公开(公告)号：US20230182315A1

公开(公告)日：2023-06-15

申请号：US18072863

申请日：2022-12-01

Applicant: Boston Dynamics, Inc.

Inventor： Lukas Merkle ,  Matthew Turpin ,  Samuel Shaw ,  Andrew Hoelscher ,  Rebecca Khurshid ,  Laura Lee ,  Colin Snow

IPC: B25J9/16 ,  B25J19/02 ,  G06T17/00

CPC classification number: B25J9/1697 ,  B25J9/1669 ,  B25J19/023 ,  G06T17/00

Abstract: Methods and apparatus for object detection and pick order determination for a robotic device are provided. Information about a plurality of two-dimensional (2D) object faces of the objects in the environment may be processed to determine whether each of the plurality of 2D object faces matches a prototype object of a set of prototype objects stored in a memory, wherein each of the prototype objects in the set represents a three-dimensional (3D) object. A model of 3D objects in the environment of the robotic device is generated using one or more of the prototype objects in the set of prototype objects that was determined to match one or more of the 2D object faces.

公开(公告)号：US20230182314A1

公开(公告)日：2023-06-15

申请号：US17987513

申请日：2022-11-15

Applicant: Boston Dynamics, Inc.

Inventor： Andrew Hoelscher ,  Samuel Shaw ,  Alexander Ozer ,  Jennifer Barry ,  Matthew Turpin

IPC: B25J9/16 ,  B25J19/02 ,  G06V10/26 ,  G06V10/762 ,  G06T7/187

CPC classification number: B25J9/1697 ,  B25J9/1669 ,  B25J19/023 ,  G06T7/187 ,  G06V10/267 ,  G06V10/762 ,  G06T2207/10028 ,  G06T2207/20024

Abstract: Methods and apparatuses for detecting one or more objects (e.g., dropped objects) by a robotic device are described. The method comprises receiving a distance-based point cloud including a plurality of points in three dimensions, filtering the distance-based point cloud to remove points from the plurality of points based on at least one known surface in an environment of the robotic device to produce a filtered distance-based point cloud, clustering points in the filtered distance-based point cloud to produce a set of point clusters, and detecting one or more objects based, at least in part, on the set of point clusters.

公开(公告)号：US20240303858A1

公开(公告)日：2024-09-12

申请号：US18545559

申请日：2023-12-19

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Turpin ,  Andrew Hoelscher ,  Lukas Merkle

IPC: G06T7/73 ,  G06T7/13 ,  G06T7/521 ,  G06T7/55

CPC classification number: G06T7/74 ,  G06T7/13 ,  G06T7/521 ,  G06T7/55 ,  G06T2207/10028 ,  G06T2207/20081

Abstract: Methods and apparatus for determining a pose of an object sensed by a camera system of a mobile robot are described. The method includes acquiring, using the camera system, a first image of the object from a first perspective and a second image of the object from a second perspective, and determining, by a processor of the camera system, a pose of the object based, at least in part, on a first set of sparse features associated with the object detected in the first image and a second set of sparse features associated with the object detected in the second image.

公开(公告)号：US20240210542A1

公开(公告)日：2024-06-27

申请号：US18545124

申请日：2023-12-19

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Turpin ,  Andrew Hoelscher ,  Eyassu Shimelis ,  Michael Murphy ,  Mark Nehrkorn ,  Federico Vicentini ,  Neil Neville

IPC: G01S7/497 ,  G01S17/931

CPC classification number: G01S7/4972 ,  G01S17/931

Abstract: Methods and apparatus for automated calibration for a LIDAR system of a mobile robot are provided. The method comprises capturing a plurality of LIDAR measurements. The plurality of LIDAR measurements include a first set of LIDAR measurements as the mobile robot spins in a first direction at a first location, the first location being a first distance to a calibration target, and a second set of LIDAR measurements as the mobile robot spins in a second direction at a second location, the second location being a second distance to the calibration target, wherein the first direction and the second direction are different and the second distance is different than the first distance. The method further comprises processing the plurality of LIDAR measurements to determine calibration data, and generating alignment instructions for the LIDAR system based, at least in part, on the calibration data.