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公开(公告)号：US20240296628A1
公开(公告)日：2024-09-05
申请号：US18112434
申请日：2023-02-21
Applicant: Tencent America LLC
Inventor： Xifeng GAO , Zhen CHEN , Zherong PAN , Kui WU
CPC classification number: G06T17/205 , G06T5/70 , G06T17/005 , G06T17/10 , G06T19/20 , G06T2207/20072 , G06T2210/12 , G06T2210/21
Abstract: A method of generating an iso-surface mesh for a three-dimensional (3D) model is provided. In the method a plurality of voxels is generated in a bounding box of an input mesh, where a size of each of the plurality of voxels is based on a size of the bounding box of the input mesh and an iso-value. One or more iso-surfaces in each of the plurality of voxels are determined based on an unsigned distance function and the iso-value. One or more feature points in each of the plurality of voxels are determined based on the one or more iso-surfaces in the respective voxel and a constraint function. A feature mesh is generated based on the determined one or more feature points, and an edge flip operation is performed on each of a plurality of edges of the feature mesh to generate the iso-surface mesh.
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公开(公告)号：US20240096022A1
公开(公告)日：2024-03-21
申请号：US18517914
申请日：2023-11-22
Applicant: Tencent America LLC
Inventor： Xifeng GAO , Kui WU , Zherong PAN
CPC classification number: G06T17/205 , G06T15/205 , G06T2210/12
Abstract: In a method, a visual hull is generated based on intersections of first 3D primitives of a plurality of first silhouettes with a bounding box of a 3D model. The first silhouettes are generated by projecting the 3D model onto planes perpendicular to a number of selected view directions of the 3D model. Each of the first 3D primitives is obtained by extruding a connected loop of a respective first silhouette along a view direction of the number of selected view directions that is associated with the respective first silhouette. A carved mesh is be generated based on subtractions of second 3D primitives derived from positive parts of the 3D model to carve out redundant structures from the visual hull. The positive parts are obtained based on fitting planes that slices the 3D model. A low-poly mesh sequence is generated based on progressive simplifications of the carved mesh.
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公开(公告)号：US20230360328A1
公开(公告)日：2023-11-09
申请号：US17737951
申请日：2022-05-05
Applicant: Tencent America LLC
Inventor： Xifeng GAO , Kui WU , Zherong PAN
CPC classification number: G06T17/205 , G06T15/205 , G06T2210/12
Abstract: In a method, a visual hull is generated based on intersections of first 3D primitives of a plurality of first silhouettes with a bounding box of a 3D model. The first silhouettes are generated by projecting the 3D model onto planes perpendicular to a number of selected view directions of the 3D model. Each of the first 3D primitives is obtained by extruding a connected loop of a respective first silhouette along a view direction of the number of selected view directions that is associated with the respective first silhouette. A carved mesh is be generated based on subtractions of second 3D primitives derived from positive parts of the 3D model to carve out redundant structures from the visual hull. The positive parts are obtained based on fitting planes that slices the 3D model. A low-poly mesh sequence is generated based on progressive simplifications of the carved mesh.
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公开(公告)号：US20240238977A1
公开(公告)日：2024-07-18
申请号：US18097753
申请日：2023-01-17
Applicant: Tencent America LLC
Inventor： Zherong PAN , Xifeng GAO , Kui WU
IPC: B25J9/16
CPC classification number: B25J9/1676 , B25J9/1666
Abstract: Processing circuitry selects surrogate time instances respectively representing temporal subsets of a time duration of a first intermediate trajectory for a robot. The processing circuitry determines surrogate constraints respectively associated the surrogate time instances, the surrogate constraints require a distance between the robot and an obstacle to satisfy a safe distance requirement at the surrogate time instances. The processing circuitry determines an adjustment from the first intermediate trajectory to a second intermediate trajectory based on the surrogate constraints. The processing circuitry determines a first strict surrogate constraint for a first surrogate time instance representing a first temporal subset based on the first temporal subset, the first strict surrogate constraint ensures the safe distance requirement being satisfied in the first temporal subset in response to the first strict surrogate constraint being satisfied. The processing circuitry performs a safety check of the second intermediate trajectory according to the first strict surrogate constraint.
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公开(公告)号：US20240165804A1
公开(公告)日：2024-05-23
申请号：US18188975
申请日：2023-03-23
Applicant: Tencent America LLC
Inventor： Zherong PAN , Xifeng GAO , Kui WU
IPC: B25J9/16 , G05B19/4155
CPC classification number: B25J9/1664 , B25J9/1602 , G05B19/4155 , G05B2219/40519
Abstract: An environment warping approach is implemented to improve a robustness of contact-aware robot trajectory optimization by a change of coordinates from an ambient space to a flat space. The disclosed method warps the ambient space of a curved terrain to a warped space with a flat terrain using a optimized mapping function. A contact-aware trajectory optimization procedure is then formulated in the warped space under a set of geometrical and physical constraints with decision variables pulled back from the ambient space to the warped flat space. The decision variables are parameterized using high-order spines with a set of control parameters which are optimized in the warped space in order to generate the gait trajectory in the ambient space. For example, an objective function and constraint functions from the ambient space are pushed back to the warped space while force and rotational variables are pushed forward from the warped space to the ambient space. Such an approach, in comparison to implementations involving optimization within the ambient space only achieves a higher success rate in fining optical solutions.
