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公开(公告)号：US11941760B2
公开(公告)日：2024-03-26
申请号：US17807339
申请日：2022-06-16
CPC分类号： G06T17/20 , G06T7/70 , G06T2207/10024
摘要： Traditional machine learning (ML) based systems used for scene recognition and object recognition have the disadvantage that they require huge quantity of labeled data to generate data models for the purpose of aiding the scene and object recognition. The disclosure herein generally relates to image processing, and, more particularly, to method and system for generating 3D mesh generation using planar and non-planar data. The system extracts planar point cloud and non-planar point cloud from each RGBD image in a sequence of RGBD images fetched as input, and then generates a planar mesh and a non-planar mesh for planar and non-planar objects in the image. A mesh representation is generated by merging the planar mesh and the non-planar mesh. Further, an incremental merging of the mesh representation is performed on the sequence of RGBD images, based on an estimated camera pose information, to generate representation of the scene.
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公开(公告)号：US11127401B2
公开(公告)日：2021-09-21
申请号：US16936118
申请日：2020-07-22
发明人： Chayan Sarkar , Hrishav Bakul Barua , Arpan Pal , Balamuralidhar Purushothaman , Achanna Anil Kumar
摘要： This disclosure relates to attention shifting of a robot in a group conversation with two or more attendees, wherein at least one of them is a speaker. State of the art has dealt with several aspects of Human-Robot Interaction (HRI) including responding to a source of sound at a time, addressing a fixed viewing area or determining who is the speaker based on eye gaze direction. However, attention shifting to make the conversation human-like is a challenge. The present disclosure uses audio-visual perception for speaker localization. Only qualified direction of arrivals (DOAs) are used for the audio perception. Further the audio perception is complimented by visual perception employing real time face detection and lip movement detection. Use of HRI rules, clustering of the DOAs, dynamic adjustment of rotation of the robot and a dynamically updated knowledge repository enriches the robot with intelligence to shift attention with minimum human intervention.
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公开(公告)号：US11573563B2
公开(公告)日：2023-02-07
申请号：US16988453
申请日：2020-08-07
发明人： Abhijan Bhattacharyya , Ashis Sau , Ruddra Dev Roychoudhury , Hrishav Bakul Barua , Chayan Sarkar , Sayan Paul , Brojeshwar Bhowmick , Arpan Pal , Balamuralidhar Purushothaman
IPC分类号： G05D1/00 , G05D1/02 , H04L67/141
摘要： Robotic platform for tele-presence applications has gained paramount importance, such as for remote meetings, group discussions, and the like and has sought much attention. There exist some robotic platforms for such tele-presence applications, these lack efficacy in communication and interaction between remote person and avatar robot deployed in another geographic location thus adding network overhead. Embodiments of the present disclosure for edge centric communication protocol for remotely maneuvering tele-presence robot in geographically distributed environment. More specifically, edge-centric tele-presence robot architecture is provided for maneuvering tele-presence robot in distributed geographical environment, wherein the architecture provides a framework that implements both cloud and edge-centric systems together with a first communication protocol for communication between a master device and an edge device and a second communication protocol different from the first communication protocol for communication between the edge device and the tele-presence robot to improve robustness and efficacy in communication.
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公开(公告)号：US11487577B2
公开(公告)日：2022-11-01
申请号：US17007391
申请日：2020-08-31
IPC分类号： G06F9/48 , G06F9/50 , B25J9/16 , G05B19/4155
摘要： This disclosure provides systems and methods for robotic task planning when a complex task instruction is provided in natural language. Conventionally robotic task planning relies on a single task or multiple independent or serialized tasks in the task instruction. Alternatively, constraints on space of linguistic variations, ambiguity and complexity of the language may be imposed. In the present disclosure, firstly dependencies between multiple tasks are identified. The tasks are then ordered such that a dependent task is always scheduled for planning after a task it is dependent upon. Moreover, repeated tasks are masked. Thus, resolving task dependencies and ordering dependencies, a complex instruction with multiple interdependent tasks in natural language facilitates generation of a viable task execution plan. Systems and methods of the present disclosure finds application in human-robot interactions.
