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1.发明申请Methods and Systems for Augmented Reality to Display Virtual Representations of Robotic Device Actions 审中-公开增强现实的方法和系统显示机器人设备动作的虚拟表示公开(公告)号：US20160055677A1
公开(公告)日：2016-02-25
申请号：US14829716
申请日：2015-08-19
申请人： Google Inc.
发明人： James Joseph Kuffner
IPC分类号： G06T19/00 , G06T13/00 , G06F3/00 , B62D57/032 , G06F1/16
CPC分类号： G06T19/006 , B62D57/032 , G06F1/163 , G06F3/005 , G06T11/00
摘要： Example methods and systems for augmented reality interfaces to display virtual representations of robotic device actions are provided. An example method includes receiving information that indicates an action or an intent of a robotic device to perform a task, and the action or the intent includes one or more of a planned trajectory of the robotic device to perform at least a portion of the task and an object to be handled by the robotic device to perform at least a portion of the task. The method also includes providing, for display by a computing device on an augmented reality interface, a virtual representation of the action or the intent, and the virtual representation includes as annotations on the augmented reality interface at least a portion of the planned trajectory of the robotic device or highlighting the object to be handled by the robotic device.
摘要翻译： 提供了用于显示机器人设备动作的虚拟表示的增强现实界面的示例方法和系统。 示例性方法包括接收指示机器人设备执行任务的动作或意图的信息，并且动作或意图包括机器人设备的计划轨迹中的一个或多个以执行任务的至少一部分，以及 由所述机器人装置处理以执行所述任务的至少一部分的对象。 该方法还包括为增强现实界面上的计算设备提供用于动作或意图的虚拟表示的显示，并且虚拟表示在增强现实界面上包括作为注释的计划轨迹的至少一部分 机器人设备或突出显示由机器人设备处理的对象。
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2.发明申请Dynamically Maintaining A Map Of A Fleet Of Robotic Devices In An Environment To Facilitate Robotic Action 有权动态维护机器人装置在一个环境中的地图，以促进机器人行动公开(公告)号：US20160129592A1
公开(公告)日：2016-05-12
申请号：US14863620
申请日：2015-09-24
申请人： Google Inc.
CPC分类号： B25J9/1661 , B25J5/007 , B25J9/0084 , B25J9/1674 , B25J15/0625 , B25J19/021 , G05B19/41895 , G05B2219/31006 , G05B2219/31007 , G05B2219/45056 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G06Q50/28 , Y02P90/285 , Y02P90/60
摘要： Methods and systems for dynamically maintaining a map of robotic devices in an environment are provided herein. A map of robotic devices may be determined, where the map includes predicted future locations of at least some of the robotic devices. One or more robotic devices may then be caused to perform a task. During a performance of the task by the one or more robotic devices, task progress data may be received from the robotic devices, indicative of which of the task phases have been performed. Based on the data, the map may be updated to include a modification to the predicted future locations of at least some of the robotic devices. One or more robotic devices may then be caused to perform at least one other task in accordance with the updated map.
摘要翻译： 本文提供了用于在环境中动态地维护机器人设备的地图的方法和系统。 可以确定机器人设备的地图，其中地图包括至少一些机器人设备的预测未来位置。 然后可以引起一个或多个机器人装置来执行任务。 在通过一个或多个机器人设备执行任务期间，可以从机器人设备接收任务进度数据，指示已经执行了哪个任务阶段。 基于数据，可以更新地图以包括对至少一些机器人设备的预测未来位置的修改。 然后可以使一个或多个机器人设备根据更新的地图执行至少一个其他任务。
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3.发明授权Methods and systems for use of a database of three-dimensional (3D) object data models for search queries 有权用于搜索查询的三维（3D）对象数据模型数据库的方法和系统公开(公告)号：US09529826B2
公开(公告)日：2016-12-27
申请号：US14141144
申请日：2013-12-26
申请人： Google Inc.
IPC分类号： G06F17/30
CPC分类号： G06F17/30259
摘要： A server may receive a search query indicative of an object. The server may identify a 3D model from within a database of 3D object data models that corresponds to the object. The 3D model may be associated with information that pertains to the object. The server may determine an updated search query based on the information associated with the 3D model. The updated search query may be indicative of one or more of an environment of the object, an orientation of the object in the environment, a position of the object in the environment, or an identification of one or more other objects in the environment. The server may provide one or more search query results that include data pertaining to the object based on the updated search query.
