Abstract: Systems and methods are disclosed that facilitate object pose determination via keypoint detection. A machine learning algorithm is employed to facilitate voting-based estimation of the locations of at least three keypoints. In some example embodiments, the machine learning algorithm is trained, based on reference intensity-depth images of an object, to determine a radial distance between a keypoint and a 3D scene location associated with each pixel. At inference, the algorithm is employed to process an intensity-depth image to determine radial distance estimates for each pixel, and these radial distances are employed to increment an accumulator space, such that a sphere is generated in the accumulator space for each pixel, centered on the 3D scene location, and a keypoint location is determined by a peak in the accumulator space, with multiple keypoints enabling pose determination. The methods are adapted to other imaging modalities, including non-depth images and point cloud datasets.

Abstract: Disclosed implementations include a depth generation method using a novel teacher-student GAN architecture (TS-GAN) to generate depth images for 2-D images, such as RGB images, where no corresponding depth information is available. An example model consists of two components, a teacher and a student. The teacher consists of a fully convolutional encoder-decoder network as a generator along with a fully convolution classification network as the discriminator. The generator takes 2-D images as inputs and aims to output the corresponding depth images. The teacher learns an initial latent mapping between 2-dimensional and co-registered depth images and the student applies the latent mapping to provide feedback to the classification network for refinement.

Abstract: A programmable medication dispenser is provided to securely dispense medication to a patient and mitigate the risk of diversion of the medication to an unauthorized user. The programmable medication dispenser may include a processor, a memory, a housing, a biometric verification module, an inner receptacle having a plurality of compartments for storing the medication, and a gate for dispensing the medication from one of the compartments. A patient may access the medication stored within the medication dispenser according to a prescribed dosing schedule based on instructions executed by the processor after verifying his or her identify via the biometric verification module. A system is also provided for securely dispensing, monitoring, controlling medication for a patient using the programmable medication dispenser and for mitigating the risk of diversion of the medication to an unauthorized user.

Abstract: A method by an imaging controller of detecting item facings from image sensor data includes: obtaining, at the imaging controller, the image sensor data corresponding to a support structure containing at least one item; identifying, by a feature detector of the imaging controller, a set of matched keypoint pairs from keypoints of the image sensor data; determining, by a peak detector of the imaging controller, a separation distance between the keypoints of each matched keypoint pair; detecting, by the peak detector, a count of item instances represented in the image sensor data based on the separation distances; and presenting item facing detection output including the count of item instances.

Abstract: A method by an imaging controller of detecting item facings from image sensor data includes: obtaining, at the imaging controller, the image sensor data corresponding to a support structure containing at least one item; identifying, by a feature detector of the imaging controller, a set of matched keypoint pairs from keypoints of the image sensor data; determining, by a peak detector of the imaging controller, a separation distance between the keypoints of each matched keypoint pair; detecting, by the peak detector, a count of item instances represented in the image sensor data based on the separation distances; and presenting item facing detection output including the count of item instances.

Abstract: A programmable medication dispenser is provided to securely dispense medication to a patient and mitigate the risk of diversion of the medication to an unauthorized user. The programmable medication dispenser may include a processor, a memory, a housing, a biometric verification module, an inner receptacle having a plurality of compartments for storing the medication, and a gate for dispensing the medication from one of the compartments. A patient may access the medication stored within the medication dispenser according to a prescribed dosing schedule based on instructions executed by the processor after verifying his or her identify via the biometric verification module. A system is also provided for securely dispensing, monitoring, controlling medication for a patient using the programmable medication dispenser and for mitigating the risk of diversion of the medication to an unauthorized user.

Abstract: A programmable medication dispenser is provided to securely dispense medication to a patient and mitigate the risk of diversion of the medication to an unauthorized user. The programmable medication dispenser may include a processor, a memory, a housing, a biometric verification module, an inner receptacle having a plurality of compartments for storing the medication, and a gate for dispensing the medication from one of the compartments. A patient may access the medication stored within the medication dispenser according to a prescribed dosing schedule based on instructions executed by the processor after verifying his or her identify via the biometric verification module. A system is also provided for securely dispensing, monitoring, controlling medication for a patient using the programmable medication dispenser and for mitigating the risk of diversion of the medication to an unauthorized user.

