公开(公告)号：US20230113387A1

公开(公告)日：2023-04-13

申请号：US17938694

申请日：2022-10-07

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Suomi TANISHIGE ,  Takuya IKEDA

IPC: G06T7/80 ,  G06T7/70

Abstract: A calibration system includes: a first calibration tool; a second calibration tool that is installed so as to be able to specify a relative position thereof with respect to the first calibration tool, the type of the second calibration tool being different from that of the first calibration tool; a first calibration target apparatus configured to be able to detect the first calibration tool; a second calibration target apparatus configured to be able to detect the second calibration tool; and an arithmetic processing apparatus configured to calculate the relative position of the second calibration target apparatus with respect to the first calibration target apparatus based on the result of detecting the first calibration tool by the first calibration target apparatus and the result of detecting the second calibration tool by the second calibration target apparatus.

公开(公告)号：US20230368410A1

公开(公告)日：2023-11-16

申请号：US18186483

申请日：2023-03-20

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takuya IKEDA

IPC: G06T7/70 ,  G06V10/774

CPC classification number: G06T7/70 ,  G06V10/774 ,  G06T2207/20081 ,  G06T2207/20212 ,  G06T2207/30242

Abstract: A machine learning method according to this embodiment trains a recognizer using a composite image, acquires a labeled real image based on an image captured by a sensor, stores, when at least one of the results of the recognition when the labeled real image is input to the recognizer match the label, results of the recognition performed by the recognizer, performs machine learning using a data set group including a plurality of the data sets, a real image and a composite image forming a pair in each of the data sets, thereby generating an image transformer, generating a labeled real image as a result of the image transformer transforming the composite image into the real image, and trains the recognizer based on the labeled real image.

公开(公告)号：US20230316648A1

公开(公告)日：2023-10-05

申请号：US18184255

申请日：2023-03-15

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takuya IKEDA

IPC: G06T17/20

CPC classification number: G06T17/20 ,  G06T2210/12

Abstract: A method, a system, and a program for generating a three-dimensional model are provided. A method according to an embodiment for generating a three-dimensional model includes (1) deriving an initial reference coordinate system based on measurement data indicating a three-dimensional shape of an object (2) selecting an axis of the initial reference coordinate system (3) determining whether or not there is rotational symmetry about the axis (4) determining whether or not there is rotational symmetry with an angular period about the axis (5) when there is the rotational symmetry with the angular period, correcting a reference coordinate system (6) when there is no rotational symmetry, determining plane symmetry about the axis (7) when there is the plane symmetry, correcting the reference coordinate system and (8) performing processing of (3)-(7) for each of three axes of the initial reference coordinate system.

公开(公告)号：US20230311307A1

公开(公告)日：2023-10-05

申请号：US18183238

申请日：2023-03-14

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Takuya IKEDA

IPC: B25J9/16 ,  G06T7/68 ,  G06T7/50 ,  G06T17/00 ,  B25J13/08 ,  G01B11/24

CPC classification number: B25J9/1612 ,  G06T7/68 ,  G06T7/50 ,  G06T17/00 ,  B25J13/081 ,  G01B11/24 ,  G06T2207/10028

Abstract: A system, a method, and a program for generating a three-dimensional model are provided. A system for generating a three-dimensional model according to an embodiment includes an end effector including a flexible grip part for gripping an object, a deformation sensor configured to detect a deformed shape of the grip part in a state of gripping the object, a calculation unit configured to calculate a normal direction of a surface of the object from surface shape data of the object, a decision unit configured to decide a grip position of the object to be gripped by the end effector based on the normal direction, and a coordinate system setting unit configured to set a reference coordinate system according to the deformed shape of the grip part.