公开(公告)号：US10967506B2

公开(公告)日：2021-04-06

申请号：US15827321

申请日：2017-11-30

Applicant: X Development LLC

Inventor： Gary Bradski ,  Kurt Konolige ,  Ethan Rublee

IPC: B25J9/16 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  G06T17/00 ,  G06K9/00 ,  H04N13/239 ,  G06T7/55 ,  H04N5/33 ,  B25J5/00 ,  B65G41/00 ,  G06T19/00 ,  B25J19/00 ,  G06K9/32 ,  G06K9/62 ,  B65G61/00 ,  B65H67/06 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  B25J9/00 ,  H04N13/00

Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

公开(公告)号：US20210187736A1

公开(公告)日：2021-06-24

申请号：US17196660

申请日：2021-03-09

Applicant: X Development LLC

Inventor： Gary Bradski ,  Kurt Konolige ,  Ethan Rublee

IPC: B25J9/16 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  G06T17/00 ,  G06K9/00 ,  H04N13/239 ,  G06T7/55 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  H04N5/33 ,  B25J9/00 ,  B25J5/00 ,  B65G41/00 ,  G06T19/00 ,  B25J19/00 ,  G06K9/32 ,  G06K9/62

Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

公开(公告)号：US20180093377A1

公开(公告)日：2018-04-05

申请号：US15827321

申请日：2017-11-30

Applicant: X Development LLC

Inventor： Gary Bradski ,  Kurt Konolige ,  Ethan Rublee

IPC: B25J9/16 ,  B25J5/00 ,  G06T7/593 ,  G06T7/529 ,  B25J9/00 ,  G06K9/52 ,  G01B11/25 ,  G06K9/46

CPC classification number: B25J9/163 ,  B25J5/00 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/162 ,  B25J9/1664 ,  B25J9/1671 ,  B25J9/1687 ,  B25J9/1694 ,  B25J9/1697 ,  B25J19/00 ,  B25J19/021 ,  B65G41/008 ,  B65G47/46 ,  B65G47/50 ,  B65G61/00 ,  B65H67/065 ,  G01B11/254 ,  G05B2219/31312 ,  G05B2219/39391 ,  G05B2219/40053 ,  G05B2219/40298 ,  G05B2219/40442 ,  G05B2219/40543 ,  G06K9/00201 ,  G06K9/00664 ,  G06K9/3208 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6202 ,  G06T7/13 ,  G06T7/529 ,  G06T7/55 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  G06T19/003 ,  G06T2200/04 ,  H04N5/33 ,  H04N13/239 ,  H04N2013/0081 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09 ,  Y10S901/47

Abstract: Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

公开(公告)号：US20200078938A1

公开(公告)日：2020-03-12

申请号：US16687106

申请日：2019-11-18

Applicant: X Development LLC

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

IPC: B25J9/16 ,  G06T7/55 ,  G06K9/62 ,  G06K9/32 ,  G06K9/00 ,  B25J19/00 ,  G06T19/00 ,  B65G41/00 ,  B25J5/00 ,  B25J9/00 ,  H04N5/33 ,  G06T7/60 ,  G06K9/52 ,  G06K9/46 ,  G01B11/25 ,  B65G47/50 ,  B65G47/46 ,  B25J19/02 ,  H04N13/239 ,  G06T17/00 ,  G06T7/13 ,  G06T7/593 ,  G06T7/529

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.

公开(公告)号：US10518410B2

公开(公告)日：2019-12-31

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: G05B19/18 ,  G05B19/04 ,  B25J9/16 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  G06T17/00 ,  G06K9/00 ,  H04N13/239 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  H04N5/33 ,  B25J9/00 ,  B25J5/00 ,  B65G41/00 ,  G06T19/00 ,  B25J19/00 ,  G06K9/32 ,  G06K9/62 ,  B65G61/00 ,  B65H67/06 ,  H04N13/00

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.

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.

公开(公告)号：US09987746B2

公开(公告)日：2018-06-05

申请号：US15093118

申请日：2016-04-07

Applicant: X Development LLC

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

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G06T17/00 ,  B25J19/02 ,  B65G47/46 ,  B65G47/50 ,  G06K9/00 ,  G01B11/25 ,  G06K9/46 ,  G06K9/52 ,  G06T7/60 ,  H04N5/33 ,  H04N13/02 ,  B25J9/00 ,  B25J5/00 ,  B65G41/00 ,  G06T7/529 ,  G06T7/593 ,  G06T7/13 ,  B65G61/00 ,  B65H67/06 ,  H04N13/00

CPC classification number: B25J9/163 ,  B25J5/00 ,  B25J9/0093 ,  B25J9/1612 ,  B25J9/162 ,  B25J9/1664 ,  B25J9/1671 ,  B25J9/1687 ,  B25J9/1694 ,  B25J9/1697 ,  B25J19/00 ,  B25J19/021 ,  B65G41/008 ,  B65G47/46 ,  B65G47/50 ,  B65G61/00 ,  B65H67/065 ,  G01B11/254 ,  G05B2219/31312 ,  G05B2219/39391 ,  G05B2219/40053 ,  G05B2219/40298 ,  G05B2219/40442 ,  G05B2219/40543 ,  G06K9/00201 ,  G06K9/00664 ,  G06K9/3208 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6202 ,  G06T7/0065 ,  G06T7/13 ,  G06T7/529 ,  G06T7/55 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  G06T19/003 ,  G06T2200/04 ,  H04N5/33 ,  H04N13/239 ,  H04N2013/0081 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09 ,  Y10S901/47

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.