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1. 发明授权

US08456467B1 Embeddable three-dimensional (3D) image viewer 有权
公开(公告)号：US08456467B1
公开(公告)日：2013-06-04
申请号：US13564911
申请日：2012-08-02
申请人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
发明人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
IPC分类号： G06T15/00
CPC分类号： G06T15/005
摘要： Methods and systems for providing a three-dimensional (3D) image viewer in a webpage are provided. According to an example method, a webpage may be provided, and the webpage may include embedded language that identifies a 3D image viewer to be provided within the webpage. Based on the embedded language, a computer having a processor and a memory may request information associated with rendering a 3D object data model in the 3D image viewer. The method may also include providing the 3D image viewer within the webpage, and receiving information associated with rendering the 3D object data model. Additionally, the 3D object data model may be rendered in the 3D image viewer based on the received information. Additional example systems and methods are described herein.

2. 发明授权

US08754887B2 Determining three-dimensional (3D) object data models based on object movement 有权
标题翻译：基于物体运动确定三维（3D）物体数据模型
公开(公告)号：US08754887B2
公开(公告)日：2014-06-17
申请号：US13595766
申请日：2012-08-27
申请人： James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Ryan Hickman
发明人： James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Ryan Hickman
IPC分类号： G06T17/20 , G06T19/00 , G06T17/00 , G06T17/10 , G06T17/05
CPC分类号： G06T17/20 , G06T19/20
摘要： Methods and systems for determining three-dimensional (3D) object data models of an object based on movement of the object. A processor may receive first scan data and second scan data of an object within in a space. The first scan data may comprise a first position of the object in the space and a first mesh image defining a first view of a shape of the object at the first position. The second scan data may comprise movement information defining a movement of the object from the first position to a second position within the space and a second mesh image defining a second view of the shape of the object at the second position. The first scan data and the second scan data may be aligned to generate a 3D object data model based on the first mesh image, the movement information, and the second mesh image.
摘要翻译：基于对象的移动来确定对象的三维（3D）对象数据模型的方法和系统。处理器可以在空间内接收对象的第一扫描数据和第二扫描数据。第一扫描数据可以包括空间中的对象的第一位置和第一网格图像，其限定在第一位置处的对象的形状的第一视图。第二扫描数据可以包括限定物体从第一位置到空间内的第二位置的移动的移动信息，以及限定第二位置处物体形状的第二视图的第二网格图像。可以对第一扫描数据和第二扫描数据进行对准，以基于第一网格图像，移动信息和第二网格图像生成3D对象数据模型。

3. 发明授权

US08525846B1 Shader and material layers for rendering three-dimensional (3D) object data models 有权
标题翻译：着色器和材质层，用于渲染三维（3D）对象数据模型
公开(公告)号：US08525846B1
公开(公告)日：2013-09-03
申请号：US13644599
申请日：2012-10-04
申请人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
发明人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
IPC分类号： G09G5/00
CPC分类号： G09G5/00 , G06T15/005 , G06T19/20 , G06T2219/2012
摘要： Methods and systems for material refinement for portions of a three-dimensional (3D) object data model are provided. An example method may include rendering a portion of a 3D object data model, and determining a first appearance metric between an appearance of the portion in the rendered view and a two-dimensional (2D) image. For one or more iterations, a modification to material properties associated with the portion may be determined based on the first appearance metric, and another view of the portion of the 3D object data model may be rendered. Also for the one or more iterations, another appearance metric between and an appearance of the portion in the rendered another view and the 2D image may be determined. Additionally, modified material properties for the portion that are associated with a minimum appearance metric of the one or more iterations may be stored for the 3D object data model.
摘要翻译：提供了用于三维（3D）对象数据模型的部分的材料细化的方法和系统。示例性方法可以包括渲染3D对象数据模型的一部分，以及确定渲染视图中的部分的外观与二维（2D）图像之间的第一外观度量。对于一个或多个迭代，可以基于第一出现度量来确定与该部分相关联的材料属性的修改，并且可以呈现3D对象数据模型的该部分的另一视图。对于一次或多次迭代，也可以确定渲染的另一视图中的部分的外观与2D图像之间的另外的外观度量。此外，可以为3D对象数据模型存储与一个或多个迭代的最小外观度量相关联的部分的修改的材料属性。

