Patents by Inventor Kartik Venkataraman
Kartik Venkataraman has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 12172310Abstract: A method for controlling a robotic system includes: capturing, by an imaging system, one or more images of a scene; computing, by a processing circuit including a processor and memory, one or more instance segmentation masks based on the one or more images, the one or more instance segmentation masks detecting one or more objects in the scene; computing, by the processing circuit, one or more pickability scores for the one or more objects; selecting, by the processing circuit, an object among the one or more objects based on the one or more pickability scores; computing, by the processing circuit, an object picking plan for the selected object; and outputting, by the processing circuit, the object picking plan to a controller configured to control an end effector of a robotic arm to pick the selected object.Type: GrantFiled: June 29, 2021Date of Patent: December 24, 2024Assignee: Intrinsic Innovation LLCInventors: Guy Michael Stoppi, Agastya Kalra, Kartik Venkataraman, Achuta Kadambi
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Patent number: 12175741Abstract: Systems and method for an object from a plurality of objects are disclosed. An image of a scene containing the plurality of objects is obtained, and a segmentation map is generated for the objects in the scene. The shapes of the objects are determined based on the segmentation map. An end effector is adjusted in response to determining the shapes of the objects. The adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects. The plurality of objects is approached in response to the shaping of the end effector, and one of the plurality of objects is picked with the end effector.Type: GrantFiled: June 22, 2021Date of Patent: December 24, 2024Assignee: Intrinsic Innovation LLCInventors: Vage Taamazyan, Kartik Venkataraman, Agastya Kalra, Achuta Kadambi
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Patent number: 12142025Abstract: A polarized event camera system includes: an event camera having a field of view centered around an optical axis, the event camera including an image sensor including a plurality of pixels, each pixel of the event camera operating independently and asynchronously and being configured to generate change events based on changes in intensity of light received by the pixel; and a rotatable linear polarizer aligned with the optical axis of the event camera, the rotatable linear polarizer having a polarization axis, the polarization axis of the rotatable linear polarizer being rotatable about the optical axis of the event camera.Type: GrantFiled: November 16, 2021Date of Patent: November 12, 2024Assignee: Intrinsic Innovation LLCInventors: Vage Taamazyan, Agastya Kalra, Achuta Kadambi, Kartik Venkataraman
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Publication number: 20240346675Abstract: Systems and methods for hybrid depth regularization in accordance with various embodiments of the invention are disclosed. In one embodiment of the invention, a depth sensing system comprises a plurality of cameras; a processor; and a memory containing an image processing application. The image processing application may direct the processor to obtain image data for a plurality of images from multiple viewpoints, the image data comprising a reference image and at least one alternate view image; generate a raw depth map using a first depth estimation process, and a confidence map; and generate a regularized depth map. The regularized depth map may be generated by computing a secondary depth map using a second different depth estimation process; and computing a composite depth map by selecting depth estimates from the raw depth map and the secondary depth map based on the confidence map.Type: ApplicationFiled: April 10, 2024Publication date: October 17, 2024Applicant: Adeia Imaging LLCInventors: Ankit Jain, Priyam Chatterjee, Kartik Venkataraman
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Publication number: 20240348941Abstract: Systems and methods for implementing array cameras configured to perform super-resolution processing to generate higher resolution super-resolved images using a plurality of captured images and lens stack arrays that can be utilized in array cameras are disclosed. An imaging device in accordance with one embodiment of the invention includes at least one imager array, and each imager in the array comprises a plurality of light sensing elements and a lens stack including at least one lens surface, where the lens stack is configured to form an image on the light sensing elements, control circuitry configured to capture images formed on the light sensing elements of each of the imagers, and a super-resolution processing module configured to generate at least one higher resolution super-resolved image using a plurality of the captured images.Type: ApplicationFiled: March 6, 2024Publication date: October 17, 2024Applicant: Adeia Imaging LLCInventors: Kartik Venkataraman, Amandeep S. Jabbi, Robert H. Mullis, Jacques Duparre, Shane Ching-Feng Hu
