Robotics Patents (Class 382/153)
  • Patent number: 11449063
    Abstract: A method for identifying objects for autonomous robots, including: capturing, with an image sensor disposed on an autonomous robot, images of a workspace, wherein a field of view of the image sensor captures at least an area in front of the autonomous robot; obtaining, with a processing unit disposed on the autonomous robot, the images; generating, with the processing unit, a feature vector from the images; comparing, with the processing unit, at least one object captured in the images to objects in an object dictionary; identifying, with the processing unit, a class to which the at least one object belongs; and executing, with the autonomous robot, instructions based on the class of the at least one object identified.
    Type: Grant
    Filed: February 24, 2022
    Date of Patent: September 20, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Robinson
  • Patent number: 11442149
    Abstract: A light detection and ranging (“LIDAR”) system includes a coherent light source that generates a frequency modulated optical signal comprising a series of optical chirps. A scanning assembly transmits the series of optical chirps in a scan pattern across a scanning region, and receives a plurality of reflected optical chirps corresponding to the transmitted optical chirps that have reflected off one or more objects located within the scanning region. A photodetector mixes the reflected optical chirps with a local oscillation (LO) reference signal comprising a series of LO reference chirps. An electronic data analysis assembly processes digital data derived from the reflected optical chirps and the LO reference chirps mixed at the photodetector to generate distance data and optionally velocity data associated with each of the reflected optical chirps.
    Type: Grant
    Filed: October 6, 2016
    Date of Patent: September 13, 2022
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Lutfollah Maleki, Scott Singer
  • Patent number: 11425866
    Abstract: Method and apparatus for automated operations, such as pruning, harvesting, spraying and/or maintenance, on plants, and particularly plants with foliage having features on many length scales or a wide spectrum of length scales, such as female flower buds of the marijuana plant. The invention utilizes a convolutional neural network for image segmentation classification and/or the determination of features. The foliage is imaged stereoscopically to produce a three-dimensional surface image, a first neural network determines regions to be operated on, and a second neural network determines how an operation tool operates on the foliage. For pruning of resinous foliage the cutting tool is heated or cooled to avoid having the resins make the cutting tool inoperable.
    Type: Grant
    Filed: February 10, 2019
    Date of Patent: August 30, 2022
    Inventor: Keith Charles Burden
  • Patent number: 11429112
    Abstract: A mobile robot control method includes: acquiring a first image that is captured by a camera on a robot when the robot is in a desired pose; acquiring a second image that is captured by the camera on the robot when the robot is in a current pose; extracting multiple pairs of matching feature points from the first image and the second image, and projecting the extracted feature points onto a virtual unitary sphere to obtain multiple projection feature points, wherein a center of the virtual unitary sphere is coincident with an optical center of coordinates of the camera; acquiring an invariant image feature and a rotation vector feature based on the multiple projection feature points, and controlling the robot to move until the robot is in the desired pose according to the invariant image feature and the rotation vector feature.
    Type: Grant
    Filed: December 31, 2020
    Date of Patent: August 30, 2022
    Assignees: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP, UBTECH ROBOTICS CORP LTD
    Inventors: Dejun Guo, Dan Shao, Yang Shen, Kang-Hao Peng, Huan Tan
  • Patent number: 11430137
    Abstract: An electronic device and a control method therefor are disclosed. A method for controlling an electronic device according to the present invention comprises the steps of: receiving a current frame; determining a region, within the current frame, where there is a movement, on the basis of a prior frame and the current frame; inputting the current frame into an artificial intelligence learning model on the basis of the region where there is the movement, to obtain information relating to at least one object included in the current frame; and determining the object included in the region where there is the movement, by using the obtained information relating to the at least one object. Therefore, electronic device can rapidly determine an object included in a frame configuring a captured image.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: August 30, 2022
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Sungho Kang, Yunjae Lim, Hyungdal Kwon, Cheon Lee
  • Patent number: 11430341
    Abstract: The present invention discloses a system and a method for optimizing Unmanned Aerial Vehicle (UAV) based warehouse management, where an optimized path for UAV is generated in real time based on the density of inventory. In operation, the present invention provides for identifying landmark features of the warehouse and density of inventory. Further, a 3D grid map an aisle of the warehouse is generated using the density of inventory. Finally, a navigation path for the UAV for a mission is generated based on the generated 3D grid map using one or more path planning techniques. Further, the present invention provides for updating the navigation path if one or more changes are observed in the density of the inventory.
    Type: Grant
    Filed: July 23, 2019
    Date of Patent: August 30, 2022
    Assignee: COGNIZANT TECHNOLOGY SOLUTIONS SINDIA PVT. LTD.
