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公开(公告)号：US09473594B1
公开(公告)日：2016-10-18
申请号：US14547010
申请日：2014-11-18
申请人： Google Inc.
CPC分类号： B25J9/1664 , B25J9/1602 , B25J9/1697 , G05B2219/39252 , G05B2219/40178 , G06F17/30268 , G06N3/008 , H04L67/42 , Y10S901/01 , Y10S901/47
摘要： Methods and systems for robot cloud computing are described. Within examples, cloud-based computing generally refers to networked computer architectures in which application execution and storage may be divided, to some extent, between client and server devices. A robot may be any device that has a computing ability and interacts with its surroundings with an actuation capability (e.g., electromechanical capabilities). A client device may be configured as a robot including various sensors and devices in the forms of modules, and different modules may be added or removed from robot depending on requirements. In some example, a robot may be configured to receive a second device, such as mobile phone, that may be configured to function as an accessory or a “brain” of the robot. A robot may interact with the cloud to perform any number of actions, such as to share information with other cloud computing devices.
摘要翻译： 描述了机器人云计算的方法和系统。 在实例中，基于云的计算通常是指网络计算机体系结构，其中应用程序执行和存储在一定程度上可以在客户端和服务器设备之间划分。 机器人可以是具有计算能力并与其周围环境具有致动能力（例如机电能力）相互作用的任何装置。 客户端设备可以被配置为包括模块形式的各种传感器和设备的机器人，并且可以根据需要从机器人添加或移除不同的模块。 在一些示例中，机器人可以被配置为接收可被配置为用作机器人的附件或“大脑”的第二设备，诸如移动电话。 机器人可以与云交互以执行任何数量的动作，例如与其他云计算设备共享信息。
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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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3.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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4.发明申请Methods and Systems for Modifying a Display of a Field of View of a Robotic Device to Include Zoomed-in and Zoomed-out Views 有权用于修改机器人设备的视野显示的方法和系统以包括放大和缩小视图公开(公告)号：US20140362121A1
公开(公告)日：2014-12-11
申请号：US14459437
申请日：2014-08-14
申请人： Google Inc.
发明人： Munjal Desai , Ryan Hickman , Thor Lewis , Damon Kohler
CPC分类号： G06T3/0006 , G01C3/08 , G06T2211/428 , G09G5/00 , H04N7/185 , Y10S901/01
摘要： Methods and systems for modifying a display of a field of view of a robotic device to include zoomed-in and zoomed-out views are provided. In examples, the robotic device may include a camera to capture images in a field of view of a robotic device, and distance sensors which can provide outputs that may be used to determine a distance of the robotic device to an object in the field of view of the robotic device. A display of the field of view of the robotic device can be generated, and as the distance decreases, the display can be modified to include a zoomed-in view of the object. As the distance increases, the display can be modified to include a zoomed-out view of the object. An amount of zoom of the object may be inversely proportional to the distance.
摘要翻译： 提供了用于修改机器人设备的视野的显示以包括放大和缩小视图的方法和系统。 在示例中，机器人装置可以包括用于在机器人装置的视野中捕获图像的相机以及距离传感器，所述距离传感器可以提供可用于确定机器人装置在视场中的对象的距离的输出 的机器人装置。 可以生成机器人装置的视野的显示，并且随着距离减小，可以修改显示以包括对象的放大视图。 随着距离的增加，可以对显示进行修改，以包括对象的缩小视图。 物体的变焦量可能与距离成反比。
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公开(公告)号：US09872356B1
公开(公告)日：2018-01-16
申请号：US14613092
申请日：2015-02-03
申请人： Google Inc.
