公开(公告)号：US20230154041A1

公开(公告)日：2023-05-18

申请号：US17987460

申请日：2022-11-15

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Zhijian Yang ,  Xiaoran Fan ,  Ibrahim Volkan Isler ,  Hyun Soo Park

IPC: G06T7/73 ,  G06T7/50 ,  H04R1/40

CPC classification number: G06T7/73 ,  G06T7/50 ,  H04R1/406 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A pose of a person is estimated using an image and audio impulse responses. The image represents a 2D scene including the person. The audio impulse responses are obtained with the present absent and present in an environment. The pose is reconstructed based on the image and the one or more audio impulse responses. The pose is a metric scale human pose.

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

IPC: B25J13/08 ,  G06F3/043 ,  G06F3/041 ,  B25J9/16

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.

公开(公告)号：US12162136B2

公开(公告)日：2024-12-10

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

IPC: B25J13/08 ,  B25J9/16 ,  B25J19/02 ,  G06F3/041 ,  G06F3/043

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.

公开(公告)号：US11714163B2

公开(公告)日：2023-08-01

申请号：US17084257

申请日：2020-10-29

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Xiaoran Fan ,  Yuan Chen ,  Dae Won Lee ,  Colin Prepscius ,  Ibrahim Volkan Isler ,  Lawrence David Jackel ,  Hyunjune Sebastian Seung ,  Daniel Dongyuel Lee

IPC: G01S5/22 ,  B25J19/02

CPC classification number: G01S5/22 ,  B25J19/026

Abstract: A method of collision localization on a robotic device includes obtaining audio signals from a plurality of acoustic sensors spaced apart along the robotic device; identifying, based on a collision being detected, a strongest audio signal; identifying a primary onset time for an acoustic sensor producing the strongest audio signal, the primary onset time being a time at which waves propagating from the collision reach the acoustic sensor producing the strongest audio signal; generating a virtual onset time set, by shifting a calibration manifold, based on the identified primary onset time, the calibration manifold representing relative onset times from evenly spaced marker locations on the robotic device to the plurality of acoustic sensors; determining scores for the marker locations based a standard deviation of elements in the virtual onset time set; and estimating a location of the collision based on a highest score of the determined scores.