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    METHOD AND COMPUTING SYSTEM FOR PERFORMING GRIP REGION DETECTION
    1.
    发明公开
    METHOD AND COMPUTING SYSTEM FOR PERFORMING GRIP REGION DETECTION 审中-公开

    公开(公告)号：US20240190011A1

    公开(公告)日：2024-06-13

    申请号：US18586006

    申请日：2024-02-23

    Applicant: MUJIN, INC.

    Inventor： Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV ,  Jinze YU ,  Ahmed ABOUELELA ,  Yoshiki KANEMOTO

    IPC: B25J9/16

    CPC classification number: B25J9/1697

    Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

    METHOD AND SYSTEM FOR PERFORMING IMAGE CLASSIFICATION FOR OBJECT RECOGNITION
    2.
    发明申请
    METHOD AND SYSTEM FOR PERFORMING IMAGE CLASSIFICATION FOR OBJECT RECOGNITION 有权

    公开(公告)号：US20210213615A1

    公开(公告)日：2021-07-15

    申请号：US16991510

    申请日：2020-08-12

    Applicant: MUJIN, INC.

    Inventor： Jinze YU ,  Jose Jeronimo MOREIRA RODRIGUES ,  Ahmed ABOUELELA

    IPC: B25J9/16 ,  G06K9/62 ,  G06K9/20 ,  G06K9/00 ,  G06K9/46 ,  B25J13/08 ,  G06N20/00

    Abstract: Systems and methods for classifying at least a portion of an image as being textured or textureless are presented. The system receives an image generated by an image capture device, wherein the image represents one or more objects in a field of view of the image capture device. The system generates one or more bitmaps based on at least one image portion of the image. The one or more bitmaps describe whether one or more features for feature detection are present in the at least one image portion, or describe whether one or more visual features for feature detection are present in the at least one image portion, or describe whether there is variation in intensity across the at least one image portion. The system determines whether to classify the at least one image portion as textured or textureless based on the one or more bitmaps.

    METHOD AND COMPUTING SYSTEM FOR PERFORMING GRIP REGION DETECTION
    3.
    发明申请
    METHOD AND COMPUTING SYSTEM FOR PERFORMING GRIP REGION DETECTION 有权

    公开(公告)号：US20220281114A1

    公开(公告)日：2022-09-08

    申请号：US17193268

    申请日：2021-03-05

    Applicant: MUJIN, INC.

    Inventor： Jose Jeronimo MOREIRA RODRIGUES ,  Rosen Nikolaev DIANKOV ,  Jinze YU ,  Ahmed ABOUELELA ,  Yoshiki KANEMOTO

    IPC: B25J9/16

    Abstract: A method performed by a computing system is presented. The method may include the computing system receiving image information that represents an object surface associated with a flexible object, and identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information. The method may further include identifying, as a safety region, a three-dimensional (3D) region which surrounds the grip region in one or more horizontal dimensions, and which extends from the grip region along a vertical dimension that is perpendicular to the one or more horizontal dimensions. The method may further include performing robot motion planning based on the grip region and the safety region.

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