公开(公告)号：US20210069904A1

公开(公告)日：2021-03-11

申请号：US17014545

申请日：2020-09-08

Applicant: Embodied Intelligence, Inc.

Inventor： Yan Duan ,  Xi Chen ,  Mostafa Rohaninejad ,  Nikhil Mishra ,  Yu Xuan Liu ,  Andrew Amir Vaziri ,  Haoran Tang ,  Yide Shentu ,  Ian Rust ,  Carlos Florensa

IPC: B25J9/16 ,  B25J15/06 ,  B25J19/02

Abstract: Various embodiments of the present technology generally relate to robotic devices and artificial intelligence. More specifically, some embodiments relate to a robotic device for picking items from a bin and perturbing items in a bin. In some implementations, the device may include one or more computer-vision systems. A computer-vision system, in accordance with the present technology, may use at least two two-dimensional images to generate three-dimensional (3D) information about the bin and items in the bin. Based on the 3D information, a strategy for picking up items from the bin is determined. When no strategies with high probability of success exist, the robotic device may perturb the contents of the bin to create new available pick-up points and re-attempt to pick up an item.

公开(公告)号：US12059813B2

公开(公告)日：2024-08-13

申请号：US17014321

申请日：2020-09-08

Applicant: Embodied Intelligence, Inc.

Inventor： Mostafa Rohaninejad ,  Nikhil Mishra ,  Yu Xuan Liu ,  Yan Duan ,  Andrew Amir Vaziri ,  Xi Chen

IPC: B25J9/16 ,  G06T7/593

CPC classification number: B25J9/1697 ,  B25J9/161 ,  G06T7/593 ,  G06T2207/20084

Abstract: Various embodiments of the present technology generally relate to robotic devices, computer-vision systems, and artificial intelligence. More specifically, some embodiments relate to a computer-vision system for robotic devices. In some implementations, a computer-vision is coupled to a robotic arm for picking items from a bin and perturbing items in a bin. A computer-vision system, in accordance with the present technology, may use at least two two-dimensional (2D) images to generate three-dimensional (3D) information about the bin and items in the bin. A method of training artificial neural networks to generate 3D information from 2D images includes obtaining ground truth data for a scene, obtaining at least two images of the scene, and providing the ground truth data and the at least two images to the artificial neural network configured to generate a depth map from the images based on the ground truth data.

公开(公告)号：US20210069908A1

公开(公告)日：2021-03-11

申请号：US17014321

申请日：2020-09-08

Applicant: Embodied Intelligence, Inc.

Inventor： Mostafa Rohaninejad ,  Nikhil Mishra ,  Yu Xuan Liu ,  Yan Duan ,  Andrew Amir Vaziri ,  Xi Chen

IPC: B25J9/16 ,  B25J13/08

Abstract: Various embodiments of the present technology generally relate to robotic devices, computer-vision systems, and artificial intelligence. More specifically, some embodiments relate to a computer-vision system for robotic devices. In some implementations, a computer-vision is coupled to a robotic arm for picking items from a bin and perturbing items in a bin. A computer-vision system, in accordance with the present technology, may use at least two two-dimensional (2D) images to generate three-dimensional (3D) information about the bin and items in the bin. A method of training artificial neural networks to generate 3D information from 2D images includes obtaining ground truth data for a scene, obtaining at least two images of the scene, and providing the ground truth data and the at least two images to the artificial neural network configured to generate a depth map from the images based on the ground truth data.