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公开(公告)号：US12276730B2
公开(公告)日：2025-04-15
申请号：US18504052
申请日：2023-11-07
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Enclosures mounted may be on structures arranged to establish a boundary where each enclosure includes an event camera, a beam generator, or a frame camera. The beam generators may be employed to scan paths across objects in a scene that may be outside the boundary. Events may be determined based on detection of beam reflections corresponding to the objects. Trajectories associated with the objects may be determined based on the paths and the events. Objects that may be authorized may be determined based on trajectories associated with authorized objects. Objects in the scene that may be unauthorized may be determined based on trajectories associated with the unauthorized objects. A representation of the unauthorized objects may be determined such that a position and an orientation of the unauthorized objects in the scene may be based on the trajectories.
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公开(公告)号：US12148185B2
公开(公告)日：2024-11-19
申请号：US17865794
申请日：2022-07-15
Applicant: Summer Robotics, Inc.
Inventor： Schuyler Alexander Cullen , Brian Alexander Paden
IPC: G06T7/80
Abstract: Embodiments are directed to parameter adjustment for sensors. A calibration model and a calibration profile for a sensor may be provided. Calibration parameters associated with the sensor may be determined based on the calibration profile. The sensor may be configured to use a value of the calibration parameter based on the calibration profile. Trajectories may be generated based on a stream of events from the sensor. Metrics associated with the sensor events or the trajectories may be determined. If a metric value may be outside of a control range, further actions may be iteratively performed, including: modifying the value of the calibration parameter based on the calibration model; configuring the sensor to use the modified value of the calibration parameter; redetermining the metrics based on additional trajectories; if the metric is within a control range, the iteration may be terminated and the calibration profile may be updated.
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公开(公告)号：US20240329248A1
公开(公告)日：2024-10-03
申请号：US18504052
申请日：2023-11-07
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
CPC classification number: G01S17/58 , G01S7/4808 , G01S7/484 , G01S17/89 , G06V20/44
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Enclosures mounted may be on structures arranged to establish a boundary where each enclosure includes an event camera, a beam generator, or a frame camera. The beam generators may be employed to scan paths across objects in a scene that may be outside the boundary. Events may be determined based on detection of beam reflections corresponding to the objects. Trajectories associated with the objects may be determined based on the paths and the events. Objects that may be authorized may be determined based on trajectories associated with authorized objects. Objects in the scene that may be unauthorized may be determined based on trajectories associated with the unauthorized objects. A representation of the unauthorized objects may be determined such that a position and an orientation of the unauthorized objects in the scene may be based on the trajectories.
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公开(公告)号：US11974055B1
公开(公告)日：2024-04-30
申请号：US18488123
申请日：2023-10-17
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Paths may be scanned across objects in a scene with one or more beams. Images of the scene may be captured with frame cameras. Events may be generated based on detection of beam reflections that correspond to the objects. Trajectories may be based on the paths and the events. A distribution of intensity associated with the trajectories may be determined based on the energy associated with the traces in the images. Centroids for the trajectories may be determined based on the distribution of the intensity of energy, a resolution of the frame cameras, or timestamps associated with the events. Enhanced trajectories may be generated based on the centroids such that the enhanced trajectories may be provided to a modeling engine that executes actions based on the enhanced trajectories and the objects.
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公开(公告)号：US20230003549A1
公开(公告)日：2023-01-05
申请号：US17856690
申请日：2022-07-01
Applicant: Summer Robotics, Inc.
Inventor： Brian Alexander Paden
Abstract: Embodiments are directed to calibrating multi-view triangulation systems that perceive surfaces and objects based on reflections of one or more scanned laser beams that are continuously sensed by two or more sensors. In addition to sampling and triangulating points from a spline formed by an unbroken line trajectory of a laser beam, the calibration system samples and triangulates a corresponding velocity vector. Iterative reduction is performed on velocity vectors instead of points or splines. The velocity vector includes directions and magnitudes along a trajectory of a scanning laser beam which are used to determine the actual velocities. Translation and rotation vectors are based on the velocity vectors for matching trajectories determined for two or more sensors having offset physical positions, which are used to calibrate sensor offset errors associated with the matching trajectories provided to a modeling engine.
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Patent Agency Ranking
公开(公告)号：US12111180B2
公开(公告)日：2024-10-08
申请号：US17856690
申请日：2022-07-01
Applicant: Summer Robotics, Inc.