    Inventors: Gurpreet Singh Sachdeva, Ramesh Yechangunja
  • Patent number: 11423545
    Abstract: The present invention relates to an image processing apparatus and a mobile robot including the same. The image processing apparatus according to an embodiment of the present invention includes an image acquisition unit for obtaining an image and a processor for performing signal processing on the image from the image acquisition unit, and the processor is configured to group super pixels in the image on the basis of colors or luminances of the image, calculate representative values of the super pixels and perform segmentation on the basis of the representative values of the super pixels. Accordingly, image segmentation can be performed rapidly and accurately.
    Type: Grant
    Filed: December 4, 2018
    Date of Patent: August 23, 2022
    Assignees: LG ELECTRONICS INC., INDUSTRY-ACADEMIC COOPERATION FOUNDATION, YONSEI UNIVERSITY
    Inventors: Beomseong Kim, Yeonsoo Kim, Dongki Noh, Euntai Kim, Jisu Kim, Sangyun Lee
  • Patent number: 11393063
    Abstract: An object detecting method includes imaging a plurality of target objects with an imaging section and acquiring a first image, recognizing an object position/posture of one of the plurality of target objects based on the first image, counting the number of successfully recognized object positions/postures of the target object, outputting, based on the object position/posture of the target object, a signal for causing a holding section to hold the target object, calculating, as a task evaluation value, a result about whether the target object was successfully held, updating, based on an evaluation indicator including the number of successfully recognized object positions/postures and the task evaluation value, a model for estimating the evaluation indicator from an imaging position/posture of the imaging section and determining an updated imaging position/posture, acquiring a second image in the updated imaging position/posture, and recognizing the object position/posture of the target object based on the seco
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: July 19, 2022
    Inventor: Jun Toda
  • Patent number: 11389956
    Abstract: A first method comprising: predicting a scene of an environment using a model of the environment and based on a first scene of the environment obtained from sensors observing scenes of the environment; comparing the predicted scene with an observed scene from the sensors; and performing an action based on differences determined between the predicted scene and the observed scene. A second method comprising applying a vibration stimuli on an object via a computer-controlled component; obtaining a plurality of images depicting the object from a same viewpoint, captured during the application of the vibration stimuli. The second method further comprising comparing the plurality of images to detect changes occurring in response to the application of the vibration stimuli, which changes are attributed to a change of a location of a boundary of the object; and determining the boundary of the object based on the comparison.
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: July 19, 2022
    Assignee: SHMUEL UR INNOVATION LTD.
    Inventors: Shmuel Ur, Vlad Dabija, David Hirshberg
  • Patent number: 11364581
    Abstract: A method and apparatus for manufacturing an aircraft structure. A drivable support may be driven from a first location to a second location to bring the drivable support together with at least one other drivable support to form a drivable support system. A structure may be held in a desired position using the drivable support system.
    Type: Grant
    Filed: October 1, 2019
    Date of Patent: June 21, 2022
    Assignee: The Boeiog Company
    Inventors: Dan Dresskell Day, Clayton Lynn Munk, Steven John Schmitt, Eric M. Reid
  • Patent number: 11348276
    Abstract: A mobile robot and a method of controlling the mobile robot are disclosed. The method includes acquiring an image of an inside of a traveling zone. The method further includes performing a point-based feature point extraction by extracting a first feature point from the acquired image. The method also includes performing a block-based feature point extraction by dividing the acquired image into blocks having a predetermined size and extracting a second feature point from each of the divided block-unit images. The method also includes determining the current location by performing a point-based feature point matching using the first feature point and performing a block-based feature point using the second feature point. The method also includes storing the determined current location in association with the first feature point and the second feature point in a map.
    Type: Grant
    Filed: March 26, 2020
    Date of Patent: May 31, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Dongki Noh, Jaekwang Lee, Seungwook Lim, Gyuho Eoh
  • Patent number: 11340606
    Abstract: System and method for controlling an aerial system, without physical interaction with a separate remote device, based on sensed user expressions. User expressions may include thought, voice, facial expressions, and/gestures. User expressions may be sensed by sensors associated with the aerial device or a remote device.
    Type: Grant
    Filed: August 7, 2019
    Date of Patent: May 24, 2022
    Inventors: Mengqiu Wang, Jia Lu, Tong Zhang, Lixin Liu
  • Patent number: 11304374
    Abstract: The invention relates to an end-effector device and automated selective thinning system. The system includes vision acquisition hardware, kinematic targeting and heuristic programming, a robotic arm, and a pomologically designed end-effector. The system is utilized to improve efficiency for the fruit-thinning process in a tree orchard, such as peach thinning. By automating the mechanical process of fruit thinning, selective fruit-thinners can eliminate manual labor inputs and further enhance favorable blossom removal. Automation used in conjunction with a heuristic approach provides improvements to the system. The system may also be configured as a robotic arm or as a handheld system by including a battery and switching microcontroller with handle or wrist straps. Handheld thinning devices that are mechanical in nature may also be part of the system.
