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    METHOD AND COMPUTING SYSTEM FOR OBJECT IDENTIFICATION
    11.
    发明申请
    METHOD AND COMPUTING SYSTEM FOR OBJECT IDENTIFICATION 有权

    公开(公告)号：US20210089808A1

    公开(公告)日：2021-03-25

    申请号：US16797129

    申请日：2020-02-21

    Applicant: MUJIN, INC.

    Inventor： Jinze YU ,  Xutao YE

    IPC: G06K9/46 ,  G06K9/00 ,  G06K9/48 ,  G06T7/64 ,  G06K9/50

    Abstract: Systems and methods for processing spatial structure data are provided. The system accesses spatial structure data, which describes object structure, and which has depth information indicative of a plurality of layers for the object structure. The system further extracts, from the spatial structure data, a portion of the spatial structure data representative of one layer of the plurality of layers. The system identifies, from the portion of the spatial structure data, a plurality of vertices that describe a contour of the layer. Additionally, the system identifies convex corners of the layer based on the plurality of vertices and performs object recognition according to the convex corners.

    ROBOTIC SYSTEM FOR OBJECT SIZE MEASUREMENT
    12.
    发明申请
    ROBOTIC SYSTEM FOR OBJECT SIZE MEASUREMENT 有权

    公开(公告)号：US20220371200A1

    公开(公告)日：2022-11-24

    申请号：US17746545

    申请日：2022-05-17

    Applicant: MUJIN, INC.

    Inventor： Jinze YU ,  Yoshiki KANEMOTO ,  Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV

    IPC: B25J9/16

    Abstract: Systems and methods for object detection and robotic control or pickup of the detected objects are provided. Systems and methods described herein provide for the determination and adjustment of minimum viable regions on a surface of an object for robotic pickup. Determination of a minimum viable region may increase the accuracy and efficiency of robotic object handling. The minimum viable region may be used to select grasping areas for a movement operation configured to provide supplemental image information for estimating dimensions of a target object.

    METHOD AND COMPUTING SYSTEMS FOR PERFORMING OBJECT DETECTION
    13.
    发明申请
    METHOD AND COMPUTING SYSTEMS FOR PERFORMING OBJECT DETECTION 有权

    公开(公告)号：US20220366694A1

    公开(公告)日：2022-11-17

    申请号：US17733079

    申请日：2022-04-29

    Applicant: MUJIN, INC.

    Inventor： Hamdi SAHLOUL ,  Jose Jeronimo MOREIRA RODRIGUES ,  Jinze YU

    IPC: G06V20/50 ,  G06T7/13 ,  G06V10/74 ,  B25J9/16

    Abstract: A computing system including a communication interface and a processing circuit. The communication interface communicates with a robot and a camera having a field of view. The processing circuit performs obtaining image information based on objects within the field of view and determines a first template matching score which indicates a degree of match between the image information and an model template. The processing circuit further determines image edge information based on the image information and determines a second template matching score which indicates a degree of match between the image edge information and a template. The processing circuit additional determines an overall template matching score based on the first template matching score and the second template matching score.

    SYSTEM AND METHOD OF OBJECT DETECTION BASED ON IMAGE DATA
    14.
    发明申请
    SYSTEM AND METHOD OF OBJECT DETECTION BASED ON IMAGE DATA 有权

    公开(公告)号：US20220284591A1

    公开(公告)日：2022-09-08

    申请号：US17678732

    申请日：2022-02-23

    Applicant: Mujin, Inc.

    Inventor： Jinze YU ,  Jose Jeronimo MOREIRA RODRIGUES ,  Xutao YE

    IPC: G06T7/181 ,  G06T7/33 ,  G06T7/13 ,  G06T7/174

    Abstract: A system and method of detecting objects are provided. The method includes generating first edge information from first image data representing an object based on a first mode of image capture, generating second edge information from second image data representing the object based on a second mode of image capture, the second mode being different from the first mode, fusing the first edge information with the second edge information to generate fused edge information, generating an object detection hypothesis based on the fused edge information, and validating the object detection hypothesis based on the fused edge information, the first edge information, and/or the second edge information.

    METHOD AND COMPUTING SYSTEM FOR PERFORMING GRIP REGION DETECTION
    15.
    发明申请
    METHOD AND COMPUTING SYSTEM FOR PERFORMING GRIP REGION DETECTION 有权

    公开(公告)号：US20220281114A1

    公开(公告)日：2022-09-08

    申请号：US17193268

    申请日：2021-03-05

    Applicant: MUJIN, INC.

    Inventor： Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV ,  Jinze YU ,  Ahmed ABOUELELA ,  Yoshiki KANEMOTO

    IPC: B25J9/16

    Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

    METHOD AND COMPUTING SYSTEM FOR PERFORMING OR FACILITATING PHYSICAL EDGE DETECTION
    16.
    发明申请
    METHOD AND COMPUTING SYSTEM FOR PERFORMING OR FACILITATING PHYSICAL EDGE DETECTION 有权

    公开(公告)号：US20210383550A1

    公开(公告)日：2021-12-09

    申请号：US17331878

    申请日：2021-05-27

    Applicant: MUJIN, INC.

    Inventor： Jinze YU ,  Jose Jeronimo MOREIRA RODRIGUES

    IPC: G06T7/13 ,  G06T7/12 ,  B25J19/02

    Abstract: A method and computing system for facilitating edge detection are presented. The computing system may include at least one processing circuit configured to receive image information representing a group of objects in a camera field of view, and to identify, from the image information, a plurality of candidate edges associated with the group of objects. The at least one processing circuit may further determine, when the plurality of candidate edges include a first candidate edge which is formed based on a border between a first image region and a second image region, whether the image information satisfies a defined darkness condition at the first candidate edge. The at least one processing circuit may further select a subset of the plurality of candidate edges to form a selected subset of candidate edges for representing the physical edges of the group of objects.

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