公开(公告)号：US20250027765A1

公开(公告)日：2025-01-23

申请号：US18671625

申请日：2024-05-22

Applicant: Summer Robotics, Inc.

Inventor： Brian Alexander Paden

IPC: G01B11/25

Abstract: Embodiments are directed to calibrating a system. A plurality of paths may be scanned across a first object and a second object where the first object is between the second object and scanner. A first portion of trajectories that correspond to a first portion of the paths that trace across the first object may be determined. A second portion trajectories that correspond to a second portion of the paths that trace across the second object may be determined. First endpoints of the first portion of the trajectories may be determined and second endpoints of the second portion of the trajectories may be determined. Rays may be determined based on the second endpoints and the first endpoints. An origin point of the beam generator may be determined based on an intersection of the rays. Accordingly, the system may be calibrated based on the origin point of the beam generator.

公开(公告)号：US20240040274A1

公开(公告)日：2024-02-01

申请号：US18225833

申请日：2023-07-25

Applicant: Summer Robotics, Inc.

Inventor： Gerard Dirk Smits ,  Steven Dean Gottke

IPC: H04N25/47 ,  H04N23/95 ,  H04N23/55 ,  H04N13/25

CPC classification number: H04N25/47 ,  H04N23/95 ,  H04N23/55 ,  H04N13/25 ,  H04N23/555

Abstract: Embodiments are directed to folded single sensor 3-D capture systems. An enclosure that includes an event camera, one or more beam generators, or an optical focusing system may be provided such that the beam generators may scan a scene. Paths may be scanned across objects in the scene with the beams. Events may be determined based on detection, by the event camera, of beam reflections that correspond to objects in the scene such that each beam reflection may be directed to a separate location on a sensor for the event camera by the optical focusing system. Trajectories may be determined based on the paths and the events such that each trajectory may be a parametric representation of a one-dimensional curve segment in a three-dimensional space. Three-dimensional information that corresponds to the objects may be generated based on the plurality of trajectories.

公开(公告)号：US11704835B2

公开(公告)日：2023-07-18

申请号：US17876333

申请日：2022-07-28

Applicant: Summer Robotics, Inc.

Inventor： Schuyler Alexander Cullen ,  Gerard Dirk Smits ,  Steven Dean Gottke

IPC: G06T7/80

CPC classification number: G06T7/80

Abstract: Embodiments are directed to a sensing system that employs beams to scan paths across an object such that sensors may the beams reflected by the scanned object. Events may be provided based on the detected signals and the paths such that each event may be associated with a sensor and event metrics. Crossing points for each sensor may be determined based on where the paths intersect the scanned object such that events associated with each sensor are associated with the crossing points for each sensor. Each crossing point of each sensor may be compared to each correspondent crossing point of each other sensor. Actual crossing points may be determined based on the comparison and the crossing points for each sensor. Position information for each sensor may be determined based on the actual crossing points.

公开(公告)号：US20230169683A1

公开(公告)日：2023-06-01

申请号：US17991610

申请日：2022-11-21

Applicant: Summer Robotics, Inc.

Inventor： Brian Alexander Paden ,  Steven Dean Gottke

IPC: G06T7/73 ,  G01S17/89

CPC classification number: G06T7/74 ,  G01S17/89 ,  G06T2207/30241

Abstract: Embodiments are directed to the association of concurrent tracks across multiple views for sensing objects. A sensing system that employs signal beams to scan paths across an object may be provided such that two or more sensors separately detect signals reflected by the object. Events may be determined based on the detected signals such that the events include pairs of events that correspond to pairs of sensors. Essential matrices may be generated based on the positions of each pair of sensors. The pairs of events associated with the pairs of sensors may be compared based on the essential matrices of the sensors. Scores for the pairs of events may be provided based on the comparison. If a score for a pair of events may be less than a threshold value, each event in the pair of events may be associated with a same location on the object.

公开(公告)号：US20220187461A1

公开(公告)日：2022-06-16

申请号：US17551054

申请日：2021-12-14

Applicant: Summer Robotics, Inc.

Inventor： Schuyler Alexander Cullen

IPC: G01S17/58

Abstract: Embodiments are directed to perceiving surfaces and objects. Trajectories may be generated based on a continuous stream of sensor events such that each trajectory may be a parametric representation of a curve segment. The trajectories may be employed to determine the surfaces. The trajectories may be provided to a modeling engine to execute one or more actions based on the trajectories and the surfaces. In response to changes to the surfaces, the trajectories may be updated based on the continuous stream of sensor events and one or more additional actions may be executed based on the updated trajectories and the changed surfaces. Changes to the surfaces may include a position change, an orientation change, a motion change, a deformation of the one or more surfaces, or the like. Shapes that correspond to the surfaces may be determined based on characteristics of the surfaces or the trajectories.