    Type: Grant
    Filed: August 28, 2019
    Date of Patent: April 19, 2022
    Assignee: THE PENN STATE RESEARCH FOUNDATION
    Inventors: David Lyons, Paul Heinemann
  • Patent number: 11303799
    Abstract: The present technology relates to a control device, a control method, and a program that enable capturing an image suitable for use in image processing such as recognition of a target object. A control device according to an embodiment of the present technology generates a map including a target object existing around a moving object on the basis of output from a sensor provided on the moving object, and controls drive of a camera provided on the moving object that captures an image of the target object on the basis of a relation between a position of the target object and position of the moving object on the map. The present technology can be applied to a robot capable of acting autonomously.
    Type: Grant
    Filed: July 17, 2019
    Date of Patent: April 12, 2022
    Assignee: SONY CORPORATION
    Inventor: Xi Chen
  • Patent number: 11266049
    Abstract: There is provided technology which is a component mounting machine which mounts electronic components onto a circuit substrate and is capable of displaying a movable region of an inner portion of the component mounting machine within a same image. The component mounting machine is provided with a fixed camera which monitors the inner portion of the component mounting machine and a display section which is capable of displaying a captured image of the fixed camera. The fixed camera is capable of imaging a range from a pickup position at which the suction nozzle picks up the electronic component which is supplied from the component feeder to a mounting position at which the electronic component is mounted onto the circuit substrate within the same image.
    Type: Grant
    Filed: September 3, 2015
    Date of Patent: March 1, 2022
    Assignee: FUJI CORPORATION
    Inventor: Kazuma Hattori
  • Patent number: 11254019
    Abstract: Systems and methods are provided for automatic intrinsic and extrinsic calibration for a robot optical sensor. An implementation includes an optical sensor; a robot arm; a calibration chart; one or more processors; and a memory storing instructions that cause the one or more processors to perform operations that includes: determining a set of poses for calibrating the first optical sensor; generating, based at least on the set of poses, pose data comprising three dimensional (3D) position and orientation data; moving, based at least on the pose data, the robot arm into a plurality of poses; at each pose of the plurality of poses, capturing a set of images of the calibration chart with the first optical sensor and recording a pose; calculating intrinsic calibration parameters, based at least on the set of captured images; and calculating extrinsic calibration parameters, based at least on the set of captured images.
    Type: Grant
    Filed: March 5, 2019
    Date of Patent: February 22, 2022
    Assignee: The Boeing Company
    Inventors: Phillip Haeusler, Jason John Cochrane
  • Patent number: 11226628
    Abstract: The present application provides a method, apparatus and system for controlling transportation between warehouses. The method includes: receiving, from the source RCS, first transportation information which includes information of a first to-be-transported object; transporting the first to-be-transported object to a handover area; transferring control over the AGV from the source RCS to the target RCS; receiving a location of a first target storage space from the target RCS; transporting the first to-be-transported object from the handover area to the first target storage space. In the present application, the AGV transfers the control over itself from the source RCS to the target RCS after moving the to-be-transported object to the handover area, such that the target RCS could take over the AGV and control the AGV to transport the first to-be-transported object from the handover area to the first target storage space.
    Type: Grant
    Filed: August 10, 2017
    Date of Patent: January 18, 2022
    Assignee: HANGZHOU HIKROBOT TECHNOLOGY CO., LTD.
    Inventors: Huapeng Wu, Keping Zhu, Shengkai Li
  • Patent number: 11215996
    Abstract: The present disclosure provides a method and a device for controlling a vehicle, a device and a storage medium, and relates to the field of unmanned vehicle technologies. The method includes: acquiring a vehicle environment image by an image acquirer during traveling of the vehicle; extracting a static environment image included in the vehicle environment image; obtaining a planned vehicle traveling trajectory by taking the static environment image as an input of a trajectory planning model; and controlling the vehicle to travel according to the planned vehicle traveling trajectory.
    Type: Grant
    Filed: December 28, 2019
    Date of Patent: January 4, 2022
    Assignee: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.
    Inventor: Hao Yu
  • Patent number: 11205296
    Abstract: Rendering multi-dimensional data in a polyhedron, such as a cube, in a 3D environment allows for the ease of visualization of, and interaction with, the underlying data. The approaches herein allow for 3D manipulation of records within the underlying data by filtering the records across elements of a particular dimension. These records may be filtered by physically grabbing a ‘drawer’—a slice of data within the polyhedron—and removing the drawer to a separate space. That drawer then represents all of the underlying records filtered by that slice, and can be further manipulated by additional filtering, or by merging multiple drawers together.