发明人： Thor Lewis , Melissa-Ann Chan
IPC分类号： H05B33/08 , F21V23/04 , F21Y105/00
CPC分类号： H05B33/0854 , F21V23/0442 , F21Y2105/00 , H05B33/0857
摘要： Example embodiments for interactive lighting handshakes are described herein. An example interactive system may detect a user in a position proximate to an interface of the system and responsively determine an area that encompasses the position of the user. The interactive system may further cause a light system to illuminate the determined area using a light handshake. In some instances, the interactive system may perform a lighting handshake by illuminating a given aspect of the interface of the system and subsequently extending the illumination in a visual presentation from the interface to further encompass the position of the user.
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6.发明申请公开(公告)号：US20170032568A1
公开(公告)日：2017-02-02
申请号：US15290046
申请日：2016-10-11
申请人： Google Inc.
发明人： Chaitanya Gharpure , Thor Lewis
CPC分类号： G06T17/20 , G06T7/00 , G06T13/20 , G06T15/04 , G06T15/60 , G06T15/80 , G06T17/00 , G06T17/205 , G06T2210/08 , G06T2210/16
摘要： Methods and systems for providing a preloader animation for image viewers is provided. An example method includes receiving an image of an object, determining an edge gradient value for pixels of the image, and selecting pixels representative of the object that have a respective edge gradient value above a threshold. The example method also includes determining a model of the object including an approximate outline of the object and structures internal to the outline that are oriented based on the selected pixels being coupling points between the structures, and providing instructions to display the model in an incremental manner so as to render given structures of the model over time.
摘要翻译： 提供了用于为图像查看器提供预加载器动画的方法和系统。 示例性方法包括：接收对象的图像，确定图像的像素的边缘梯度值，以及选择表示具有高于阈值的相应边缘梯度值的对象的像素。 示例性方法还包括确定对象的模型，其包括基于所选择的像素为对象的轮廓内部的对象的概要以及结构之间的耦合点定向的结构，并提供以增量方式显示模型的指令 以便随着时间的推移给出模型的给定结构。
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7.发明授权Systems and methods for marking images for three-dimensional image generation 有权用于标记图像以进行三维图像生成的系统和方法公开(公告)号：US09117267B2
公开(公告)日：2015-08-25
申请号：US13958776
申请日：2013-08-05
申请人： Google Inc.
CPC分类号： G06T7/0024 , G01B11/2513 , G01B11/2545 , G01B2210/52 , G06T7/521 , G06T7/55
摘要： Methods and systems for image marking and generation of a three-dimensional (3D) image of an object are described. In an example, a computing device may be configured to receive a first set of images of an object that capture details of the object. The computing device may also be configured to receive a second set of images that include markings projected on the object and that are indexed to correspond to images of the first set of images. The computing device may be configured to spatially align images of the second set of images based on the markings projected on the object and determine respective images of the first set of images corresponding to spatially aligned images of the second set of images. The computing device may then generate a 3D image of the object from the respective images of the first set of images.
摘要翻译： 描述了用于图像标记和生成对象的三维（3D）图像的方法和系统。 在一个示例中，计算设备可以被配置为接收捕获对象的细节的对象的第一组图像。 计算设备还可以被配置为接收包括投影在对象上的标记并且被索引以对应于第一组图像的图像的第二组图像。 计算设备可以被配置为基于投影在对象上的标记来空间对准第二组图像的图像，并且确定对应于第二组图像的空间对准图像的第一组图像的各个图像。 计算设备然后可以从第一组图像的各个图像生成对象的3D图像。
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8.发明授权Side-by-side and synchronized displays for three-dimensional (3D) object data models 有权并行和同步显示三维（3D）对象数据模型公开(公告)号：US08922576B2
公开(公告)日：2014-12-30
申请号：US14284889
申请日：2014-05-22
申请人： Google Inc.
发明人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
CPC分类号： G06T19/20 , G06T15/20 , G06T17/00 , G06T2219/2004 , G09G5/00
摘要： Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve providing to a display device for display a first 3D object data model and a second 3D object data model. Information associated with a modification to the first 3D object data model may be received. Based on the received information, a same change may be applied to the first 3D object data model and applied to the second 3D object data model to obtain a first modified 3D object data model and a second modified 3D object data model. According to the method, the first modified 3D object data model and the second modified 3D object data model may be provided to the display device for substantially simultaneous display.
