Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for dynamic programming aids for programming workcell elements. An interactive robotic development system can issue commands to activate workcell elements. Each workcell element can have one or more preconfigured capabilities. A workcell element can be queried and at least one preconfigured capability can be obtained that represents an action that can be performed by the workcell element. A first user input in an interactive programming environment that creates a program element representing a workcell entity can be received. For the program element, corresponding program components can be determined. User input acting on the program element can be received, and the user input can indicate a selected program component. Within the interactive programming environment, an interactive user interface element that displays a capability pair that includes the program element and the corresponding program component can be generated.

Abstract: In an aspect, a computer implemented method receives, for a volume within a building, a set of images captured from corresponding locations within the volume, each image taken at a corresponding location, and each image having data specifying the corresponding location from which the image was captured; receiving a three-dimensional point cloud of the volume; detects, using one or more computer vision processing techniques, items of interest within the images; for each item of interest in each image, determines, based on the point cloud and the data specifying the corresponding locations from which the images were captured, a coordinate for the item of interest, the coordinate specifying a location within the volume that corresponds to the item of interest in the image; and stores the data specifying each item of interest and, for each item of interest, its determined coordinate, in a data storage.

Abstract: In an aspect, a computer implemented method receives, for a volume within a building, a set of images captured from corresponding locations within the volume, each image taken at a corresponding location, and each image having data specifying the corresponding location from which the image was captured; receiving a three-dimensional point cloud of the volume; detects, using one or more computer vision processing techniques, items of interest within the images; for each item of interest in each image, determines, based on the point cloud and the data specifying the corresponding locations from which the images were captured, a coordinate for the item of interest, the coordinate specifying a location within the volume that corresponds to the item of interest in the image; and stores the data specifying each item of interest and, for each item of interest, its determined coordinate, in a data storage.

Abstract: An electronic device is configured to performing a three-dimensional (3D) scan of an interior space. In some cases, the electronic device acquires information and depth measurements relative to the electronic device. The electronic device acquires voxels in a 3D grid that is generated from the 3D scan. The voxels represent portions of the volume of the interior space. The electronic device determines a trajectory and poses of the electronic device concurrently with performing the 3D scan of the interior space. The electronic device labels voxels representing objects in the interior space based on the trajectory and the poses. In some cases, the electronic device uses queries to perform spatial reasoning at an object level of granularity, positions, overlays, or blends virtual objects into an augmented reality representation of the interior space or modifies positions or orientations of the objects by applying a transformation to corresponding connected components.

Abstract: In an aspect, a computer implemented method receives, for a volume within a building, a set of images captured from corresponding locations within the volume, each image taken at a corresponding location, and each image having data specifying the corresponding location from which the image was captured; receiving a three-dimensional point cloud of the volume; detects, using one or more computer vision processing techniques, items of interest within the images; for each item of interest in each image, determines, based on the point cloud and the data specifying the corresponding locations from which the images were captured, a coordinate for the item of interest, the coordinate specifying a location within the volume that corresponds to the item of interest in the image; and stores the data specifying each item of interest and, for each item of interest, its determined coordinate, in a data storage.

Abstract: In an aspect, a computer implemented method receives, for a volume within a building, a set of images captured from corresponding locations within the volume, each image taken at a corresponding location, and each image having data specifying the corresponding location from which the image was captured; receiving a three-dimensional point cloud of the volume; detects, using one or more computer vision processing techniques, items of interest within the images; for each item of interest in each image, determines, based on the point cloud and the data specifying the corresponding locations from which the images were captured, a coordinate for the item of interest, the coordinate specifying a location within the volume that corresponds to the item of interest in the image; and stores the data specifying each item of interest and, for each item of interest, its determined coordinate, in a data storage.

Abstract: An imaging camera and a depth camera are configured to perform a 3D scan of an interior space. A processor is configured to generate voxels in a three-dimensional (3D) grid based on the 3D scan. The voxels represent portions of the volume of the interior space. The processor is also configured to project the voxels onto tiles in a two-dimensional (2D) floor plan of the interior space. The processor is further configured to generate, based on the tiles, a 2D distance grid that represents features in the interior space. In some cases, the 2D distance grid is generated in real-time concurrently with performing the 3D scan of the interior space. The processor is further configured to generate, based on a 2D distance grid, a set of polygons representing elements of the floor plan in real-time. The processor is further configured to generate a simplified set of primitives representing the floor plan.

Abstract: An electronic device is configured to performing a three-dimensional (3D) scan of an interior space. In some cases, the electronic device acquires information and depth measurements relative to the electronic device. The electronic device acquires voxels in a 3D grid that is generated from the 3D scan. The voxels represent portions of the volume of the interior space. The electronic device determines a trajectory and poses of the electronic device concurrently with performing the 3D scan of the interior space. The electronic device labels voxels representing objects in the interior space based on the trajectory and the poses. In some cases, the electronic device uses queries to perform spatial reasoning at an object level of granularity, positions, overlays, or blends virtual objects into an augmented reality representation of the interior space or modifies positions or orientations of the objects by applying a transformation to corresponding connected components.

Abstract: An imaging camera and a depth camera are configured to perform a 3D scan of an interior space. A processor is configured to generate voxels in a three-dimensional (3D) grid based on the 3D scan. The voxels represent portions of the volume of the interior space. The processor is also configured to project the voxels onto tiles in a two-dimensional (2D) floor plan of the interior space. The processor is further configured to generate, based on the tiles, a 2D distance grid that represents features in the interior space. In some cases, the 2D distance grid is generated in real-time concurrently with performing the 3D scan of the interior space. The processor is further configured to generate, based on a 2D distance grid, a set of polygons representing elements of the floor plan in real-time. The processor is further configured to generate a simplified set of primitives representing the floor plan.

Abstract: The present invention relates to a process for coating apparatuses and apparatus parts for chemical plant construction—which are taken to mean, for example, apparatus, tank and reactor walls, discharge devices, valves, pumps, filters, compressors, centrifuges, columns, dryers, comminution machines, internals, packing elements and mixing elements—wherein a metal layer or a metal/polymer dispersion layer is deposited in an electroless manner on the apparatus(es) or apparatus part(s) to be coated by bringing the parts into contact with a metal electrolyte solution which, in addition to the metal electrolyte, comprises a reducing agent and optionally the polymer or polymer mixture to be deposited in dispersed form, where at least one polymer is halogenated.

Abstract: A process for coating a reactor, which comprises depositing a metal layer or a metal/polymer dispersion layer on the internal surface of the reactor in an electroless manner by bringing the surfaces into contact with a metal electrolyte solution which, besides the metal electrolyte, comprises a reducing agent and optionally a halogenated polymer to be deposited in dispersed form.

Abstract: The invention relates to a process for the production of anthraquinone by catalytic oxidation of indans or diphenylmethane derivatives with oxygen in the presence of a vanadium (V) compound with or without one or more than one compund of potassium, boron, thallium, antimony and/or caesium. Anthraquinone which can be prepared by the process according to this invention is a valuable starting material for the production of dyes and pesticides.