    Type: Grant
    Filed: December 20, 2019
    Date of Patent: December 21, 2021
    Assignee: SAP SE
    Inventors: Christian Grail, Joachim Fiess, Tatjana Borovikov, Judith Schneider, Manfred Johann Pauli, Gisbert Loff, Hanswerner Dreissigacker, Klaus Herter, Hans-Juergen Richstein, Ian Robert Taylor
  • Patent number: 11195297
    Abstract: A method and a system for visual localization based on dual dome cameras is based on two synchronized panoramic video streams output by dual dome cameras to solve the problem of fewer feature points and tracking failure, thereby achieving stable visual SLAM tracking. The depth information of the scene is restored via the two panoramic video streams based on the principle of triangulation measurement. The positions and postures of the dual dome cameras are calculated based on a principle of binocular vision based SLAM, so that accurate map information are obtained finally by evaluating the positions and postures of the dual dome cameras corresponding to the key frames and the depth information in the key frames. The disclosure makes up for inaccurate and incomplete depth information of the scenes in passive scene recoveries, which is suitable for vehicle and robot positioning, obstacle detection and free space estimation.
    Type: Grant
    Filed: May 22, 2020
    Date of Patent: December 7, 2021
    Assignees: CHINA-GERMANY(ZHUHAI)ARTIFICIAL INTELLIGENCE INSTITUTE CO., LTD, ZHUHAI 4DAGE TECHNOLOGY CO., LTD.
    Inventor: Yan Cui
  • Patent number: 11191412
    Abstract: Disclosed is control of a floor treatment machine and treating floor surfaces, including a planning mode, allowing at least two zones to be defined on a floor surface to be treated, a first node to be defined in each zone and a connection path from at least one zone to a first node of another zone to be defined. At least one region of the zone edge can be input as a virtual obstacle, a direct connection between the first node of the defined zone and the first node of another zone being interrupted by the input region on the basis of real and virtual obstacles. After the complete treatment of a zone, the virtual obstacle on the zone edge is canceled and a switch to another zone is performed. Thus, zones distributed in any way can be treated in succession without the intervention of an operating person.
    Type: Grant
    Filed: September 14, 2017
    Date of Patent: December 7, 2021
    Assignee: Cleanfix Reinigungssysteme AG
    Inventors: Pierre Lamon, Roland Flück
  • Patent number: 11175148
    Abstract: Described herein are systems and methods that involve abnormality detection and a carefully designed state machine that assesses whether mapping, such as simultaneous localization and mapping (SLAM) processing, should be skipped for the current image frames, whether relocalization may performed, or whether SLAM processing may be performed. Thus, embodiments allow mapping processing to timely and smoothly switch between different tracking states, and thereby prevent bad tracking status to occur.
    Type: Grant
    Filed: August 13, 2018
    Date of Patent: November 16, 2021
    Assignee: Baidu USA LLC
    Inventors: Yingze Bao, Mingyu Chen
  • Patent number: 11169599
    Abstract: It is preferable for a user to experience sensation corresponding to the sensation actually experienced by the user or another user. There is provided an information processing apparatus including a data acquisition unit configured to acquire relevance data of a plurality of pieces of sensory information sensed in advance, a sensory information determination unit configured to determine second sensory information relevant to first sensory information on the basis of the relevance data, and a presentation control unit configured to control presentation of presentation data associated with the second sensory information to a user.
    Type: Grant
    Filed: August 3, 2018
    Date of Patent: November 9, 2021
    Assignee: SONY CORPORATION
    Inventor: Yufeng Jin
  • Patent number: 11164049
    Abstract: Automated method and device suitable for ensuring the dynamic perceptual invariance of an event with a view to extracting therefrom unified semantic representations are provided. The event is perceived by a linguistic data translator that delivers a signal (HD) referenced (x,y), which signal is transformed into a signal (MAP1) referenced (i,j) through a unit (Dec) that carries out a Gaussian filtering operation that is parameterized by w and decimated by a coefficient k, and transformed into a signal (MAP2) referenced (X,Y) representative of the invariant event through a unit (ROI).
    Type: Grant
    Filed: April 27, 2018
    Date of Patent: November 2, 2021
    Assignee: ANOTHER BRAIN
    Inventor: Patrick Pirim
  • Patent number: 11164769
    Abstract: A substrate transport apparatus includes a transport chamber, a drive section, a robot arm, an imaging system with a camera mounted through a mounting interface of the drive section in a predetermined location with respect to the transport chamber and disposed to image part of the arm, and a controller connected to the imaging system and configured to image, with the camera, the arm moving to or in the predetermined location, the controller effecting capture of a first image of the arm on registry of the arm proximate to or in the predetermined location, the controller is configured to calculate a positional variance of the arm from comparison of the first image with a calibration image of the arm, and determine a motion compensation factor changing an extended position of the arm. Each camera effecting capture of the first image is disposed inside the perimeter of the mounting interface.
