Patents by Inventor Nestor Burtnyk

Nestor Burtnyk 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).

  • Patent number: 5471541
    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.
    Type: Grant
    Filed: November 16, 1993
    Date of Patent: November 28, 1995
    Assignee: National Research Council of Canada
    Inventors: Nestor Burtnyk, Michael A. Greenspan
  • Patent number: 5347459
    Abstract: A method is provided for detecting a collision between a robot and one or more obstacles before it occurs. The robot is modeled by spheres in a voxelized workspace. Each voxel within the workspace is assigned a value which corresponds to its distance from the closest obstacle. A collision is determined to be imminent if the voxel value at the center of a sphere is less than the radius of the sphere in voxels.
    Type: Grant
    Filed: March 17, 1993
    Date of Patent: September 13, 1994
    Assignee: National Research Council of Canada
    Inventors: Michael A. Greenspan, Nestor Burtnyk