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    Imager for detecting visual light and projected patterns
    1.
    发明授权
    Imager for detecting visual light and projected patterns 有权

    公开(公告)号：US10466043B2

    公开(公告)日：2019-11-05

    申请号：US15608002

    申请日：2017-05-30

    Applicant: X Development LLC

    Inventor： Kurt Konolige

    IPC: G06K9/28 ,  G06T15/00 ,  G01B11/25 ,  H04N13/254 ,  H04N13/271 ,  B25J9/16 ,  G05D1/02 ,  G06K9/00 ,  G06T1/00 ,  G01B11/02 ,  G06T7/593 ,  G06T7/521 ,  H04N13/239 ,  G01B11/24 ,  H04N13/00

    Abstract: Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.

    Automated data capture
    8.
    发明授权
    Automated data capture 有权

    公开(公告)号：US10417781B1

    公开(公告)日：2019-09-17

    申请号：US15396105

    申请日：2016-12-30

    Applicant: X Development LLC

    Inventor： Kurt Konolige ,  Nareshkumar Rajkumar ,  Stefan Hinterstoisser ,  Paul Wohlhart

    IPC: G06K9/46 ,  G06T7/73 ,  G06T7/60 ,  G06K9/62 ,  G06K9/66 ,  G06K9/52 ,  G06N3/08 ,  G06F16/583

    Abstract: Methods for annotating objects within image frames are disclosed. Information is obtained that represents a camera pose relative to a scene. The camera pose includes a position and a location of the camera relative to the scene. Data is obtained that represents multiple images, including a first image and a plurality of other images, being captured from different angles by the camera relative to the scene. A 3D pose of the object of interest is identified with respect to the camera pose in at least the first image. A 3D bounding region for the object of interest in the first image is defined, which indicates a volume that includes the object of interest. A location and orientation of the object of interest is determined in the other images based on the defined 3D bounding region of the object of interest and the camera pose in the other images.

    Object Pickup Strategies for a Robotic Device
    9.
    发明申请
    Object Pickup Strategies for a Robotic Device 审中-公开

    公开(公告)号：US20180243904A1

    公开(公告)日：2018-08-30

    申请号：US15968323

    申请日：2018-05-01

    Applicant: X Development LLC

    Inventor： Gary Bradski ,  Steve Croft ,  Kurt Konolige ,  Ethan Rublee ,  Troy Straszheim ,  John Zevenbergen ,  Stefan Hinterstoisser ,  Hauke Strasdat

    IPC: B25J9/16 ,  H04N13/239 ,  G06T7/529 ,  G06T7/13 ,  B25J9/00 ,  G06K9/52 ,  G01B11/25 ,  G06K9/46

    Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

    Imager For Detecting Visual Light and Projected Patterns
    10.
    发明申请
    Imager For Detecting Visual Light and Projected Patterns 审中-公开

    公开(公告)号：US20170261314A1

    公开(公告)日：2017-09-14

    申请号：US15608002

    申请日：2017-05-30

    Applicant: X Development LLC

    Inventor： Kurt Konolige

    IPC: G01B11/25 ,  G01B11/02 ,  B25J9/16 ,  H04N13/02

    Abstract: Methods and systems for depth sensing are provided. A system includes a first and second optical sensor each including a first plurality of photodetectors configured to capture visible light interspersed with a second plurality of photodetectors configured to capture infrared light within a particular infrared band. The system also includes a computing device configured to (i) identify first corresponding features of the environment between a first visible light image captured by the first optical sensor and a second visible light image captured by the second optical sensor; (ii) identify second corresponding features of the environment between a first infrared light image captured by the first optical sensor and a second infrared light image captured by the second optical sensor; and (iii) determine a depth estimate for at least one surface in the environment based on the first corresponding features and the second corresponding features.

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