    Type: Grant
    Filed: July 29, 2020
    Date of Patent: November 2, 2021
    Assignee: Brooks Automation, Inc.
    Inventor: Jairo Terra Moura
  • Patent number: 11164038
    Abstract: Systems and methods are provided for generating sets of candidates comprising images and places within a threshold geographic proximity based on geographic information associated with each of the plurality of images and geographic information associated with each place. For each set of candidates, the systems and methods generate a similarity score based on a similarity between text extracted from each image and a place name, and the geographic information associated with each image and each place. For each place with an associated image as a potential match, the systems and methods generate a name similarity score based on matching the extracted text of the image to the place name, and store an image as place data associated with a place based on determining that the name similarity score for the extracted text associated with the image is higher than a second predetermined threshold.
    Type: Grant
    Filed: August 9, 2019
    Date of Patent: November 2, 2021
    Assignee: Uber Technologies, Inc.
    Inventors: Jeremy Hintz, Lionel Gueguen, Kapil Gupta, Benjamin James Kadlec, Susmit Biswas
  • Patent number: 11151688
    Abstract: An image processing method for a screen inner hole of a display device is provided, including steps as follows: determining coordinates at a center and a radius r of the screen inner hole, and drawing a circle with the radius r to obtain a pixel range of an inner hole area, and calculating a pixel variance of the pixel range; analyzing an image configuration in the inner hole area and a peripheral area around the inner hole area, and determining whether key information is in the inner hole area; locating and determining a range of the inner hole area and a range of the peripheral area; and separately calculating, in the inner hole area and in the peripheral area, a pixel mean and a pixel variance.
    Type: Grant
    Filed: April 19, 2019
    Date of Patent: October 19, 2021
    Assignee: WUHAN CHINA STAR OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventor: Chuan Shuai
  • Patent number: 11145083
    Abstract: A method for image-based localization includes, at a camera device, capturing a plurality of images of a real-world environment. A first set of image features are detected in a first image of the plurality of images. Before additional sets of image features are detected in other images of the plurality, the first set of image features is transmitted to a remote device configured to estimate a pose of the camera device based on image features detected in the plurality of images. As the additional sets of image features are detected in the other images of the plurality, the additional sets of image features are transmitted to the remote device. An estimated pose of the camera device is received from the remote device.
    Type: Grant
    Filed: May 21, 2019
    Date of Patent: October 12, 2021
    Assignee: Microsoft Technology Licensing, LLC
    Inventors: Johannes Lutz Schonberger, Marc Andre Leon Pollefeys
  • Patent number: 11124034
    Abstract: A height adjustment module includes a mounting part extending on a plane; a plurality of support arms disposed around the mounting part on the plane on which the mounting part has been extended, and coupled to the mounting part to be rotatable upward or downward; a plurality of travelling parts each being coupled to a first end portion of the support arm, respectively, and including a wheel contacting the ground, respectively; a lift extending over the plane, and connected to second end portions of the plurality of support arms so that vertical movement is interlocked with each other; and a support link coupled to the mounting part to be vertically slidable, and coupled to the lift to be vertically fixed to move the mounting part relative to the lift as the support link is slid in the mounting part.
    Type: Grant
    Filed: September 16, 2019
    Date of Patent: September 21, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Dong Han Koo, Byeong Cheol Lee, Seok Won Lee, Ji A Lee
  • Patent number: 11127164
    Abstract: A controller for executing a task based on probabilistic image-based landmark localization, uses a neural network, which is trained to process images of objects of a type having a structured set of landmarks to produce a parametric probability distribution defined by values of parameters for a location of each landmark in each processed image. The controller submits the set of input images to the neural network to produce the values of the parameters that define the parametric probability distribution over the location of each landmark in the structured set of landmarks of each input image. Further, the controller determines, for each input image, a global landmark uncertainty for the image based on the parametric probability distributions of landmarks in the input image and executes the task based on the parametric probability distributions of landmarks in each input image and the global landmark uncertainty of each input image.
    Type: Grant
    Filed: October 4, 2019
    Date of Patent: September 21, 2021
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Tim Marks, Abhinav Kumar, Wenxuan Mou, Chen Feng, Xiaoming Liu
  • Patent number: 11122314
    Abstract: Signals of an immersive multimedia item are jointly considered for optimizing the quality of experience for the immersive multimedia item. During encoding, portions of available bitrate are allocated to the signals (e.g., a video signal and an audio signal) according to the overall contribution of those signals to the immersive experience for the immersive multimedia item. For example, in the spatial dimension, multimedia signals are processed to determine spatial regions of the immersive multimedia item to render using greater bitrate allocations, such as based on locations of audio content of interest, video content of interest, or both. In another example, in the temporal dimension, multimedia signals are processed in time intervals to adjust allocations of bitrate between the signals based on the relative importance of such signals during those time intervals. Other techniques for bitrate optimizations for immersive multimedia streaming are also described herein.
