公开(公告)号：US20210258478A1

公开(公告)日：2021-08-19

申请号：US17228783

申请日：2021-04-13

Applicant: Mujin, Inc.

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

IPC: H04N5/232 ,  H04N5/217

Abstract: A system and method for determining occlusion are presented. The system receives camera data generated by at least one camera, which includes a first camera having a first camera field of view. The camera data is generated when a stack having a plurality of objects is in the first camera field of view, and describes a stack structure formed from at least an object structure for a first object of the plurality of objects. The system identifies a target feature of or disposed on the object structure, and determines a 2D region that is co-planar with and surrounds the target feature. The system determines a 3D region defined by connecting a location of the first camera and the 2D region. The system determines, based on the camera data and the 3D region, a size of an occluding region, and determines a value of an object recognition confidence parameter.

公开(公告)号：US20210019891A1

公开(公告)日：2021-01-21

申请号：US16909709

申请日：2020-06-23

Applicant: Mujin, Inc.

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

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

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.