AGRAWAL ,  Jinwook HUH ,  Suveer GARG ,  Pedro PIACENZA ,  Isaac Hisano KASAHARA ,  Kazim Selim ENGIN ,  Zhanpeng HE ,  Shuran SONG ,  Ibrahim Volkan ISLER

IPC: B25J9/16 ,  G06T7/60 ,  G06T7/73

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/163 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: Systems, methods, and apparatuses for controlling a robot including a manipulator, including: determining three-dimensional (3D) geometry information about a target object based on an image of the target object; determining 3D geometry information about a scene in which the target object is to be placed based on at least one image of the scene; obtaining affordance information by providing the 3D geometry information about the target object and the 3D geometry information about the scene to at least one neural network model; commanding the robot to grasp the target object using the manipulator according to a grasp orientation corresponding to the affordance information; and commanding the robot to position the manipulator according to a placement direction corresponding to the affordance information in order to place the target object at a location in the scene.

公开(公告)号：US20240312166A1

公开(公告)日：2024-09-19

申请号：US18400889

申请日：2023-12-29

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Isaac Hisanao KASAHARA ,  Shubham AGRAWAL ,  Kazim Selim ENGIN ,  Nikhil Narsingh CHAVAN DAFLE ,  Shuran SONG ,  Ibrahim Volkan ISLER

IPC: G06T19/20 ,  G05D1/622 ,  G06T5/77 ,  G06T7/13 ,  G06T15/10 ,  G06T15/40 ,  G06T17/20

CPC classification number: G06T19/20 ,  G05D1/622 ,  G06T5/77 ,  G06T7/13 ,  G06T15/10 ,  G06T15/40 ,  G06T17/20 ,  G05D2101/15 ,  G05D2105/10 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2210/56 ,  G06T2219/004 ,  G06T2219/2012 ,  G06T2219/2016

Abstract: Methods and devices for processing image data for scene completion, including receiving an original image from an original viewpoint corresponding to a first direction, wherein the original image includes an object; obtaining a first image from a new viewpoint corresponding to a second direction different from the first direction by rotating the original image based on 3-dimensional (3D) information generated from 2-dimensional (2D) information which is obtained from the original image; determining an area within the first image for generating a second surface of the object based on depth information about a depth between the object and the background of the original image, wherein the determined area is expected to include an object area; and obtaining a second image by inputting the first image and the determined area to an artificial intelligence (AI) inpainting model, wherein the AI inpainting model generates the second surface of the object which occupies a portion of the determined area in the second image.