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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.
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公开(公告)号：US20230381971A1
公开(公告)日：2023-11-30
申请号：US18447689
申请日：2023-08-10
Applicant: MUJIN, INC.
Inventor： Jinze YU , Jose Jeronimo MOREIRA RODRIGUES
CPC classification number: B25J9/1697 , G06F18/241 , G06V10/443 , B25J9/1661 , B25J9/1664 , G06V20/10 , G06N20/00 , G06V10/22 , B25J13/08 , B25J9/163 , G06V2201/06 , G06V2201/07 , B65G61/00
Abstract: A computing system and method for object recognition is presented. The method includes the computing system obtaining an image for representing the one or more objects, and generating a target image portion associated with one of the one or more objects. The computing system determines whether to classify the target image portion as textured or textureless, and selects a template storage space from among a first and second template storage space, wherein the first template storage space is cleared more often relative to the second template storage space. The first template storage space is selected in response to a textureless classification, and the second template storage space is selected as the template storage space in response to a textured classification. The computing system performs object recognition based on the target image portion and the selected template storage space.
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公开(公告)号：US20210216767A1
公开(公告)日：2021-07-15
申请号：US16991466
申请日：2020-08-12
Applicant: MUJIN, INC.
Inventor： Jinze YU , Jose Jeronimo MOREIRA RODRIGUES
Abstract: A computing system and method for object recognition is presented. The method includes the computing system obtaining an image for representing the one or more objects, and generating a target image portion associated with one of the one or more objects. The computing system determines whether to classify the target image portion as textured or textureless, and selects a template storage space from among a first and second template storage space, wherein the first template storage space is cleared more often relative to the second template storage space. The first template storage space is selected in response to a textureless classification, and the second template storage space is selected as the template storage space in response to a textured classification. The computing system performs object recognition based on the target image portion and the selected template storage space.
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公开(公告)号：US20230410319A1
公开(公告)日：2023-12-21
申请号：US18460106
申请日：2023-09-01
Applicant: MUJIN, INC.
CPC classification number: G06T7/12 , G06T7/64 , G06V20/64 , G06V10/44 , G06V10/245 , G06T2207/20164 , G06T2207/10028
Abstract: Systems and methods for processing spatial structure data are provided. The system accesses spatial structure data, which describes object structure, and which has depth information indicative of a plurality of layers for the object structure. The system further extracts, from the spatial structure data, a portion of the spatial structure data representative of one layer of the plurality of layers. The system identifies, from the portion of the spatial structure data, a plurality of vertices that describe a contour of the layer. Additionally, the system identifies convex corners of the layer based on the plurality of vertices and performs object recognition according to the convex corners.
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公开(公告)号：US20220351389A1
公开(公告)日：2022-11-03
申请号：US17863013
申请日：2022-07-12
Applicant: MUJIN, INC.
Inventor： Jinze YU , Jose Jeronimo MOREIRA RODRIGUES
Abstract: A system and method for processing candidate edges are presented. The method may be performed when spatial structure information and 2D image information are stored. The method may include identifying, based on the spatial structure information, a 3D location that represents a corner of an object structure; identifying, based on the spatial structure information, a 3D vector that extends from the 3D location and is parallel with an edge; determining a 2D location within the 2D image information that corresponds to the 3D location; determining a 2D vector within the 2D image information that corresponds to the 3D vector; determining an edge detection region; identifying a cluster of candidate edges within the edge detection region that does not represent any object edge; identifying, as a 2D object edge, a candidate edge that is not part of the identified cluster; and performing segmentation based on the 2D object edge.
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Patent Agency Ranking
公开(公告)号：US20210256705A1
公开(公告)日：2021-08-19
申请号：US16791024
申请日：2020-02-14
Applicant: MUJIN, INC.
Inventor： Jinze YU , Jose Jeronimo Moreira Rodrigues
Abstract: A system and method for processing candidate edges are presented. The method may be performed when spatial structure information and 2D image information are stored. The method may include identifying, based on the spatial structure information, a 3D location that represents a corner of an object structure; identifying, based on the spatial structure information, a 3D vector that extends from the 3D location and is parallel with an edge; determining a 2D location within the 2D image information that corresponds to the 3D location; determining a 2D vector within the 2D image information that corresponds to the 3D vector; determining an edge detection region; identifying a cluster of candidate edges within the edge detection region that does not represent any object edge; identifying, as a 2D object edge, a candidate edge that is not part of the identified cluster; and performing segmentation based on the 2D object edge.
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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
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.
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公开(公告)号：US20240276106A1
公开(公告)日：2024-08-15
申请号：US18591980
申请日：2024-02-29
Applicant: MUJIN, INC.
Inventor： Jinze YU , Jose Jeronimo MOREIRA RODRIGUES , Xutao YE
IPC: H04N23/80 , B25J9/16 , H04N23/698 , H04N23/81
CPC classification number: H04N23/80 , H04N23/698 , H04N23/81 , B25J9/1612
Abstract: A system and method for determining occlusion are presented. The system receives camera data generated by at least one camera, which includes a first camera having a first camera field of view. The camera data is generated when a stack having a plurality of objects is in the first camera field of view, and describes a stack structure formed from at least an object structure for a first object of the plurality of objects. The system identifies a target feature of or disposed on the object structure, and determines a 2D region that is co-planar with and surrounds the target feature. The system determines a 3D region defined by connecting a location of the first camera and the 2D region. The system determines, based on the camera data and the 3D region, a size of an occluding region, and determines a value of an object recognition confidence parameter.
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公开(公告)号：US20240221350A1
公开(公告)日：2024-07-04
申请号：US18437946
申请日：2024-02-09
Applicant: MUJIN, INC.
Inventor： Jose Jeronimo MOREIRA RODRIGUES , Rosen Nikolaev DIANKOV , Jinze YU , Ahmed ABOUELELA , Yoshiki KANEMOTO
CPC classification number: G06V10/751 , B25J9/1666 , B25J9/1697 , B25J13/08 , G06V10/25 , G06V10/443 , G06V20/10 , G06V20/647
Abstract: A method and computing system for performing the method are presented. The method may include receiving image information representing an object; identifying a set of one or more matching object recognition templates associated with a set of one or more detection hypotheses. The method may further include selecting a primary detection hypothesis associated with a matching object recognition template; generating a primary candidate region based on the matching object recognition template; determining at least one of: (i) whether the set of one or more matching object recognition templates has a subset of one or more remaining matching templates, or (ii) whether the image information has a portion representing an unmatched region; and generating a safety volume list based on at least one of: (i) the unmatched region, or (ii) one or more additional candidate regions that are generated based on the subset of one or more remaining matching templates.
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公开(公告)号：US20220375097A1
公开(公告)日：2022-11-24
申请号：US17746524
申请日：2022-05-17
Applicant: MUJIN, INC.
Abstract: A computing system including a processing circuit in communication with a camera having a field of view, The processing circuit obtains image information based on the objects in the field of view and defines a minimum viable region for a target open corner. Potential minimum viable regions are defined by identifying candidate edges of an object and determining potential intersection points based on the candidate edges. The minimum viable region may then be identified and validated from the potential minimum viable regions.
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