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公开(公告)号：US11808857B2
公开(公告)日：2023-11-07
申请号：US17895489
申请日：2022-08-25
Applicant: Summer Robotics, Inc.
Inventor： Schuyler Alexander Cullen , Gerard Dirk Smits , Steven Dean Gottke
IPC: G02B26/08 , G02B26/10 , G01S7/48 , G01S17/04 , G01S17/10 , G01S17/42 , G01S17/48 , G01S17/66 , G01S17/894 , G02B26/12 , G02B27/00 , H04N23/698
CPC classification number: G01S17/894 , G01S7/4802 , G01S7/4804 , G01S7/4808 , G01S17/04 , G01S17/10 , G01S17/42 , G01S17/48 , G01S17/66 , G02B26/0833 , G02B26/101 , G02B26/105 , G02B26/123 , G02B27/0031 , H04N23/698
Abstract: Embodiments are directed to multi-sensor superresolution scanning and capture system. A sensing system may be employed to scan a plurality of paths across objects using beams such that the sensing system includes event sensors and image sensors and such that the image sensors are a higher resolution than the event sensors. The event sensors may be employed to provide events based on detection of the beams that are reflected by the objects. The image sensors may be employed to provide images based on the reflected the beams. Enhanced trajectories may be generated based on a plurality of first trajectories and a plurality of second trajectories such that the plurality of the first trajectories are based on the events and the plurality of paths and such that the plurality of second trajectories are based on the images and the plurality of paths.
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公开(公告)号：US12276730B2
公开(公告)日：2025-04-15
申请号：US18504052
申请日：2023-11-07
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Enclosures mounted may be on structures arranged to establish a boundary where each enclosure includes an event camera, a beam generator, or a frame camera. The beam generators may be employed to scan paths across objects in a scene that may be outside the boundary. Events may be determined based on detection of beam reflections corresponding to the objects. Trajectories associated with the objects may be determined based on the paths and the events. Objects that may be authorized may be determined based on trajectories associated with authorized objects. Objects in the scene that may be unauthorized may be determined based on trajectories associated with the unauthorized objects. A representation of the unauthorized objects may be determined such that a position and an orientation of the unauthorized objects in the scene may be based on the trajectories.
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公开(公告)号：US20240329248A1
公开(公告)日：2024-10-03
申请号：US18504052
申请日：2023-11-07
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
CPC classification number: G01S17/58 , G01S7/4808 , G01S7/484 , G01S17/89 , G06V20/44
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Enclosures mounted may be on structures arranged to establish a boundary where each enclosure includes an event camera, a beam generator, or a frame camera. The beam generators may be employed to scan paths across objects in a scene that may be outside the boundary. Events may be determined based on detection of beam reflections corresponding to the objects. Trajectories associated with the objects may be determined based on the paths and the events. Objects that may be authorized may be determined based on trajectories associated with authorized objects. Objects in the scene that may be unauthorized may be determined based on trajectories associated with the unauthorized objects. A representation of the unauthorized objects may be determined such that a position and an orientation of the unauthorized objects in the scene may be based on the trajectories.
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公开(公告)号：US11974055B1
公开(公告)日：2024-04-30
申请号：US18488123
申请日：2023-10-17
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Paths may be scanned across objects in a scene with one or more beams. Images of the scene may be captured with frame cameras. Events may be generated based on detection of beam reflections that correspond to the objects. Trajectories may be based on the paths and the events. A distribution of intensity associated with the trajectories may be determined based on the energy associated with the traces in the images. Centroids for the trajectories may be determined based on the distribution of the intensity of energy, a resolution of the frame cameras, or timestamps associated with the events. Enhanced trajectories may be generated based on the centroids such that the enhanced trajectories may be provided to a modeling engine that executes actions based on the enhanced trajectories and the objects.
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公开(公告)号：US20240129645A1
公开(公告)日：2024-04-18
申请号：US18488123
申请日：2023-10-17
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
Abstract: Embodiments are directed to perceiving scene features using event sensors and image sensors. Paths may be scanned across objects in a scene with one or more beams. Images of the scene may be captured with frame cameras. Events may be generated based on detection of beam reflections that correspond to the objects. Trajectories may be based on the paths and the events. A distribution of intensity associated with the trajectories may be determined based on the energy associated with the traces in the images. Centroids for the trajectories may be determined based on the distribution of the intensity of energy, a resolution of the frame cameras, or timestamps associated with the events. Enhanced trajectories may be generated based on the centroids such that the enhanced trajectories may be provided to a modeling engine that executes actions based on the enhanced trajectories and the objects.
