公开(公告)号：US12175741B2

公开(公告)日：2024-12-24

申请号：US17354924

申请日：2021-06-22

Applicant: INTRINSIC INNOVATION LLC

Inventor： Vage Taamazyan ,  Kartik Venkataraman ,  Agastya Kalra ,  Achuta Kadambi

IPC: G06K9/00 ,  B25J9/16 ,  B25J15/06 ,  G06T7/11 ,  G06T7/50 ,  G06T7/70 ,  G06V20/10

Abstract: Systems and method for an object from a plurality of objects are disclosed. An image of a scene containing the plurality of objects is obtained, and a segmentation map is generated for the objects in the scene. The shapes of the objects are determined based on the segmentation map. An end effector is adjusted in response to determining the shapes of the objects. The adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects. The plurality of objects is approached in response to the shaping of the end effector, and one of the plurality of objects is picked with the end effector.

公开(公告)号：US12020455B2

公开(公告)日：2024-06-25

申请号：US17198094

申请日：2021-03-10

Applicant: INTRINSIC INNOVATION LLC

Inventor： Vage Taamazyan ,  Achuta Kadambi ,  Kartik Venkataraman

IPC: G06T7/80 ,  H04N9/64

CPC classification number: G06T7/80 ,  H04N9/646 ,  G06T2207/10141 ,  G06T2207/20084 ,  G06T2207/20208

Abstract: Systems and method for expanding a dynamic range associated with an image are disclosed. The method includes capturing an image of a scene via an imaging device using a single exposure. The image of the scene includes a plurality of polarization images corresponding to different angles of polarization, and each of the polarization images comprise a plurality of color channels. The method further includes determining a criterion for each of the plurality of color channels; selecting one color channel of the plurality of color channels based on determining of the criterion; generating a reconstructed image irradiance for the one color channel based on pixels in two or more of the plurality of polarization images obtained for the one color channel; and outputting a reconstructed image with the reconstructed image irradiance.

公开(公告)号：US11982775B2

公开(公告)日：2024-05-14

申请号：US18079477

申请日：2022-12-12

Applicant: Intrinsic Innovation LLC

Inventor： Achuta Kadambi ,  Ramesh Raskar ,  Kartik Venkataraman ,  Supreeth Krishna Rao ,  Agastya Kalra

IPC: H04N13/00 ,  G01B11/06 ,  G01B11/24 ,  G01S7/499 ,  G01S13/89 ,  G01S17/87 ,  G01S17/89 ,  G06T7/00 ,  G06T7/11 ,  G06T7/521 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  H04N13/243 ,  H04N13/257

CPC classification number: G01S7/499 ,  G01B11/0641 ,  G01B11/24 ,  G01S13/89 ,  G01S17/87 ,  G01S17/89 ,  G06T7/11 ,  G06T7/521 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  H04N13/243 ,  H04N13/257 ,  G06T2200/08 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A multi-modal sensor system includes: an underlying sensor system; a polarization camera system configured to capture polarization raw frames corresponding to a plurality of different polarization states; and a processing system including a processor and memory, the processing system being configured to control the underlying sensor system and the polarization camera system, the memory storing instructions that, when executed by the processor, cause the processor to: control the underlying sensor system to perform sensing on a scene and the polarization camera system to capture a plurality of polarization raw frames of the scene; extract first tensors in polarization representation spaces based on the plurality of polarization raw frames; and compute a characterization output based on an output of the underlying sensor system and the first tensors in polarization representation spaces.

公开(公告)号：US11689813B2

公开(公告)日：2023-06-27

申请号：US17365511

申请日：2021-07-01

Applicant: INTRINSIC INNOVATION LLC

Inventor： Vage Taamazyan ,  Achuta Kadambi ,  Kartik Venkataraman

IPC: H04N23/74 ,  H04N23/55 ,  G02B5/30 ,  H04N23/741

CPC classification number: H04N23/741 ,  G02B5/3025 ,  H04N23/55

Abstract: According to one embodiment of the present disclosure, an imaging system includes: an image sensor including a plurality of subpixels grouped into a plurality of pixels; a polarization system including: a rotatable linear polarizer; and a polarizer mask including a plurality of polarizer filters, the polarizer filters being aligned with corresponding ones of the subpixels, the subpixels of a pixel of the plurality of pixels being located behind polarizer filters at different angles of linear polarization; and imaging optics configured to focus light from a scene onto the image sensor.

公开(公告)号：US20220337731A1

公开(公告)日：2022-10-20

申请号：US17672357

申请日：2022-02-15

Applicant: INTRINSIC INNOVATION LLC

Inventor： Kartik Venkataraman ,  Agastya Kalra ,  Achuta Kadambi

IPC: H04N5/238 ,  H04N5/235

Abstract: Systems and methods for adjusting an exposure parameter of an imaging device are disclosed. A first exposure level of the imaging device is identified, and a first image of a scene is captured via the imaging device at the first exposure level. The first image of the scene comprises a plurality of polarization images corresponding to different degrees and angles of polarization. Each of the polarization images comprise a plurality of color channels. A gradient for the first image is computed based on the plurality of the polarization images, and a second exposure level is computed based on the gradient. A second image of the scene is captured based on the second exposure level, where the gradient of the second image is greater than a gradient for the first image.