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Publication number: 20240333901Abstract: Systems and methods in accordance with embodiments of the invention are configured to decode images containing an image of a scene and a corresponding depth map. A depth-based effect is applied to the image to generate a synthetic image of the scene. The synthetic image can be encoded into a new image file that contains metadata associated with the depth-based effect. In many embodiments, the original decoded image has a different depth-based effect applied to it with respect to the synthetic image.Type: ApplicationFiled: June 13, 2024Publication date: October 3, 2024Applicant: Adeia Imaging LLCInventors: Kartik Venkataraman, Semyon Nisenzon, Dan Lelescu
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Publication number: 20240331181Abstract: Systems in accordance with embodiments of the invention can perform parallax detection and correction in images captured using array cameras. Due to the different viewpoints of the cameras, parallax results in variations in the position of objects within the captured images of the scene. Methods in accordance with embodiments of the invention provide an accurate account of the pixel disparity due to parallax between the different cameras in the array, so that appropriate scene-dependent geometric shifts can be applied to the pixels of the captured images when performing super-resolution processing. In a number of embodiments, generating depth estimates considers the similarity of pixels in multiple spectral channels. In certain embodiments, generating depth estimates involves generating a confidence map indicating the reliability of depth estimates.Type: ApplicationFiled: February 6, 2024Publication date: October 3, 2024Applicant: Adeia Imaging LLCInventors: Florian Ciurea, Kartik Venkataraman, Gabriel Molina, Dan Lelescu
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Patent number: 12099148Abstract: A method of performing surface profilometry includes receiving one or more polarization raw frames of a printed layer of a physical object undergoing additive manufacturing, the one or more polarization raw frames being captured at different polarizations by one or more polarization cameras, extracting one or more polarization feature maps in one or more polarization representation spaces from the one or more polarization raw frames, obtaining a coarse layer depth map of the printed layer, generating one or more surface-normal images based on the coarse layer depth map and the one or more polarization feature maps, and generating a 3D reconstruction of the printed layer based on the one or more surface-normal images.Type: GrantFiled: October 7, 2020Date of Patent: September 24, 2024Assignee: Intrinsic Innovation LLCInventors: Achuta Kadambi, Kartik Venkataraman, Supreeth Krishna Rao, Agastya Kalra
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Patent number: 12081721Abstract: Embodiments of the invention provide a camera array imaging architecture that computes depth maps for objects within a scene captured by the cameras, and use a near-field sub-array of cameras to compute depth to near-field objects and a far-field sub-array of cameras to compute depth to far-field objects. In particular, a baseline distance between cameras in the near-field subarray is less than a baseline distance between cameras in the far-field sub-array in order to increase the accuracy of the depth map. Some embodiments provide an illumination near-IR light source for use in computing depth maps.Type: GrantFiled: June 17, 2022Date of Patent: September 3, 2024Assignee: Adeia Imaging LLCInventors: Kartik Venkataraman, Dan Lelescu, Jacques Duparre
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Patent number: 12067746Abstract: A method for estimating a pose of an object includes: receiving, by a processor, an observed image depicting the object from a viewpoint; computing, by the processor, an instance segmentation map identifying a class of the object depicted in the observed image; loading, by the processor, a 3-D model corresponding to the class of the object; computing, by the processor, a rendered image of the 3-D model in accordance with an initial pose estimate of the object and the viewpoint of the observed image; computing, by the processor, a plurality of dense image-to-object correspondences between the observed image of the object and the 3-D model based on the observed image and the rendered image; and computing, by the processor, the pose of the object based on the dense image-to-object correspondences.Type: GrantFiled: May 7, 2021Date of Patent: August 20, 2024Assignee: Intrinsic Innovation LLCInventors: Vage Taamazyan, Guy Michael Stoppi, Bradley Craig Anderson Brown, Agastya Kalra, Achuta Kadambi, Kartik Venkataraman