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Patent Agency Ranking
公开(公告)号：US20240331299A1
公开(公告)日：2024-10-03
申请号：US18120265
申请日：2023-03-10
Applicant: Tencent America LLC
Inventor： Xifeng GAO , Zherong PAN , Kui WU , Julian KNODT
CPC classification number: G06T17/205 , G06T15/04 , G06T2210/36
Abstract: A method of optimizing a simplified model associated with a high-poly model includes obtaining information about the simplified model; iteratively updating values of an initialized set of parameters of the simplified model to obtain optimized values; updating the initial set of vertices of a low-poly mesh with the optimized values; optimizing coordinates associated with the simplified model based on the optimized values of the initialized set of parameters; and baking texture from the high-poly model onto the optimized coordinates to generate the simplified model.
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公开(公告)号：US20240296629A1
公开(公告)日：2024-09-05
申请号：US18112445
申请日：2023-02-21
Applicant: Tencent America LLC
Inventor： Xifeng GAO , Zhen CHEN , Zherong PAN , Kui WU
CPC classification number: G06T17/205 , G06T17/005 , G06T19/20 , G06T2219/2004
Abstract: According to an aspect of the disclosure, a method of generating a low-poly mesh for a three-dimensional (3D) model is provided. In the method, an edge-collapse operation is performed on each of a plurality of edges of an input mesh to generate a simplified mesh in which a number of faces of the input mesh is reduced by the edge-collapse operation. A position of at least one vertex of the simplified mesh is updated to generate an updated mesh in which a distance between the simplified mesh and the input mesh is reduced. The low-poly mesh is generated based on an aligned mesh in which positions of vertices of the updated mesh are optimized by minimizing a shape difference between the simplified mesh and the updated mesh.
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公开(公告)号：US20240240948A1
公开(公告)日：2024-07-18
申请号：US18097594
申请日：2023-01-17
Applicant: Tencent America LLC
Inventor： Zherong PAN , Xifeng GAO , Kui WU
IPC: G01C21/20 , G06N3/045 , G06N3/0464
CPC classification number: G01C21/20 , G06N3/045 , G06N3/0464
Abstract: Methods, apparatus, and computer readable storage medium for navigating multiple objects from initial positions towards target positions are described in the present disclosure. The method includes obtaining an initial configuration and a target configuration, the initial configuration comprising initial positions of multiple objects, and the target configuration comprising target positions of the multiple objects; inputting the initial configuration and the target configuration into a neural network to generate a set of kernel parameters; constructing a kernel-based divergence-free velocity field based on the set of kernel parameters; interpolating the kernel-based divergence-free velocity field to extract predicted velocities of the multiple objects; generating next positions of the multiple objects based on the predicted velocities according to a differentiable navigation algorithm; and iteratively taking, until a condition is satisfied, next configuration as the initial configuration and feeding the next configuration into the neural network to begin next iteration.
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公开(公告)号：US20250037397A1
公开(公告)日：2025-01-30
申请号：US18226664
申请日：2023-07-26
Applicant: Tencent America LLC
Inventor： Kui WU , Xifeng GAO , Zherong PAN
Abstract: Aspects of the disclosure provide methods and apparatuses for mesh processing. In some examples, a method for mesh processing includes receiving an input mesh that is bounded in a bounding box. The input mesh is formed of a first plurality of vertices and a first plurality of faces that connects the first plurality of vertices. The method further includes calculating at least a first visual measure for one or more faces in the first plurality of faces. At least the first visual measure for a face is calculated according to a number of valid rays respectively at a plurality of sampling positions of the face, a valid ray at a sampling position is a ray that is traced from the sampling position to the bounding box. The method also includes performing adjustments to the input mesh to generate a repaired mesh according to at least the first visual measure.
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10.发明公开公开(公告)号：US20240338503A1
公开(公告)日：2024-10-10
申请号：US18192127
申请日：2023-03-29
Applicant: TENCENT AMERICA LLC
Inventor： Kui WU , Zherong PAN , Xifeng GAO
IPC: G06F30/28
CPC classification number: G06F30/28 , G06F2113/08
Abstract: An example real-time simulation framework for a fluid and granular substance mixture is disclosed. Such a framework may be based on modeling height fields and horizontal velocities of different material phases, which in the context of a water-sand system, may include sand, water, and mixed water. The framework achieves a trade-off between simulation fidelity and performance, providing real-time computation for interactive applications. The example framework formulates the external frictional force and elastoplastic internal force of sand based on horizontal grid and further handles the water/sand coupling via diffusion and momentum exchange. The time updates for the simulation is efficiently performed using a semi-implicit operator splitting discretization scheme and an asynchronous scheme for the fluid and the granular substance.
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