    Type: Grant
    Filed: December 12, 2017
    Date of Patent: September 14, 2021
    Assignee: GOOGLE LLC
    Inventors: Neil Birkbeck, Balineedu Adsumilli, Damien Kelly
  • Patent number: 11106932
    Abstract: The disclosure discloses a method for extracting a boundary of a thin-walled part with small curvature based on three-dimensional point cloud. The method includes: collecting point cloud data of a part to reduce density of the point cloud data, performing Euclidean cluster to divide into point cloud pieces, obtaining triangular mesh surfaces for each point cloud triangulation; extracting a boundary vertex of each triangular mesh surface to obtain a contour thereof, selecting a contour of the part among all contours; searching with each point on the contour as a center to form a three-dimensional boundary point cloud band; projecting the three-dimensional boundary point cloud band to a plane, orderly extracting two-dimensional boundary points within the plane, and arranging corresponding points in the three-dimensional boundary point cloud band according to an order of ordered boundary points within the plane to obtain ordered boundary points in the three-dimensional boundary point cloud band.
    Type: Grant
    Filed: June 13, 2020
    Date of Patent: August 31, 2021
    Assignee: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY
    Inventors: Wenlong Li, Cheng Jiang, Gang Wang, Zelong Peng, Han Ding
  • Patent number: 11091264
    Abstract: An automated commissioning and floorplan configuration (CAFC) device can include a CAFC system having a transceiver and a CAFC engine, where the transceiver communicates with at least one device disposed in a volume of space, where the CAFC engine, based on communication between the transceiver and the at least one device, commissions the at least one device.
    Type: Grant
    Filed: April 29, 2020
    Date of Patent: August 17, 2021
    Assignee: SIGNIFY HOLDING B.V.
    Inventors: Jonathan Andrew Whitten, Michael Alan Lunn
  • Patent number: 11094082
    Abstract: A plurality of verification position/orientation candidates for a target object is set. A common structure model including a geometric feature of a part, among geometric features of a reference model representing a three-dimensional shape of the target object, that is common among the candidates is generated. An image including the target object is obtained. A position/orientation of the target object is estimated by verifying the common structure model and the reference model arranged at the plurality of verification position/orientation candidates, against the image.
    Type: Grant
    Filed: August 8, 2019
    Date of Patent: August 17, 2021
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Fukashi Yamazaki, Daisuke Kotake
  • Patent number: 11072067
    Abstract: Robots and robotic systems and methods can employ artificial neural networks (ANNs) to significantly improve performance. The ANNs can operate alternatingly in forward and backward directions in interleaved fashion. The ANNs can employ visible units and hidden units. Various objective functions can be optimized. Robots and robotic systems and methods can execute applications including a plurality of agents in a distributed system, for instance with a number of hosts executing respective agents, at least some of the agents in communications with one another. The hosts can execute agents in response to occurrence of defined events or trigger expressions, and can operate with a maximum latency guarantee and/or data quality guarantee.
    Type: Grant
    Filed: November 16, 2016
    Date of Patent: July 27, 2021
    Assignee: KINDRED SYSTEMS INC.
    Inventor: James Sterling Bergstra
  • Patent number: 11070713
    Abstract: Techniques are described for controlling the process of capturing three-dimensional (3D) video content. For example a controller can provide centralized control over the various components that participate in the capture, and processing, of the 3D video content. For example, the controller can establish connections with a number of components (e.g., running on other computing devices). The controller can receive state update messages from the components (e.g., comprising state change information, network address information, etc.). The controller can also broadcast messages to the components. For example, the controller can broadcast system state messages to the components where the system state messages comprise current state information of the components. The controller can also broadcast other types of messages, such as start messages that instruct the components to enter a start state.
    Type: Grant
    Filed: February 11, 2020
    Date of Patent: July 20, 2021
    Assignee: Microsoft Technology Licensing, LLC
    Inventor: Spencer G Fowers
  • Patent number: 11058857
    Abstract: The method for automatically producing precise tattoo markings on any anatomical body portion automatically by providing a controlled articulated arm carrying a tattoo machine implement. The method also provides a multi-axis positioning platform for supporting and positioning a person, receiving a tattoo, in a prime, optimal, and comfortable position. Also, the method provides choosing, with a selector, a tattoo of choice from any data source of images, as well as applying, rectifying, and mapping, with a physical or virtual design projection and visualization media, the chosen tattoo to the person. The method completes a tattoo using the articulated arm with the tattoo machine implement producing a precise, accurate, and aesthetically pleasing tattoo, automatically.
