Abstract: Methods and systems for determining depth information using a combination of stereo and structured-light processing are provided. An example method involves receiving a plurality of images captured with at least two optical sensors, and determining a first depth estimate for at least one surface based on corresponding features between a first image and a second image. Further, the method involves causing a texture projector to project a known texture pattern, and determining, based on the first depth estimate, at least one region of at least one image of the plurality of images within which to search for a particular portion of the known texture pattern. And the method involves determining points corresponding to the particular portion of the known texture pattern within the at least one region, and determining a second depth estimate for the at least one surface based on the determined points corresponding to the known texture pattern.

Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. After causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

Abstract: Example systems and methods may be used to determine a trajectory for moving an object using a robotic device. One example method includes determining a plurality of possible trajectories for moving an object with an end effector of a robotic manipulator based on a plurality of possible object measurements. The method may further include causing the robotic manipulator to pick up the object with the end effector. Alter causing the robotic manipulator to pick up the object with the end effector, the method may also include receiving sensor data from one or more sensors indicative of one or more measurements of the object. Based on the received sensor data, the method may additionally include selecting a trajectory for moving the object from the plurality of possible trajectories. The method may further include causing the robotic manipulator to move the object through the selected trajectory.

Abstract: Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.

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.

Abstract: Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.

Abstract: An example method includes receiving a plurality of detected depth points indicative of depths of at least one surface and determining a projection of the detected depth points onto a plane. The method may also include identifying a plurality of first detected points, where a first detected point comprises a first point at a particular location of the plane in the projection. The method may also include storing digital entries corresponding to points located within a threshold buffer from one of the first detected points relative to the plane. The method may additionally include determining values for the digital entries, where a value for a digital entry corresponding to a particular point comprises an accumulation of distances from detected depth points that cross the particular point. The method may further include determining a digital height map representative of heights of the at least one surface relative to the plane.

Abstract: Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.

Abstract: A distance measuring system and method employing a laser distance sensor may have utility in various applications. In accordance with one aspect of the present invention, a laser distance sensor may acquire accurate distance measurements with a short baseline.

Abstract: A distance measuring system and method employing a laser distance sensor may have utility in various applications. In accordance with one aspect of the present invention, a laser distance sensor may acquire accurate distance measurements with a short baseline.

Abstract: A compact, inexpensive, real-time device for computing dense stereo range and motion field images, which are fundamental measurements supporting a wide range of computer vision systems that interact with the real world, where objects move through three-dimensional space includes a novel algorithm for image-to-image comparison that requires less storage and fewer operations than other algorithms. A combination of standard, low-cost and low-power components are programmed to perform algorithm and performs realtime stereo and motion analysis on passive video images, including image capture, digitization, stereo and/or motion processing, and transmission of results.

Abstract: A compact, inexpensive, real-time device for computing dense stereo range and motion field images, which are fundamental measurements supporting a wide range of computer vision systems that interact with the real world, where objects move through three-dimensional space includes a novel algorithm for image-to-image comparison that requires less storage and fewer operations than other algorithms. A combination of standard, low-cost and low-power components are programmed to perform algorithm and performs realtime stereo and motion analysis on passive video images, including image capture, digitization, stereo and/or motion processing, and transmission of results.

Abstract: Methods and apparatus for mapping images obtained using a multiple-viewpoint imaging system are disclosed. According to one aspect of the present invention, a method for projecting an image using a panoramic imaging device which includes a first camera includes selecting a single viewpoint that is near a plurality of virtual viewpoints associated with the device. Once the single viewpoint is selected, an optical ray which intersects a surface of the device at a first angle is selected from the plurality of optical rays. The optical ray is then moved or otherwise displaced so that it intersects the single viewpoint while substantially maintaining the first angle. Once the optical ray is displaced, an image is formed using the displaced optical ray to create a reprojection from the single viewpoint. In one embodiment, the panoramic imaging device includes a spherical mirror, and the first camera includes a perspective lens.