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1. 发明授权

US11538238B2 Method and system for performing image classification for object recognition 有权
公开(公告)号：US11538238B2
公开(公告)日：2022-12-27
申请号：US16991510
申请日：2020-08-12
申请人： MUJIN, INC.
发明人： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Ahmed Abouelela
IPC分类号： B25J9/00 , G06V20/10 , B25J9/16 , G06N20/00 , B25J13/08 , G06K9/62 , G06V10/22 , G06V10/56 , G06V10/44 , G06V10/46 , B65G61/00
摘要： 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.

2. 发明申请

US20200316774A1 ROBOTIC SYSTEM WITH OBJECT IDENTIFICATION AND HANDLING MECHANISM AND METHOD OF OPERATION THEREOF 审中-公开
公开(公告)号：US20200316774A1
公开(公告)日：2020-10-08
申请号：US16749354
申请日：2020-01-22
申请人： Mujin, Inc.
发明人： Jose Jeronimo Moreira Rodrigues , Xutao Ye , Jinze Yu , Rosen Nikolaev Diankov
IPC分类号： B25J9/16 , B65G1/137
摘要： A robotic system includes: a control unit configured to: receive an object set including one or more object entries, wherein: the object entries correspond to source objects of an object source, each of the object entries are described by one or more object entry properties; receive sensor information representing one or more detectable object properties for detectable source objects of the object source; calculate an object match probability between the detectable source objects and the object entries based on a property correlation between the detectable object properties of the detectable source objects and the object entry properties of the object entries; generate an object identity approximation for each of the detectable source objects based on a comparison between the object match probability for each of the detectable source objects corresponding to a particular instance of the object entries; select a target object from the detectable source objects; generate an object handling strategy, for implementation by an object handling unit, to transfer the target object from the object source based on the object entry properties of the object entries corresponding to the object identity approximation; update the object set to indicate that the target object corresponding to a specific instance of the object entries has been removed from the object source; and a storage unit 204, coupled to the control unit, configured to store the object set.

3. 发明授权

US10703584B2 Robotic system with automated package registration mechanism and methods of operating the same 有权
公开(公告)号：US10703584B2
公开(公告)日：2020-07-07
申请号：US16539790
申请日：2019-08-13
申请人： MUJIN, Inc.
发明人： Rosen Nikolaev Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC分类号： B65G61/00 , B25J9/16 , G06Q10/08 , G05B19/4093
摘要： A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location; obtaining additional data as the object is transferred to a task location, wherein the additional data includes information regarding one or more edges and/or one or more surfaces separate from portions of the object captured in the first data; and creating registration data representative of the object based on the additional data.

4. 发明申请

US20230041343A1 ROBOTIC SYSTEM WITH IMAGE-BASED SIZING MECHANISM AND METHODS FOR OPERATING THE SAME 有权
公开(公告)号：US20230041343A1
公开(公告)日：2023-02-09
申请号：US17732271
申请日：2022-04-28
申请人： MUJIN, Inc.
发明人： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Rosen Nikolaev Diankov
IPC分类号： B25J9/16 , B25J13/08
摘要： A system and method for estimating aspects of target objects and/or associated task implementations is disclosed.

5. 发明授权

US11288810B2 Robotic system with automated package registration mechanism and methods of operating the same 有权
公开(公告)号：US11288810B2
公开(公告)日：2022-03-29
申请号：US16888376
申请日：2020-05-29
申请人： MUJIN, Inc.
发明人： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC分类号： G06T7/13 , G06T7/73 , G06T7/50 , G06T7/62 , G06T19/20 , G06T7/11 , G06K9/00 , G06K9/32 , B25J9/16 , B65G61/00 , G05B19/4093 , G06Q10/08 , B65B43/46
摘要： A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.

6. 发明授权

US11006039B1 Method and system for determining occlusion within a camera field of view 有权
公开(公告)号：US11006039B1
公开(公告)日：2021-05-11
申请号：US16789570
申请日：2020-02-13
申请人： MUJIN, INC.
发明人： Jinze Yu , Jose Jeronimo Moreira Rodrigues , Xutao Ye
IPC分类号： H04N5/232 , H04N5/217 , B25J9/16
摘要： 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.

7. 发明申请

US20210023717A1 POST-DETECTION REFINEMENT BASED ON EDGES AND MULTI-DIMENSIONAL CORNERS 有权
公开(公告)号：US20210023717A1
公开(公告)日：2021-01-28
申请号：US16824680
申请日：2020-03-19
申请人： MUJIN, Inc.
发明人： Jinze Yu , Jose Jeronimo Moreira Rodrigues
IPC分类号： B25J9/16 , B25J19/02 , B65G61/00 , G06K9/46 , G06T1/00 , G06K9/62 , G06K9/00
摘要： The present disclosure relates to verifying an initial object estimation of an object. A two-dimensional (2D) image representative of an environment including one or more objects may be obtained. The 2D image may be inspected to detect edges of an object. The edges may be processed to verify or update an initial object estimation to increase the accuracy of an object detection result.

8. 发明申请

US20200294244A1 ROBOTIC SYSTEM WITH AUTOMATED PACKAGE REGISTRATION MECHANISM AND METHODS OF OPERATING THE SAME 审中-公开
公开(公告)号：US20200294244A1
公开(公告)日：2020-09-17
申请号：US16888376
申请日：2020-05-29
申请人： MUJIN, Inc.
发明人： Rosen Nikolaev Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC分类号： G06T7/13 , B25J9/16 , G06T7/73 , G06T7/50 , G06T7/62 , B65G61/00 , G05B19/4093 , G06Q10/08 , G06T19/20 , G06T7/11 , B65B43/46 , G06K9/00 , G06K9/32
摘要： A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.

9. 发明授权

US10562189B1 Automated package registration systems, devices, and methods 有权
公开(公告)号：US10562189B1
公开(公告)日：2020-02-18
申请号：US16443757
申请日：2019-06-17
申请人： MUJIN, Inc.
发明人： Rosen Diankov , Huan Liu , Xutao Ye , Jose Jeronimo Moreira Rodrigues , Yoshiki Kanemoto , Jinze Yu , Russell Islam
IPC分类号： B25J9/16 , G06T7/00 , B25J13/08 , G06T7/50 , G06T7/13 , G06K9/62
摘要： A method of operating a package handling system includes: receiving first image data representative of a first surface image of a package surface; identifying a pair of intersecting edges for the package surface based on the first image; determining a minimum viable region based on the pair of edges, the minimum viable region for gripping and lifting the package; receiving second image data representative of the package after the lift; and creating registration data based on the third image data.

10. 发明申请

US20230128352A1 METHOD AND SYSTEM FOR PERFORMING IMAGE CLASSIFICATION FOR OBJECT RECOGNITION 有权
公开(公告)号：US20230128352A1
公开(公告)日：2023-04-27
申请号：US18145512
申请日：2022-12-22
申请人： MUJIN, INC.
发明人： Jinze Yu , Jose Jeronimo Moreira Rodrigue , Ahmed Abouelela
IPC分类号： B25J9/16 , G06N20/00 , B25J13/08 , G06V20/10 , G06V10/22 , G06V10/44 , G06F18/241
摘要： 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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