Abstract: A programmable medication dispenser is provided to securely dispense medication to a patient and mitigate the risk of diversion of the medication to an unauthorized user. The programmable medication dispenser may include a processor, a memory, a housing, a biometric verification module, an inner receptacle having a plurality of compartments for storing the medication, and a gate for dispensing the medication from one of the compartments. A patient may access the medication stored within the medication dispenser according to a prescribed dosing schedule based on instructions executed by the processor after verifying his or her identify via the biometric verification module. A system is also provided for securely dispensing, monitoring, controlling medication for a patient using the programmable medication dispenser and for mitigating the risk of diversion of the medication to an unauthorized user.

Abstract: Control of dual (two) antennas, for satellite communications (satcom) with satellites in one or more constellations in Low Earth Orbit (LEO) and Medium Earth Orbit (MEO). The dual antennas are typically part of a ground-based antenna system, in particular using the Satrack single pedestal with split antenna design, housed efficiently under a compact radome. Features simultaneous pointing toward two separate satellites during the satellites' handover/switching periods with instantaneous transition between the satcom modems for assuring real-time, continuous data communication over a LEO/MEO satellite link. The dual (two) antennas system can also be used in a “monopulse/electronic scan” mode where a first antenna is used for tracking according to ephemeris data, while a second antenna on the same pedestal will scan for offset/compensation to the first antenna path.

Abstract: Control of dual (two) antennas, for satellite communications (satcom) with satellites in one or more constellations in Low Earth Orbit (LEO) and Medium Earth Orbit (MEO). The dual antennas are typically part of a ground-based antenna system, in particular using the Satrack single pedestal with split antenna design, housed efficiently under a compact radome. Features simultaneous pointing toward two separate satellites during the satellites' handover/switching periods with instantaneous transition between the satcom modems for assuring real-time, continuous data communication over a LEO/MEO satellite link.

Abstract: An effective marine stabilized antenna system, in terms of antenna to radome size and antenna/RF performance complies with all relevant worldwide SatCom regulations. The combination of a dual offset Gregorian antenna (DOGA) with a stabilized polarization over elevation over tilt over azimuth pedestal, and a control/stabilization algorithm, ensures antenna orientation restrictions guarantee compliance with side-lobe intensity regulations. Operating a dual offset Gregorian antenna substantially within a pre-determined antenna cut range of a 45 degree angle relative to a configuration of the antenna and a relative position of a target provides antenna performance that complies with applicable SatCom regulations, despite having to flip the antenna 90 degrees to continue tracking the satellite.

Abstract: Method and system for allowing entry to physically secured areas based on the detected presence of a contactless enabled financial instrument, financial card or financial device, including the ability to unlock or allow entry to a secured area. One embodiment includes the unlocking/allowing of entry into a secured/locked A.T.M. vestibule when a contactless enabled financial instrument, financial card or financial device is detected or tapped on a Contactless Card/Device Reader. Embodiments may include integrating into existing locking systems or working in parallel/complimentary fashion without direct integration.

Abstract: An effective marine stabilized antenna system, in terms of antenna to radome size and antenna/RF performance complies with all relevant worldwide SatCom regulations. The combination of a dual offset Gregorian antenna (DOGA) with a stabilized polarization over elevation over tilt over azimuth pedestal, and a control/stabilization algorithm, ensures antenna orientation restrictions guarantee compliance with side-lobe intensity regulations. Operating a dual offset Gregorian antenna substantially within a pre-determined antenna cut range of a 45 degree angle relative to a configuration of the antenna and a relative position of a target provides antenna performance that complies with applicable SatCom regulations, despite having to flip the antenna 90 degrees to continue tracking the satellite.