    Type: Grant
    Filed: November 20, 2017
    Date of Patent: July 13, 2021
    Assignee: Set Point Solutions, LLC
    Inventor: Joseph Harrington Matanane Brown
  • Patent number: 11055562
    Abstract: In an example, a system for registering a three-dimensional (3D) pose of a workpiece relative to a robotic device is disclosed. The system comprises the robotic device, where the robotic device comprises one or more mounted lasers. The system also comprises one or more sensors configured to detect laser returns from laser rays projected from the one or more mounted lasers and reflected by the workpiece. The system also comprises a processor configured to receive a tessellation of the workpiece, wherein the tessellation comprises a 3D representation of the workpiece made up of cells, convert the laser returns into a 3D point cloud in a robot frame, based on the 3D point cloud, filter visible cells of the tessellation of the workpiece to form a tessellation included set, and solve for the 3D pose of the workpiece relative to the robotic device based on the tessellation included set.
    Type: Grant
    Filed: January 2, 2020
    Date of Patent: July 6, 2021
    Assignee: The Boeing Company
    Inventors: Phillip Haeusler, Alexandre Desbiez
  • Patent number: 11040441
    Abstract: A robot in a location interacts with a user. The robot includes a camera, an image recognition processor, a microphone and a loudspeaker, a voice assistant, and a wireless transceiver. The robot moves around and creates a model of the location, and recognizes changes. It recognizes objects of interest, beings, and situations. The robot monitors the user and recognizes body language and gesture commands, as well as voice commands. The robot communicates with the user, the TV, and other devices. It may move around to monitor for regular and non-regular situations. It anticipates user commands based on a situation. It determines if a situation is desired, and mitigates the situation if undesired. It can seek immediate help for the user in an emergency. It can capture, record, categorize and document events as they happen. It can categorize and document objects in the location.
    Type: Grant
    Filed: September 20, 2018
    Date of Patent: June 22, 2021
    Assignee: Sony Group Corporation
    Inventors: David Young, Lindsay Miller, Lobrenzo Wingo, Marvin DeMerchant
  • Patent number: 11032166
    Abstract: Systems, methods and articles of manufacture that handle secondary robot commands in robot swarms may operate by receiving, at a receiving device in a swarm of devices, a packet included in a signal broadcast within an environment from a transmitting device in the swarm of devices; parsing the packet for a command associated with a primary effect and a secondary effect; in response to determining that the receiving device is paired with the transmitting device, implementing, by the receiving device, the primary effect; and in response to determining that the receiving device is not paired with the transmitting device, implementing, by the receiving device, the secondary effect.
    Type: Grant
    Filed: July 27, 2018
    Date of Patent: June 8, 2021
    Assignee: Disney Enterprises, Inc.
    Inventors: Nathan D. Nocon, Michael P. Goslin, Janice K. Rosenthal, Corey D. Drake
  • Patent number: 11022980
    Abstract: Provided are communication relationship establishing method and device, computer readable storage medium, electronic device, and cleaning device.
    Type: Grant
    Filed: January 23, 2018
    Date of Patent: June 1, 2021
    Assignee: Shenzhen 3irobotix Co., Ltd.
    Inventors: Yong Yang, Zexiao Wu, Yuhui Song
  • Patent number: 11014243
    Abstract: A system and method of instructing a device is disclosed. The system includes a signal source for providing at least one visual signal where the at least one visual signal is substantially indicative of at least one activity to be performed by the device. A visual signal capturing element captures the at least one visual signal and communicates the at least one visual signal to the device where the device interprets the at least one visual signal and performs the activity autonomously and without requiring any additional signals or other information from the signal source.
    Type: Grant
    Filed: June 14, 2018
    Date of Patent: May 25, 2021
    Assignee: VECNA ROBOTICS, INC.
    Inventor: Neal Checka
  • Patent number: 11001444
    Abstract: An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.
    Type: Grant
    Filed: March 5, 2019
    Date of Patent: May 11, 2021
    Assignee: Symbotic LLC
    Inventors: Forrest Buzan, Edward A. MacDonald, Taylor A. Apgar, Thomas A. Schaefer, Melanie Ziegler, Russell G. Barbour
  • Patent number: 10997744
    Abstract: The present invention relates to localization method and system for providing augmented reality in mobile devices and includes sub-sampling image data acquired from a camera in the mobile devices, and extracting image patch including line and point in low-resolution image data, matching feature pairs of point features between the image patch and previous image patch according to movement of the camera, and producing line of subpixel for the image patch, and estimating a location of the camera in the mobile devices based on difference between the produced line and estimated line by inertia.