摘要翻译： 服务器可以接收指示对象的搜索查询。 服务器可以从与对象对应的3D对象数据模型的数据库内识别3D模型。 3D模型可能与与该对象相关的信息相关联。 服务器可以基于与3D模型相关联的信息来确定更新的搜索查询。 更新的搜索查询可以指示对象的环境，环境中的对象的取向，环境中对象的位置或环境中的一个或多个其他对象的标识中的一个或多个。 服务器可以基于更新的搜索查询来提供包括与对象有关的数据的一个或多个搜索查询结果。
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公开(公告)号：US20160247313A1
公开(公告)日：2016-08-25
申请号：US15147172
申请日：2016-05-05
申请人： Google Inc.
IPC分类号： G06T15/20
摘要： Instructions indicative of changing a view of a virtual object may be received by a device. At least a portion of the virtual object may be viewable from a viewpoint that is at a given distance from a surface of the virtual object. The device may cause a change of the view along a rotational path around the virtual object in response to the receipt of the instructions based on the given distance being greater than a threshold distance. The device may cause a change of the view along a translational path indicative of a shape of the surface of the virtual object in response to the receipt of the instructions based on the given distance being less than the threshold distance.
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5.发明授权公开(公告)号：US09361665B2
公开(公告)日：2016-06-07
申请号：US14091502
申请日：2013-11-27
申请人： Google Inc.
摘要： Instructions indicative of changing a view of a virtual object may be received by a device. At least a portion of the virtual object may be viewable from a viewpoint that is at a given distance from a surface of the virtual object. The device may cause a change of the view along a rotational path around the virtual object in response to the receipt of the instructions based on the given distance being greater than a threshold distance. The device may cause a change of the view along a translational path indicative of a shape of the surface of the virtual object in response to the receipt of the instructions based on the given distance being less than the threshold distance.
摘要翻译： 指示改变虚拟对象的视图的指令可以被设备接收。 虚拟对象的至少一部分可以从距离虚拟对象的表面给定距离的视点是可见的。 响应于基于给定距离大于阈值距离的指令的接收，设备可以引起沿着虚拟对象周围的旋转路径的视图的改变。 响应于基于给定距离小于阈值距离的指令的接收，该设备可以导致沿着指示虚拟对象的表面的形状的平移路径的视图的改变。
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6.发明申请Methods and Systems for Generating Instructions for a Robotic System to Carry Out a Task 有权用于生成机器人系统执行任务指令的方法和系统公开(公告)号：US20160023351A1
公开(公告)日：2016-01-28
申请号：US14804621
申请日：2015-07-21
申请人： Google Inc.
IPC分类号： B25J9/00
CPC分类号： B25J9/0084 , G06N3/008 , Y10S901/47
摘要： Example embodiments may relate to robot-cloud interaction. In particular, a cloud-based service may receive a query from a first robotic system including sensor data, a request for instructions to carry out a task, and information associated with a configuration of the first robotic system. The cloud-based service may then identify stored data including a procedure previously used by a second robotic system to carry out the task and information associated with a configuration of the second robotic system. The cloud-based service may then generate instructions for the first robotic system to carry out the task based at least in part on the sensor data, the procedure used by the second robotic system to carry out the task, the information associated with the configuration of the first robotic system, and the information associated with the configuration of the second robotic system.
摘要翻译： 示例性实施例可以涉及机器人 - 云交互。 特别地，基于云的服务可以从包括传感器数据的第一机器人系统接收查询，对执行任务的指令的请求以及与第一机器人系统的配置相关联的信息。 然后，基于云的服务可以识别存储的数据，包括先前由第二机器人系统使用的程序来执行与第二机器人系统的配置相关联的任务和信息。 然后，基于云的服务可以产生用于第一机器人系统至少部分地基于传感器数据执行任务的指令，第二机器人系统用于执行任务的过程，与配置有关的信息 第一机器人系统以及与第二机器人系统的配置有关的信息。
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7.发明申请Visual Display of Interactive, Gesture-Controlled, Three-Dimensional (3D) Models for Head-Mountable Displays (HMDs) 审中-公开用于头戴式显示器（HMD）的交互式，手势控制的三维（3D）模型的视觉显示公开(公告)号：US20150169070A1
公开(公告)日：2015-06-18
申请号：US14108365
申请日：2013-12-17
申请人： Google Inc.