Abstract: The present invention provides a method and apparatus for accurately positioning a robotic pool-playing device. The system comprises a computer controlled robotic positioning device, such as a gantry robot, that can position a cue over the pool table and place a shot. A global camera is mounted on the ceiling looking down at the table, and the acquired images are transmitted to the computer for analysis to determine the identity and locations of the balls within the table coordinate reference frame. The computer also automatically determines which ball to strike. An aspect of the invention is the use of a local camera, mounted on or near the robotic end-effector in a fixed relationship with the cue, to improve the positioning error of the robotic device prior to placing a shot.

Abstract: The present invention provides a method and apparatus for accurately positioning a robotic pool-playing device. The system comprises a computer controlled robotic positioning device, such as a gantry robot, that can position a cue over the pool table and place a shot. A global camera is mounted on the ceiling looking down at the table, and the acquired images are transmitted to the computer for analysis to determine the identity and locations of the balls within the table coordinate reference frame. The computer also automatically determines which ball to strike. An aspect of the invention is the use of a local camera, mounted on or near the robotic end-effector in a fixed relationship with the cue, to improve the positioning error of the robotic device prior to placing a shot.

Abstract: The present invention provides a method and apparatus for accurately positioning a robotic pool-playing device. The system comprises a computer controlled robotic positioning device, such as a gantry robot, that can position a cue over the pool table and place a shot. A global camera is mounted on the ceiling looking down at the table, and the acquired images are transmitted to the computer for analysis to determine the identity and locations of the balls within the table coordinate reference frame. The computer also automatically determines which ball to strike. An aspect of the invention is the use of a local camera, mounted on or near the robotic end-effector in a fixed relationship with the cue, to improve the positioning error of the robotic device prior to placing a shot.

Abstract: A method and system for automatically adjusting charges billed to an organization by a service provider, so as to create an invoice of rebill charges. An organizational hierarchy, comprising a list of elements of an organization, is displayed on a display device. Services that have been provided to a selected element by one or more service providers are associated with the selected element. The billed charges for the services are then adjusted, so as to calculate the rebill charges.Adjustment of the billed charges is effected by applying reprice parameters and miscellaneous charges. The reprice parameters are used to adjust the billed charge by a desired percentage, by a fixed rate per time, or by a fixed charge per service. The miscellaneous charges are in addition to the billed charges. After adjustment of the billed charges, an invoice is generated based on the rebill charge.

Abstract: A system and method for providing and analyzing information regarding the association of services with elements of an organization. The system gathers information encoded in electronic form, organizes it into a services list, and correlates it with elements of an organization that are classified in an organizational hierarchy. A user of the system may examine a selected elements at any level of the organizational hierarchy and obtain information regarding all associated services, or vice versa. A user may further synchronize the services list and organizational hierarchy in such a manner that selection of an item from one displays corresponding data from the other.

Abstract: A new method is presented for efficient and reliable object recognition within noisy, cluttered, and occluded range images. An image is captured and quantized into cells having characteristics. A tree data structure is provided wherein each node of the tree is associated with a cell. The tree is traversed according to the characteristics of each associated cell using a best-first algorithm. When a leaf node is reached, potential object poses, types and locations associated with the leaf node are stored. Once sufficient information is stored, each potential recognized object is verified using a more reliable algorithm.

Abstract: A method for determining the 3-D pose of an object is provided assuming that an approximate pose of the object is known. As a laser range camera scans the object, depth profiles of the object are obtained and stored in a memory. Synthetic profiles are obtained from a model of the object that has been oriented to the assumed pose of the object, by using a conventional raster rendering technique to obtain a series of slices of the model. Once this synthetic profile signature of the model of the object is generated, a comparison is performed between this profile signature and the profiles obtained from the laser range camera. When a suitable match is found, a correction to the 3-D pose is calculated from the offset parameters associated with the match; further refinement may be performed by repeating the process.