公开(公告)号：US12099148B2

公开(公告)日：2024-09-24

申请号：US17280136

申请日：2020-10-07

Applicant: INTRINSIC INNOVATION LLC

Inventor： Achuta Kadambi ,  Kartik Venkataraman ,  Supreeth Krishna Rao ,  Agastya Kalra

IPC: G06T17/00 ,  G01B11/06 ,  G01B11/24 ,  G01S7/499 ,  G01S13/89 ,  G01S17/87 ,  G01S17/89 ,  G06T7/11 ,  G06T7/521 ,  G06T7/593 ,  G06T7/60 ,  H04N13/243 ,  H04N13/257

CPC classification number: G01S7/499 ,  G01B11/0641 ,  G01B11/24 ,  G01S13/89 ,  G01S17/87 ,  G01S17/89 ,  G06T7/11 ,  G06T7/521 ,  G06T7/593 ,  G06T7/60 ,  G06T17/00 ,  H04N13/243 ,  H04N13/257 ,  G06T2200/08 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A method of performing surface profilometry includes receiving one or more polarization raw frames of a printed layer of a physical object undergoing additive manufacturing, the one or more polarization raw frames being captured at different polarizations by one or more polarization cameras, extracting one or more polarization feature maps in one or more polarization representation spaces from the one or more polarization raw frames, obtaining a coarse layer depth map of the printed layer, generating one or more surface-normal images based on the coarse layer depth map and the one or more polarization feature maps, and generating a 3D reconstruction of the printed layer based on the one or more surface-normal images.

公开(公告)号：US12069227B2

公开(公告)日：2024-08-20

申请号：US17198142

申请日：2021-03-10

Applicant: INTRINSIC INNOVATION LLC

Inventor： Kartik Venkataraman ,  Achuta Kadambi ,  Agastya Kalra

IPC: H04N13/243 ,  G02B27/28 ,  G03B35/08 ,  G06T5/50 ,  H04N23/56 ,  H04N23/74 ,  H04N23/90

CPC classification number: H04N13/243 ,  G02B27/288 ,  G03B35/08 ,  G06T5/50 ,  H04N23/56 ,  H04N23/74 ,  H04N23/90 ,  G06T2207/20221

Abstract: A stereo camera array system includes: a first camera array at a first viewpoint including: a first camera configured to capture images in a first modality, the first modality being viewpoint-independent; and a second camera configured to capture images in a second modality different from the first modality; and a second camera array at a second viewpoint spaced apart along a first baseline from the first camera array at the first viewpoint, the second camera array including: a first camera configured to capture images in the first modality; and a second camera configured to capture images in the second modality.

公开(公告)号：US11986955B2

公开(公告)日：2024-05-21

申请号：US17471063

申请日：2021-09-09

Applicant: INTRINSIC INNOVATION LLC

Inventor： Rishav Agarwal ,  Achuta Kadambi ,  Agastya Kalra ,  Kartik Venkataraman

IPC: B25J19/02 ,  B25J13/08 ,  G06T7/00

CPC classification number: B25J19/023 ,  B25J13/089 ,  G06T7/0004

Abstract: A method of tracking a pose of an object includes determining an initial pose of the object at a first position, receiving position data and velocity data corresponding to movement of the object to a second position by a moving device, determining an expected pose of the object at the second position based on the position and velocity data and the initial pose, receiving second image data corresponding to the object at the second position from a camera, and determining a refined pose of the object at the second position based on the second image data and the expected pose.

公开(公告)号：US11953700B2

公开(公告)日：2024-04-09

申请号：US17332858

申请日：2021-05-27

Applicant: Intrinsic Innovation LLC

Inventor： Kartik Venkataraman ,  Agastya Kalra ,  Achuta Kadambi

IPC: G02B27/28

CPC classification number: G02B27/285 ,  G02B27/288

Abstract: An optical system includes: a beam splitter system configured to split an input beam into a plurality of output beams including a first output beam, a second output beam, and a third output beam; a first polarizing filter having a first polarization angle and configured to filter the first output beam to produce a first filtered output beam; a second polarizing filter having a second angle of polarization and configured to filter the second output beam to produce a second filtered output beam; and a third polarizing filter having a third angle of polarization and configured to filter the third output beam to produce a third filtered output beam, the first, second, and third angles of polarization being different from one another.

公开(公告)号：US20230184912A1

公开(公告)日：2023-06-15

申请号：US18079477

申请日：2022-12-12

Applicant: Intrinsic Innovation LLC

Inventor： Achuta Kadambi ,  Ramesh Raskar ,  Kartik Venkataraman ,  Supreeth Krishna Rao ,  Agastya Kalra

IPC: G01S7/499 ,  G06T7/521 ,  G06T7/11 ,  G06T7/593 ,  H04N13/257 ,  H04N13/243 ,  G01B11/24 ,  G01S13/89 ,  G01S17/87 ,  G01S17/89 ,  G06T7/60 ,  G06T17/00 ,  G01B11/06

CPC classification number: G01S7/499 ,  G06T7/521 ,  G06T7/11 ,  G06T7/593 ,  H04N13/257 ,  H04N13/243 ,  G01B11/24 ,  G01S13/89 ,  G01S17/87 ,  G01S17/89 ,  G06T7/60 ,  G06T17/00 ,  G01B11/0641 ,  G06T2200/08 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: A multi-modal sensor system includes: an underlying sensor system; a polarization camera system configured to capture polarization raw frames corresponding to a plurality of different polarization states; and a processing system including a processor and memory, the processing system being configured to control the underlying sensor system and the polarization camera system, the memory storing instructions that, when executed by the processor, cause the processor to: control the underlying sensor system to perform sensing on a scene and the polarization camera system to capture a plurality of polarization raw frames of the scene; extract first tensors in polarization representation spaces based on the plurality of polarization raw frames; and compute a characterization output based on an output of the underlying sensor system and the first tensors in polarization representation spaces.