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Patent number: 12069227Abstract: A stereo camera array system includes: a first camera array at a first viewpoint including: a first camera configured to capture images in a first modality, the first modality being viewpoint-independent; and a second camera configured to capture images in a second modality different from the first modality; and a second camera array at a second viewpoint spaced apart along a first baseline from the first camera array at the first viewpoint, the second camera array including: a first camera configured to capture images in the first modality; and a second camera configured to capture images in the second modality.Type: GrantFiled: March 10, 2021Date of Patent: August 20, 2024Assignee: Intrinsic Innovation LLCInventors: Kartik Venkataraman, Achuta Kadambi, Agastya Kalra
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Patent number: 12056886Abstract: Systems and methods for depth estimation in accordance with embodiments of the invention are illustrated. One embodiment includes a method for estimating depth from images. The method includes steps for receiving a plurality of source images captured from a plurality of different viewpoints using a processing system configured by an image processing application, generating a target image from a target viewpoint that is different to the viewpoints of the plurality of source images based upon a set of generative model parameters using the processing system configured by the image processing application, and identifying depth information of at least one output image based on the predicted target image using the processing system configured by the image processing application.Type: GrantFiled: March 27, 2023Date of Patent: August 6, 2024Assignee: Adeia Imaging LLCInventor: Kartik Venkataraman
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Patent number: 12052409Abstract: Systems and methods in accordance with embodiments of the invention are configured to render images using light field image files containing an image synthesized from light field image data and metadata describing the image that includes a depth map. One embodiment of the invention includes a processor and memory containing a rendering application and a light field image file including an encoded image, a set of low resolution images, and metadata describing the encoded image, where the metadata comprises a depth map that specifies depths from the reference viewpoint for pixels in the encoded image. In addition, the rendering application configures the processor to: locate the encoded image within the light field image file; decode the encoded image; locate the metadata within the light field image file; and post process the decoded image by modifying the pixels based on the depths indicated within the depth map and the set of low resolution images to create a rendered image.Type: GrantFiled: June 22, 2023Date of Patent: July 30, 2024Assignee: Adela Imaging LLCInventors: Kartik Venkataraman, Semyon Nisenzon, Dan Lelescu
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Patent number: 12041360Abstract: Systems and methods for implementing array cameras configured to perform super-resolution processing to generate higher resolution super-resolved images using a plurality of captured images and lens stack arrays that can be utilized in array cameras are disclosed. An imaging device in accordance with one embodiment of the invention includes at least one imager array, and each imager in the array comprises a plurality of light sensing elements and a lens stack including at least one lens surface, where the lens stack is configured to form an image on the light sensing elements, control circuitry configured to capture images formed on the light sensing elements of each of the imagers, and a super-resolution processing module configured to generate at least one higher resolution super-resolved image using a plurality of the captured images.Type: GrantFiled: September 5, 2023Date of Patent: July 16, 2024Assignee: Adeia Imaging LLCInventors: Kartik Venkataraman, Amandeep S. Jabbi, Robert H. Mullis, Jacques Duparre, Shane Ching-Feng Hu
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Patent number: 12022207Abstract: Systems and methods for implementing array cameras configured to perform super-resolution processing to generate higher resolution super-resolved images using a plurality of captured images and lens stack arrays that can be utilized in array cameras are disclosed. An imaging device in accordance with one embodiment of the invention includes at least one imager array, and each imager in the array comprises a plurality of light sensing elements and a lens stack including at least one lens surface, where the lens stack is configured to form an image on the light sensing elements, control circuitry configured to capture images formed on the light sensing elements of each of the imagers, and a super-resolution processing module configured to generate at least one higher resolution super-resolved image using a plurality of the captured images.Type: GrantFiled: October 13, 2023Date of Patent: June 25, 2024Assignee: Adeia Imaging LLCInventors: Kartik Venkataraman, Amandeep S. Jabbi, Robert H. Mullis, Jacques Duparre, Shane Ching-Feng Hu