摘要翻译： 提供了与多个三维（3D）对象数据模型交互的方法和系统。 示例性方法可以涉及向显示设备提供用于显示第一3D对象数据模型和第二3D对象数据模型。 可以接收与第一3D对象数据模型的修改相关联的信息。 基于接收到的信息，可以将相同的变化应用于第一3D对象数据模型并应用于第二3D对象数据模型以获得第一修改的3D对象数据模型和第二修改3D对象数据模型。 根据该方法，可以将第一修改3D对象数据模型和第二修改3D对象数据模型提供给显示装置，以便基本上同时显示。
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公开(公告)号：US08831366B1
公开(公告)日：2014-09-09
申请号：US13673994
申请日：2012-11-10
申请人： Google Inc.
发明人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure , Won Chun
CPC分类号： G06T15/10 , G06T9/001 , G06T15/80 , G06T19/20 , G06T2219/2012 , G06T2219/2021
摘要： Methods and systems for encoding and compressing 3D object data models are provided. An example method may involve receiving 3D mesh data for an object that includes geometry coordinates for a surface of the object. Additionally, material properties may be associated with the geometry coordinates. The method may also include identifying multiple portions of the mesh data based on the material properties associated with the geometry coordinates. For example, a given group of adjacent geometry coordinates having common material properties may be identified as a given portion. For at least some of the identified portions of the mesh data, the method may further include encoding information related to an identified portion of the mesh data and compressing the encoded information into a file of compressed geometric data.
摘要翻译： 提供了用于编码和压缩3D对象数据模型的方法和系统。 示例性方法可以涉及接收包括对象表面的几何坐标的对象的3D网格数据。 另外，材料属性可以与几何坐标相关联。 该方法还可以包括基于与几何坐标相关联的材料属性来识别网格数据的多个部分。 例如，具有共同材料属性的给定组的相邻几何坐标可以被识别为给定部分。 对于网格数据的所识别的部分的至少一些，该方法还可以包括对与网格数据的识别部分相关的信息进行编码，并将编码的信息压缩成压缩几何数据的文件。
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10.发明授权System for writing, interpreting, and translating three-dimensional (3D) scenes 有权用于编写，解释和翻译三维（3D）场景的系统公开(公告)号：US08817021B1
公开(公告)日：2014-08-26
申请号：US13644680
申请日：2012-10-04
申请人： Google Inc.
发明人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
IPC分类号： G06T17/00
CPC分类号： G06T15/00 , G06F17/30271
摘要： Methods and systems for writing, interpreting, and translating three-dimensional (3D) scenes are provided. An example method may involve accessing data associated with a three-dimensional (3D) scene that includes one or more objects of the 3D scene and one or more rendering effects for the one or more objects. Requests for assets and instructions associated with rendering the one or more objects based on the data associated with the 3D scene may be determined and sent to a server. Additionally, the method may include receiving from the server assets and instructions that facilitate rendering the one or more objects based on the one or more rendering effects. According to the method, the one or more objects of the 3D scene may be rendered based on the received instructions and the received assets.
摘要翻译： 提供了编写，解释和翻译三维（3D）场景的方法和系统。 示例性方法可以涉及访问与包括3D场景的一个或多个对象和一个或多个对象的一个或多个呈现效果的三维（3D）场景相关联的数据。 可以确定与基于与3D场景相关联的数据呈现一个或多个对象相关联的资产和指令的请求，并将其发送到服务器。 另外，该方法可以包括从服务器接收资源和基于一个或多个呈现效果来促进呈现一个或多个对象的指令。 根据该方法，3D场景的一个或多个对象可以基于接收到的指令和接收到的资产来呈现。
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