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公开(公告)号：US20210012534A1
公开(公告)日：2021-01-14
申请号：US16682560
申请日：2019-11-13
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE
IPC: G06T7/80 , G06T7/73 , H04N13/246
Abstract: A system and method for performing automatic camera calibration is presented. The system communicates with a first camera and a second camera, wherein a transparent platform is disposed between the two cameras. When a 3D calibration pattern is disposed on the platform, the system receives a first set of calibration images from the first camera, and a second set of calibration images from the second camera. The system determines, based on the first set of calibration images, a first set of coordinates for corners of the polyhedron. The system further determines, based on the second set of calibration images, a second set of coordinates for the corners. The system determines, based on the coordinates, a spatial relationship between the first camera and the second camera. The system further uses a description of the spatial relationship to generate a 3D model of an object other than the 3D calibration pattern.
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2.发明公开公开(公告)号：US20230182309A1
公开(公告)日：2023-06-15
申请号：US18164295
申请日：2023-02-03
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE , Rosen DIANKOV
CPC classification number: B25J9/1692 , B25J9/1697 , G06T7/80 , G06T2207/30164 , G05B2219/39008
Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.
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公开(公告)号：US20230182308A1
公开(公告)日：2023-06-15
申请号：US18162455
申请日：2023-01-31
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE , Rosen DIANKOV
CPC classification number: B25J9/1692 , G06T7/80 , B25J9/1664 , B25J9/1697
Abstract: A robot control system and a method for updating camera calibration is presented. The method comprises the robot control system performing a first camera calibration to determine camera calibration information, and outputting a first movement command based on the camera calibration information for a robot operation. The method further comprises outputting, after the first camera calibration, a second movement command to move a calibration pattern within a camera field of view, receiving one or more calibration images, and adding the one or more calibration images to a captured image set. The method further comprises performing a second camera calibration based on calibration images in the captured image set to determine updated camera calibration information, determining whether a deviation between the camera calibration information and the updated camera calibration information exceeds a defined threshold, and outputting a notification signal if the deviation exceeds the defined threshold.
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公开(公告)号：US20210122050A1
公开(公告)日：2021-04-29
申请号：US16667170
申请日：2019-10-29
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Puttichai LERTKULTANON
IPC: B25J9/16
Abstract: A method and system for determining poses for camera calibration is presented. The system determines a range of pattern orientations for performing the camera calibration, and determines a surface region on a surface of an imaginary sphere, which represents possible pattern orientations for the calibration pattern. The system determines a plurality of poses for the calibration pattern to adopt. The plurality of poses may be defined by respective combinations of a plurality of respective locations within the camera field of view and a plurality of respective sets of pose angle values. Each set of pose angle values of the plurality of respective sets may be based on a respective surface point selected from within the surface region on the surface of the imaginary sphere. The system outputs a plurality of robot movement commands based on the plurality of poses that are determined.
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公开(公告)号：US20230025684A1
公开(公告)日：2023-01-26
申请号：US17956274
申请日：2022-09-29
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE
Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.
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Patent Agency Ranking
公开(公告)号：US20210327082A1
公开(公告)日：2021-10-21
申请号：US17360073
申请日：2021-06-28
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE
Abstract: A method and system for processing camera images is presented. The system receives a first depth map generated based on information sensed by a first type of depth-sensing camera, and receives a second depth map generated based on information sensed by a second type of depth-sensing camera. The first depth map includes a first set of pixels that indicate a first set of respective depth values. The second depth map includes a second set of pixels that indicate a second set of respective depth values. The system identifies a third set of pixels of the first depth map that correspond to the second set of pixels of the second depth map, identifies one or more empty pixels from the third set of pixels, and updates the first depth map by assigning to each empty pixel a respective depth value based on the second depth map.
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公开(公告)号：US20210241491A1
公开(公告)日：2021-08-05
申请号：US16871361
申请日：2020-05-11
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE
Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.
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公开(公告)号：US20220314452A1
公开(公告)日：2022-10-06
申请号：US17808722
申请日：2022-06-24
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Puttichai LERTKULTANON
IPC: B25J9/16
Abstract: A method and system for determining poses for camera calibration is presented. The system determines a range of pattern orientations for performing the camera calibration, and determines a surface region on a surface of an imaginary sphere, which represents possible pattern orientations for the calibration pattern. The system determines a plurality of poses for the calibration pattern to adopt. The plurality of poses may be defined by respective combinations of a plurality of respective locations within the camera field of view and a plurality of respective sets of pose angle values. Each set of pose angle values of the plurality of respective sets may be based on a respective surface point selected from within the surface region on the surface of the imaginary sphere. The system outputs a plurality of robot movement commands based on the plurality of poses that are determined.
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公开(公告)号：US20220172399A1
公开(公告)日：2022-06-02
申请号：US17436727
申请日：2019-07-16
Applicant: Russell ISLAM , Mujin, Inc.
Inventor： Russell ISLAM , Rosen DIANKOV , Xutao YE
Abstract: A robot control system and a method for automatic camera calibration is presented. The robot control system includes a control circuit configured to determine all corner locations of an imaginary cube that fits within a camera field of view, and determine a plurality of locations that are distributed on or throughout the imaginary cube. The control circuit is further configured to control a robot arm to move a calibration pattern to the plurality of locations, and to receive a plurality of calibration images corresponding to the plurality of locations, and to determine respective estimates of intrinsic camera parameters based on the plurality of calibration images, and to determine an estimate of a transformation function that describes a relationship between a camera coordinate system and a world coordinate system. The control circuit is further configured to control placement of the robot arm based on the estimate of the transformation function.
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10.发明申请公开(公告)号：US20200306977A1
公开(公告)日：2020-10-01
申请号：US16864071
申请日：2020-04-30
Applicant: MUJIN, INC.
Inventor： Russell ISLAM , Xutao YE , Rosen DIANKOV
Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.
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