    Type: Grant
    Filed: April 3, 2019
    Date of Patent: May 4, 2021
    Assignee: Korea Advanced Institute of Science and Technology
    Inventors: Hyeon Myeong, Kwang Yik Jung, Pillip Youn, Yeeun Kim, HyunJun Lim, Seungwon Song
  • Patent number: 10997729
    Abstract: In one embodiment, a method, apparatus, and system may predict behavior of environmental objects using machine learning at an autonomous driving vehicle (ADV). A data processing architecture comprising at least a first neural network and a second neural network is generated, the first and the second neural networks having been trained with a training data set. Behavior of one or more objects in the ADV's environment is predicted using the data processing architecture comprising the trained neural networks. Driving signals are generated based at least in part on the predicted behavior of the one or more objects in the ADV's environment to control operations of the ADV.
    Type: Grant
    Filed: November 30, 2018
    Date of Patent: May 4, 2021
    Assignee: BAIDU USA LLC
    Inventors: Liangliang Zhang, Hongyi Sun, Dong Li, Jiangtao Hu, Jinghao Miao
  • Patent number: 10984547
    Abstract: Various embodiments provide systems, methods, devices, and instructions for performing simultaneous localization and mapping (SLAM) that involve initializing a SLAM process using images from as few as two different poses of a camera within a physical environment. Some embodiments may achieve this by disregarding errors in matching corresponding features depicted in image frames captured by an image sensor of a mobile computing device, and by updating the SLAM process in a way that causes the minimization process to converge to global minima rather than fall into a local minimum.
    Type: Grant
    Filed: August 5, 2019
    Date of Patent: April 20, 2021
    Assignee: Snap Inc.
    Inventors: David Ben Ezra, Eyal Zak, Ozi Egri
  • Patent number: 10977775
    Abstract: A depth decoding system and a method for rectifying a ground-truth image are introduced. The depth decoder system includes a projector, a camera, a processor and a decoder. The projector is configured to project a structural light pattern to a first reference plane and a second reference plane. The camera is configured to capture a first ground-truth image from the first reference plane and capture a second ground-truth image from the second reference plane. The processor is configured to perform a rectification operation to the first ground-truth image and the second ground-truth image to generate a rectified ground-truth image. The decoder is configured to generate a depth result according to the rectified ground-truth image.
    Type: Grant
    Filed: July 7, 2019
    Date of Patent: April 13, 2021
    Assignee: HIMAX TECHNOLOGIES LIMITED
    Inventors: Chin-Jung Tsai, Yu-Hsuan Chu, Cheng-Hung Chi, Ming-Shu Hsiao, Nai-Ting Chang, Yi-Nung Liu
  • Patent number: 10974391
    Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
    Type: Grant
    Filed: April 10, 2018
    Date of Patent: April 13, 2021
    Assignee: iRobot Corporation
    Inventors: Dhiraj Goel, Ethan Eade, Philip Fong, Mario E. Munich
  • Patent number: 10970877
    Abstract: An image processing apparatus, an image processing method, and a program that permit camera calibration with high accuracy by using a known object in images captured by a plurality of imaging sections. An estimation section estimates a 3D position of a road sign included in each of images captured by a plurality of cameras with respect to each of the imaging sections. A recognition section recognizes a positional relationship between the plurality of cameras on the basis of the 3D position of the road sign with respect to each of the cameras estimated by the estimation section. The positional relationship between the plurality of cameras recognized by the recognition section is used to correct the images captured by the plurality of cameras.
    Type: Grant
    Filed: September 16, 2016
    Date of Patent: April 6, 2021
    Assignee: Sony Corporation
    Inventors: Masashi Eshima, Akihiko Kaino, Takaaki Kato, Shingo Tsurumi
  • Patent number: 10962487
    Abstract: A flaw detecting apparatus and a method for a plane mirror based on line scanning and ring band stitching are provided. The flaw detecting apparatus comprises: a line scanning detector, an annular illumination source, a rotary table rotatable about a Z axis, a translation table translatable along an X axis and a processor. By translating and rotating the plane mirror to be detected, an entire surface of the plane mirror to be detected can be detected by the line scanning detector, and the flaw of the entire plane mirror to be detected is obtained by a ring band stitching method. The method of line scanning and ring band stitching reduces the imaging distortion, the intermediate data amount, the difficulty in the distortion correction and difficulty in stitching, and improves the detection speed and the detection quality.
    Type: Grant
    Filed: November 12, 2019
    Date of Patent: March 30, 2021
    Assignee: The Institute of Optics and Electronics, The Chinese Academy of Sciences
    Inventors: Fuchao Xu, Haiyang Quan, Taotao Fu, Xiaochuan Hu, Xi Hou, Sheng Li