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Patent Agency Ranking
公开(公告)号：US20240022819A1
公开(公告)日：2024-01-18
申请号：US18221816
申请日：2023-07-13
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
IPC: H04N23/695 , H04N25/702 , H04N23/56 , G06T7/13 , G06T7/20
CPC classification number: H04N23/695 , H04N25/702 , H04N23/56 , G06T7/13 , G06T7/20
Abstract: Embodiments are directed to vision systems. Enclosures that each include event scanners, beam generators, or frame cameras may be provided such that the event cameras or the frame cameras may be arranged to provide foveated resolution and such that the enclosures each may include an aperture that enables beams from the beam generators to scan a scene that may be in a field-of-view (FOV) of the aperture. Paths may be scanned across objects in the scene with the beams. Events may be determined based on detection of beam reflections corresponding to objects in the scene. The enclosures may be rotated to orient the apertures into a physical position for continued scanning of the objects within the FOV based on directions of travel for the objects such that the directions of travel for the objects is based on scanned trajectories.
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公开(公告)号：US20230060421A1
公开(公告)日：2023-03-02
申请号：US17895489
申请日：2022-08-25
Applicant: Summer Robotics, Inc.
Inventor： Schuyler Alexander Cullen , Gerard Dirk Smits , Steven Dean Gottke
Abstract: Embodiments are directed to multi-sensor superresolution scanning and capture system. A sensing system may be employed to scan a plurality of paths across objects using beams such that the sensing system includes event sensors and image sensors and such that the image sensors are a higher resolution than the event sensors. The event sensors may be employed to provide events based on detection of the beams that are reflected by the objects. The image sensors may be employed to provide images based on the reflected the beams. Enhanced trajectories may be generated based on a plurality of first trajectories and a plurality of second trajectories such that the plurality of the first trajectories are based on the events and the plurality of paths and such that the plurality of second trajectories are based on the images and the plurality of paths.
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公开(公告)号：US20240040274A1
公开(公告)日：2024-02-01
申请号：US18225833
申请日：2023-07-25
Applicant: Summer Robotics, Inc.
Inventor： Gerard Dirk Smits , Steven Dean Gottke
CPC classification number: H04N25/47 , H04N23/95 , H04N23/55 , H04N13/25 , H04N23/555
Abstract: Embodiments are directed to folded single sensor 3-D capture systems. An enclosure that includes an event camera, one or more beam generators, or an optical focusing system may be provided such that the beam generators may scan a scene. Paths may be scanned across objects in the scene with the beams. Events may be determined based on detection, by the event camera, of beam reflections that correspond to objects in the scene such that each beam reflection may be directed to a separate location on a sensor for the event camera by the optical focusing system. Trajectories may be determined based on the paths and the events such that each trajectory may be a parametric representation of a one-dimensional curve segment in a three-dimensional space. Three-dimensional information that corresponds to the objects may be generated based on the plurality of trajectories.
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公开(公告)号：US11704835B2
公开(公告)日：2023-07-18
申请号：US17876333
申请日：2022-07-28
Applicant: Summer Robotics, Inc.
Inventor： Schuyler Alexander Cullen , Gerard Dirk Smits , Steven Dean Gottke
IPC: G06T7/80
CPC classification number: G06T7/80
Abstract: Embodiments are directed to a sensing system that employs beams to scan paths across an object such that sensors may the beams reflected by the scanned object. Events may be provided based on the detected signals and the paths such that each event may be associated with a sensor and event metrics. Crossing points for each sensor may be determined based on where the paths intersect the scanned object such that events associated with each sensor are associated with the crossing points for each sensor. Each crossing point of each sensor may be compared to each correspondent crossing point of each other sensor. Actual crossing points may be determined based on the comparison and the crossing points for each sensor. Position information for each sensor may be determined based on the actual crossing points.
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公开(公告)号：US20230169683A1
公开(公告)日：2023-06-01
申请号：US17991610
申请日：2022-11-21
Applicant: Summer Robotics, Inc.
Inventor： Brian Alexander Paden , Steven Dean Gottke
CPC classification number: G06T7/74 , G01S17/89 , G06T2207/30241
Abstract: Embodiments are directed to the association of concurrent tracks across multiple views for sensing objects. A sensing system that employs signal beams to scan paths across an object may be provided such that two or more sensors separately detect signals reflected by the object. Events may be determined based on the detected signals such that the events include pairs of events that correspond to pairs of sensors. Essential matrices may be generated based on the positions of each pair of sensors. The pairs of events associated with the pairs of sensors may be compared based on the essential matrices of the sensors. Scores for the pairs of events may be provided based on the comparison. If a score for a pair of events may be less than a threshold value, each event in the pair of events may be associated with a same location on the object.
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