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公开(公告)号：US11597080B2
公开(公告)日：2023-03-07
申请号：US17015238
申请日：2020-09-09
发明人： Chayan Sarkar , Snehasis Banerjee , Pradip Pramanick , Hrishav Bakul Barua , Soumyadip Maity , Dipanjan Das , Brojeshwar Bhowmick , Ashis Sau , Abhijan Bhattacharyya , Arpan Pal , Balamuralidhar Purushothaman , Ruddra Roy Chowdhury
摘要： Conventional tele-presence robots have their own limitations with respect to task execution, information processing and management. Embodiments of the present disclosure provide a tele-presence robot (TPR) that communicates with a master device associated with a user via an edge device for task execution wherein control command from the master device is parsed for determining instructions set and task type for execution. Based on this determination, the TPR queries for information across storage devices until a response is obtained enough to execute task. The task upon execution is validated with the master device and user. Knowledge acquired, during querying, task execution and validation of the executed task, is dynamically partitioned by the TPR across storage devices namely, on-board memory of the tele-present robot, an edge device, a cloud and a web interface respectively depending upon the task type, operating environment of the tele-presence robot, and other performance affecting parameters.
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公开(公告)号：US11354531B2
公开(公告)日：2022-06-07
申请号：US17138224
申请日：2020-12-30
IPC分类号： G06K9/00 , G06K9/62 , G06V30/194 , G06T7/00
摘要： This disclosure relates to system and method for enabling a robot to perceive and detect socially interacting groups. Various known systems have limited accuracy due to prevalent rule-driven methods. In case of few data-driven learning methods, they lack datasets with varied conditions of light, occlusion, and backgrounds. The disclosed method and system detect the formation of a social group of people, or, f-formation in real-time in a given scene. The system also detects outliers in the process, i.e., people who are visible but not part of the interacting group. This plays a key role in correct f-formation detection in a real-life crowded environment. Additionally, when a collocated robot plans to join the group it has to detect a pose for itself along with detecting the formation. Thus, the system provides the approach angle for the robot, which can help it to determine the final pose in a socially acceptable manner.
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公开(公告)号：US20210291363A1
公开(公告)日：2021-09-23
申请号：US17015238
申请日：2020-09-09
发明人： Chayan Sarkar , Snehasis Banerjee , Pradip Pramanick , Hrishav Bakul Barua , Soumyadip Maity , Dipanjan Das , Brojeshwar Bhowmick , Ashis Sau , Abhijan Bhattacharyya , Arpan Pal , Balamuralidhar PURUSHOTHAMAN , Ruddra Roy Chowdhury
摘要： Conventional tele-presence robots have their own limitations with respect to task execution, information processing and management. Embodiments of the present disclosure provide a tele-presence robot (TPR) that communicates with a master device associated with a user via an edge device for task execution wherein control command from the master device is parsed for determining instructions set and task type for execution. Based on this determination, the TPR queries for information across storage devices until a response is obtained enough to execute task. The task upon execution is validated with the master device and user. Knowledge acquired, during querying, task execution and validation of the executed task, is dynamically partitioned by the TPR across storage devices namely, on-board memory of the tele-present robot, an edge device, a cloud and a web interface respectively depending upon the task type, operating environment of the tele-presence robot, and other performance affecting parameters.
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公开(公告)号：US20210097995A1
公开(公告)日：2021-04-01
申请号：US16936118
申请日：2020-07-22
发明人： Chayan SARKAR , Hrishav Bakul Barua , Arpan Pal , Balamuralidhar Purushothaman , Achanna Anil Kumar
摘要： This disclosure relates to attention shifting of a robot in a group conversation with two or more attendees, wherein at least one of them is a speaker. State of the art has dealt with several aspects of Human-Robot Interaction (HRI) including responding to a source of sound at a time, addressing a fixed viewing area or determining who is the speaker based on eye gaze direction. However, attention shifting to make the conversation human-like is a challenge. The present disclosure uses audio-visual perception for speaker localization. Only qualified direction of arrivals (DOAs) are used for the audio perception. Further the audio perception is complimented by visual perception employing real time face detection and lip movement detection. Use of HRI rules, clustering of the DOAs, dynamic adjustment of rotation of the robot and a dynamically updated knowledge repository enriches the robot with intelligence to shift attention with minimum human intervention.
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