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公开(公告)号：EP3493953A1
公开(公告)日：2019-06-12
申请号：EP17751921.2
申请日：2017-08-01
Applicant: X Development LLC
Inventor： KONOLIGE, Kurt , RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan
IPC: B25J9/16
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公开(公告)号：EP3485424A1
公开(公告)日：2019-05-22
申请号：EP17751513.7
申请日：2017-07-17
Applicant: X Development LLC
Inventor： RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan
IPC: G06K9/00
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公开(公告)号：WO2018017499A1
公开(公告)日：2018-01-25
申请号：PCT/US2017/042455
申请日：2017-07-17
Applicant: X DEVELOPMENT LLC
Inventor： RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan
IPC: G06K9/00
Abstract: Methods, apparatus, systems, and computer-readable media are provided for delegating object type and/or pose detection to a plurality of "targeted object recognition modules." In some implementations, a method may be provided that includes: operating an object recognition client to facilitate object recognition for a robot; receiving, by the object recognition client, sensor data indicative of an observed object in an environment; providing, by the object recognition client, to each of a plurality of remotely-hosted targeted object recognition modules, data indicative of the observed object; receiving, by the object recognition client, from one or more of the plurality of targeted object recognition modules, one or more inferences about an object type or pose of the observed object; and determining, by the object recognition client, information about the observed object, such as its object type and/or pose, based on the one or more inferences.
Abstract translation: 提供了用于将对象类型和/或姿态检测委托给多个“目标物体识别模块”的方法，装置，系统和计算机可读介质。 在一些实现中，可以提供一种方法，该方法包括：操作对象识别客户端以促进机器人的对象识别; 由对象识别客户端接收指示环境中的观察对象的传感器数据; 由所述对象识别客户端向多个远程托管的目标对象识别模块中的每一个提供指示所述观察对象的数据; 由对象识别客户端从多个目标对象识别模块中的一个或多个目标识别模块接收关于观察对象的对象类型或姿势的一个或多个推论; 并且由对象识别客户端基于一个或多个推断来确定关于观察对象的信息，诸如其对象类型和/或姿势。
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公开(公告)号：WO2018026836A1
公开(公告)日：2018-02-08
申请号：PCT/US2017/044933
申请日：2017-08-01
Applicant: X DEVELOPMENT LLC
Inventor： KONOLIGE, Kurt , RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan
IPC: B25J9/16
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
Abstract translation: 与为机器人在其环境中遇到的物体产生模型有关的方法和装置，其中该物体是机器人无法利用与机器人相关联的现有模型识别的物体。 该模型基于视觉传感器数据生成，该数据从多个有利位置捕获对象并且由与机器人相关联的视觉传感器（例如耦合到机器人的视觉传感器）捕获。 该模型可以被机器人用于检测物体和/或用于估计物体的姿态。
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公开(公告)号：WO2018031421A1
公开(公告)日：2018-02-15
申请号：PCT/US2017/045584
申请日：2017-08-04
Applicant: X DEVELOPMENT LLC
Inventor： RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan , BAJRACHARYA, Max
CPC classification number: G06K9/00664 , B25J9/1697 , G06K9/00979 , G06K9/00993 , G06K9/628 , G06T1/0014 , H04W4/025 , H04W4/60 , H04W4/80 , Y10S901/47
Abstract: Methods, apparatus, systems, and computer-readable media are provided for downloading targeted object recognition modules that are selected from a library of candidate targeted object recognition modules based on various signals. In some implementations, an object recognition client may be operated to facilitate object recognition for a robot. It may download targeted object recognition module(s). Each targeted object recognition module may facilitate inference of an object type or pose of an observed object. The targeted object module(s) may be selected from a library of targeted object recognition modules based on various signals, such as a task to be performed by the robot. The object recognition client may obtain vision data capturing at least a portion of an environment in which the robot operates. The object recognition client may determine, based on the vision data and the downloaded object recognition module(s), information about an observed object in the environment.
Abstract translation: 提供了用于下载基于各种信号从候选目标物体识别模块的库中选择的目标物体识别模块的方法，设备，系统和计算机可读介质。 在一些实施方式中，可以操作对象识别客户端以促进机器人的对象识别。 它可以下载目标识别模块。 每个目标物体识别模块可以帮助推断观察物体的物体类型或姿态。 目标对象模块可以基于各种信号从目标对象识别模块的库中选择，诸如机器人要执行的任务。 物体识别客户端可以获得捕获机器人在其中操作的环境的至少一部分的视觉数据。 对象识别客户端可以基于视觉数据和下载的对象识别模块来确定关于在环境中观察到的对象的信息。
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Patent Agency Ranking
公开(公告)号：EP3713719A1
公开(公告)日：2020-09-30
申请号：EP18779545.5
申请日：2018-09-13
Applicant: X Development LLC
Inventor： RAJKUMAR, Nareshkumar , LEGER, Patrick , HUDSON, Nicolas , SHANKAR, Krishna , HESSMER, Rainer
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公开(公告)号：WO2019133081A1
公开(公告)日：2019-07-04
申请号：PCT/US2018/050868
申请日：2018-09-13
Applicant: X DEVELOPMENT LLC
Inventor： RAJKUMAR, Nareshkumar , LEGER, Patrick , HUDSON, Nicolas , SHANKAR, Krishna , HESSMER, Rainer
CPC classification number: G06N3/08 , B25J9/0003 , B25J9/1671 , G05B2219/45108 , H04L67/12 , H04L67/2842
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for sharing learned information among robots. In some implementations, a robot obtains sensor data indicating characteristics of an object. The robot determines a classification for the object and generates an embedding for the object using a machine learning model stored by the robot. The robot stores the generated embedding and data indicating the classification for the object. The robot sends the generated embedding and the data indicating the classification to a server system. The robot receives, from the server system, an embedding generated by a second robot and a corresponding classification. The robot stores the received embedding and the corresponding classification in the local cache of the robot. The robot may then use the information in the cache to identify objects.
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公开(公告)号：EP4122657A1
公开(公告)日：2023-01-25
申请号：EP22187043.9
申请日：2017-08-01
Applicant: X Development LLC
Inventor： KONOLIGE, Kurt , RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan
Abstract: Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
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公开(公告)号：EP3965068A1
公开(公告)日：2022-03-09
申请号：EP21204209.7
申请日：2017-07-17
Applicant: X Development LLC
Inventor： RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan
Abstract: Methods, apparatus, systems, and computer-readable media are provided for delegating object type and/or pose detection to a plurality of "targeted object recognition modules." In some implementations, a method may be provided that includes: operating an object recognition client to facilitate object recognition for a robot; receiving, by the object recognition client, sensor data indicative of an observed object in an environment; providing, by the object recognition client, to each of a plurality of remotely-hosted targeted object recognition modules, data indicative of the observed object; receiving, by the object recognition client, from one or more of the plurality of targeted object recognition modules, one or more inferences about an object type or pose of the observed object; and determining, by the object recognition client, information about the observed object, such as its object type and/or pose, based on the one or more inferences.
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公开(公告)号：EP3494513A1
公开(公告)日：2019-06-12
申请号：EP17755347.6
申请日：2017-08-04
Applicant: X Development LLC
Inventor： RAJKUMAR, Nareshkumar , HINTERSTOISSER, Stefan , BAJRACHARYA, Max
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