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Patent number: 12020455Abstract: Systems and method for expanding a dynamic range associated with an image are disclosed. The method includes capturing an image of a scene via an imaging device using a single exposure. The image of the scene includes a plurality of polarization images corresponding to different angles of polarization, and each of the polarization images comprise a plurality of color channels. The method further includes determining a criterion for each of the plurality of color channels; selecting one color channel of the plurality of color channels based on determining of the criterion; generating a reconstructed image irradiance for the one color channel based on pixels in two or more of the plurality of polarization images obtained for the one color channel; and outputting a reconstructed image with the reconstructed image irradiance.Type: GrantFiled: March 10, 2021Date of Patent: June 25, 2024Assignee: Intrinsic Innovation LLCInventors: Vage Taamazyan, Achuta Kadambi, Kartik Venkataraman
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Patent number: 12008796Abstract: A method for estimating a pose of an object includes: receiving a plurality of images of the object captured from multiple viewpoints with respect to the object; initializing a current pose of the object based on computing an initial estimated pose of the object from at least one of the plurality of images; predicting a plurality of 2-D keypoints associated with the object from each of the plurality of images; and computing an updated pose that minimizes a cost function based on a plurality of differences between the 2-D keypoints and a plurality of 3-D keypoints associated with a 3-D model of the object as arranged in accordance with the current pose, and as projected to each of the viewpoints.Type: GrantFiled: January 28, 2022Date of Patent: June 11, 2024Assignee: Intrinsic Innovation LLCInventors: Agastya Kalra, Achuta Kadambi, Kartik Venkataraman, Vage Taamazyan
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Patent number: 12002233Abstract: Systems in accordance with embodiments of the invention can perform parallax detection and correction in images captured using array cameras. Due to the different viewpoints of the cameras, parallax results in variations in the position of objects within the captured images of the scene. Methods in accordance with embodiments of the invention provide an accurate account of the pixel disparity due to parallax between the different cameras in the array, so that appropriate scene-dependent geometric shifts can be applied to the pixels of the captured images when performing super-resolution processing. In a number of embodiments, generating depth estimates considers the similarity of pixels in multiple spectral channels. In certain embodiments, generating depth estimates involves generating a confidence map indicating the reliability of depth estimates.Type: GrantFiled: January 29, 2021Date of Patent: June 4, 2024Assignee: Adeia Imaging LLCInventors: Florian Ciurea, Kartik Venkataraman, Gabriel Molina, Dan Lelescu
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Publication number: 20240169483Abstract: Systems and methods in accordance with embodiments of the invention are disclosed that use super-resolution (SR) processes to use information from a plurality of low resolution (LR) images captured by an array camera to produce a synthesized higher resolution image. One embodiment includes obtaining input images using the plurality of imagers, using a microprocessor to determine an initial estimate of at least a portion of a high resolution image using a plurality of pixels from the input images, and using a microprocessor to determine a high resolution image that when mapped through the forward imaging transformation matches the input images to within at least one predetermined criterion using the initial estimate of at least a portion of the high resolution image.Type: ApplicationFiled: November 8, 2023Publication date: May 23, 2024Applicant: Adeia Imaging LLCInventors: Dan Lelescu, Gabriel Molina, Kartik Venkataraman
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Patent number: 11986955Abstract: A method of tracking a pose of an object includes determining an initial pose of the object at a first position, receiving position data and velocity data corresponding to movement of the object to a second position by a moving device, determining an expected pose of the object at the second position based on the position and velocity data and the initial pose, receiving second image data corresponding to the object at the second position from a camera, and determining a refined pose of the object at the second position based on the second image data and the expected pose.Type: GrantFiled: September 9, 2021Date of Patent: May 21, 2024Assignee: Intrinsic Innovation LLCInventors: Rishav Agarwal, Achuta Kadambi, Agastya Kalra, Kartik Venkataraman