Inventor： Brian Alexander Paden
Abstract: Embodiments are directed to calibrating multi-view triangulation systems that perceive surfaces and objects based on reflections of one or more scanned laser beams that are continuously sensed by two or more sensors. In addition to sampling and triangulating points from a spline formed by an unbroken line trajectory of a laser beam, the calibration system samples and triangulates a corresponding velocity vector. Iterative reduction is performed on velocity vectors instead of points or splines. The velocity vector includes directions and magnitudes along a trajectory of a scanning laser beam which are used to determine the actual velocities. Translation and rotation vectors are based on the velocity vectors for matching trajectories determined for two or more sensors having offset physical positions, which are used to calibrate sensor offset errors associated with the matching trajectories provided to a modeling engine.
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公开(公告)号：US11808857B2
公开(公告)日：2023-11-07
申请号：US17895489
申请日：2022-08-25
Applicant: Summer Robotics, Inc.
Inventor： Schuyler Alexander Cullen , Gerard Dirk Smits , Steven Dean Gottke
IPC: G02B26/08 , G02B26/10 , G01S7/48 , G01S17/04 , G01S17/10 , G01S17/42 , G01S17/48 , G01S17/66 , G01S17/894 , G02B26/12 , G02B27/00 , H04N23/698
CPC classification number: G01S17/894 , G01S7/4802 , G01S7/4804 , G01S7/4808 , G01S17/04 , G01S17/10 , G01S17/42 , G01S17/48 , G01S17/66 , G02B26/0833 , G02B26/101 , G02B26/105 , G02B26/123 , G02B27/0031 , H04N23/698
Abstract: Embodiments are directed to multi-sensor superresolution scanning and capture system. A sensing system may be employed to scan a plurality of paths across objects using beams such that the sensing system includes event sensors and image sensors and such that the image sensors are a higher resolution than the event sensors. The event sensors may be employed to provide events based on detection of the beams that are reflected by the objects. The image sensors may be employed to provide images based on the reflected the beams. Enhanced trajectories may be generated based on a plurality of first trajectories and a plurality of second trajectories such that the plurality of the first trajectories are based on the events and the plurality of paths and such that the plurality of second trajectories are based on the images and the plurality of paths.
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公开(公告)号：US20230319255A1
公开(公告)日：2023-10-05
申请号：US18121486
申请日：2023-03-14
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Brian Alexander Paden
IPC: H04N13/282 , H04N23/90 , H04N23/51
CPC classification number: H04N13/282 , H04N23/51 , H04N23/90
Abstract: Embodiments are directed providing a stage studio for immersive 3-D video capture. A two-dimensional video of a scene may be captured with frame cameras oriented towards a center of the scene. Paths may be scanned across objects in the scene with signal beams oriented towards the center of the scene. Events may be generated based on signal beams that are reflected by the objects and detected by event cameras oriented towards the center of the scene. Trajectories may be generated based on the paths and the events. A scene that includes a representation of the objects based on the captured two-dimensional video and the trajectories may be generated such that a position and an orientation of the represented objects in the scene are based on the trajectories.
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公开(公告)号：US20230015889A1
公开(公告)日：2023-01-19
申请号：US17865794
申请日：2022-07-15
Applicant: Summer Robotics, Inc.
Inventor： Schuyler Alexander Cullen , Brian Alexander Paden
IPC: G06T7/80
Abstract: Embodiments are directed to parameter adjustment for sensors. A calibration model and a calibration profile for a sensor may be provided. Calibration parameters associated with the sensor may be determined based on the calibration profile. The sensor may be configured to use a value of the calibration parameter based on the calibration profile. Trajectories may be generated based on a stream of events from the sensor. Metrics associated with the sensor events or the trajectories may be determined. If a metric value may be outside of a control range, further actions may be iteratively performed, including: modifying the value of the calibration parameter based on the calibration model; configuring the sensor to use the modified value of the calibration parameter; redetermining the metrics based on additional trajectories; if the metric is within a control range, the iteration may be terminated and the calibration profile may be updated.
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公开(公告)号：US12262127B2
公开(公告)日：2025-03-25
申请号：US18618909
申请日：2024-03-27
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Paths may be scanned across objects in a scene with one or more beams. Images of the scene may be captured with frame cameras. Events may be generated based on detection of beam reflections that correspond to the objects. Trajectories may be based on the paths and the events. A distribution of intensity associated with the trajectories may be determined based on the energy associated with the traces in the images. Centroids for the trajectories may be determined based on the distribution of the intensity of energy, a resolution of the frame cameras, or timestamps associated with the events. Enhanced trajectories may be generated based on the centroids such that the enhanced trajectories may be provided to a modeling engine that executes actions based on the enhanced trajectories and the objects.
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