CPC分类号： G06F3/017 , G02B27/017 , G02B2027/0134 , G02B2027/014 , G02B2027/0178 , G02B2027/0187 , G06F3/011 , G06T19/20 , G06T2219/2004 , G06T2219/2016
摘要： Methods and systems are provided for controlling a three-dimensional (3D) model for a head-mountable display (HMD). The HMD can receive a 3D model for the object, where the 3D model includes three-dimensional shape and texture information about the object, the three-dimensional shape and texture information about the object specified with respect to at least a first axis, a second axis, and a third axis, where each of the first axis, the second axis, and the third axis differs. The HMD can display a view of the 3D model. The HMD can receive an input gesture. The HMD can determine whether the input gesture includes a 3D model gesture. After determining that the input gesture does includes a 3D model gesture, the HMD can update the view of the 3D model based on the input gesture and can display the updated view of the 3D model.
摘要翻译： 提供了用于控制头戴式显示器（HMD）的三维（3D）模型的方法和系统。 HMD可以接收对象的3D模型，其中3D模型包括关于对象的三维形状和纹理信息，关于关于至少第一轴指定的对象的三维形状和纹理信息，第二 轴和第三轴，其中第一轴，第二轴和第三轴线各自不同。 HMD可以显示3D模型的视图。 HMD可以接收输入手势。 HMD可以确定输入手势是否包括3D模型手势。 在确定输入手势确实包括3D模型手势之后，HMD可以基于输入手势来更新3D模型的视图，并且可以显示3D模型的更新视图。
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8.发明申请公开(公告)号：US20150145891A1
公开(公告)日：2015-05-28
申请号：US14091502
申请日：2013-11-27
申请人： Google Inc.
IPC分类号： G06T3/60
摘要： Instructions indicative of changing a view of a virtual object may be received by a device. At least a portion of the virtual object may be viewable from a viewpoint that is at a given distance from a surface of the virtual object. The device may cause a change of the view along a rotational path around the virtual object in response to the receipt of the instructions based on the given distance being greater than a threshold distance. The device may cause a change of the view along a translational path indicative of a shape of the surface of the virtual object in response to the receipt of the instructions based on the given distance being less than the threshold distance.
摘要翻译： 指示改变虚拟对象的视图的指令可以被设备接收。 虚拟对象的至少一部分可以从距离虚拟对象的表面给定距离的视点是可见的。 响应于基于给定距离大于阈值距离的指令的接收，设备可以引起沿着虚拟对象周围的旋转路径的视图的改变。 响应于基于给定距离小于阈值距离的指令的接收，该设备可以导致沿着指示虚拟对象的表面的形状的平移路径的视图的改变。
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公开(公告)号：US10210618B1
公开(公告)日：2019-02-19
申请号：US14579555
申请日：2014-12-22
申请人： Google Inc.
摘要： Within examples, object image masking is provided. An example method includes receiving a depth mask of an object, projecting the depth mask of the object onto an image of the object in a background so as to generate a depth image of the object in the background, determining portions of the depth image of the object in the background that are representative of the object and that are representative of the background, based on the portions of the depth image of the object in the background that are representative of the object determining a foreground mask of the object, and using the foreground mask of the object to identify portions of the image representative of the object.
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10.发明申请Methods and Systems for Use of a Database of Three-Dimensional (3D) Object Data Models for Search Queries 有权用于搜索查询的三维（3D）对象数据模型数据库的方法和系统公开(公告)号：US20150186418A1
公开(公告)日：2015-07-02
申请号：US14141144
申请日：2013-12-26
申请人： Google Inc.
IPC分类号： G06F17/30
CPC分类号： G06F17/30259
摘要： A server may receive a search query indicative of an object. The server may identify a 3D model from within a database of 3D object data models that corresponds to the object. The 3D model may be associated with information that pertains to the object. The server may determine an updated search query based on the information associated with the 3D model. The updated search query may be indicative of one or more of an environment of the object, an orientation of the object in the environment, a position of the object in the environment, or an identification of one or more other objects in the environment. The server may provide one or more search query results that include data pertaining to the object based on the updated search query.
摘要翻译： 服务器可以接收指示对象的搜索查询。 服务器可以从与对象对应的3D对象数据模型的数据库内识别3D模型。 3D模型可能与与该对象相关的信息相关联。 服务器可以基于与3D模型相关联的信息来确定更新的搜索查询。 更新的搜索查询可以指示对象的环境，环境中的对象的取向，环境中对象的位置或环境中的一个或多个其他对象的标识中的一个或多个。 服务器可以基于更新的搜索查询来提供包括与对象有关的数据的一个或多个搜索查询结果。
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