4. 发明授权

US08515982B1 Annotations for three-dimensional (3D) object data models 有权
标题翻译：三维（3D）对象数据模型的注释
公开(公告)号：US08515982B1
公开(公告)日：2013-08-20
申请号：US13644362
申请日：2012-10-04
申请人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
发明人： Ryan Hickman , James J. Kuffner, Jr. , Anthony Gerald Francis, Jr. , Arshan Poursohi , James R. Bruce , Thor Lewis , Chaitanya Gharpure
IPC分类号： G06F17/30
CPC分类号： G06F17/5086 , G06F17/50
摘要： Methods and systems for interacting with multiple three-dimensional (3D) object data models are provided. An example method may involve receiving an annotated template of a first three-dimensional (3D) object data model. The annotated template may be associated with a given category of objects and may include one or more annotations to one or more aspects of an object described by the first 3D object data model. The method may also include determining matching correspondences between the first 3D object data model and a second 3D object data model that is a given object in the given category. For the one or more matching correspondences, an annotation that is associated with a correspondence point of the first 3D object data model may be applied as a call-out to a matching correspondence point of the second 3D object data model.
摘要翻译：提供了与多个三维（3D）对象数据模型交互的方法和系统。示例性方法可以涉及接收第一三维（3D）对象数据模型的注释模板。注释的模板可以与给定类别的对象相关联，并且可以包括对由第一3D对象数据模型描述的对象的一个或多个方面的一个或多个注释。该方法还可以包括确定第一3D对象数据模型与作为给定类别中的给定对象的第二3D对象数据模型之间的匹配对应关系。对于一个或多个匹配对应，可以将与第一3D对象数据模型的对应点相关联的注释应用于第二3D对象数据模型的匹配对应点的调出。

5. 发明授权

US08639644B1 Shared robot knowledge base for use with cloud computing system 有权
标题翻译：共享机器人知识库，用于云计算系统
公开(公告)号：US08639644B1
公开(公告)日：2014-01-28
申请号：US13464699
申请日：2012-05-04
申请人： Ryan Hickman , James J. Kuffner, Jr. , James R. Bruce , Chaitanya Gharpure , Damon Kohler , Arshan Poursohi , Anthony G. Francis, Jr. , Thor Lewis
发明人： Ryan Hickman , James J. Kuffner, Jr. , James R. Bruce , Chaitanya Gharpure , Damon Kohler , Arshan Poursohi , Anthony G. Francis, Jr. , Thor Lewis
IPC分类号： G06F15/18 , G06F17/00 , G06N5/00 , G06F19/00 , G05B19/418
CPC分类号： G05B19/042 , G05B2219/31205 , G05B2219/39393 , G05B2219/45084 , G06N3/008
摘要： The present application discloses shared robot knowledge bases for use with cloud computing systems. In one embodiment, the cloud computing system collects data from a robot about an object the robot has encountered in its environment, and stores the received data in the shared robot knowledge base. In another embodiment, the cloud computing system sends instructions for interacting with an object to a robot, receives feedback from the robot based on its interaction with the object, and updates data in the shared robot knowledge base based on the feedback. In yet another embodiment, the cloud computing system sends instructions to a robot for executing an application based on information stored in the shared robot knowledge base. In the disclosed embodiments, information in the shared robot knowledge bases is updated based on robot experiences so that any particular robot may benefit from prior experiences of other robots.
摘要翻译：本申请公开了与云计算系统一起使用的共享机器人知识库。在一个实施例中，云计算系统从机器人收集关于机器人在其环境中遇到的对象的数据，并将接收到的数据存储在共享机器人知识库中。在另一个实施例中，云计算系统发送用于与对象交互到机器人的指令，基于与对象的交互从机器人接收反馈，并且基于反馈来更新共享机器人知识库中的数据。在另一个实施例中，云计算系统基于存储在共享机器人知识库中的信息向机器人发送指令以执行应用。在所公开的实施例中，基于机器人体验来更新共享机器人知识库中的信息，使得任何特定机器人可以受益于其他机器人的先前经验。

6. 发明授权

US08416240B1 Determining 3D model information from stored images 有权
公开(公告)号：US08416240B1
公开(公告)日：2013-04-09
申请号：US13607364
申请日：2012-09-07
申请人： James J. Kuffner, Jr. , James R. Bruce , Arshan Poursohi , Ryan Hickman
发明人： James J. Kuffner, Jr. , James R. Bruce , Arshan Poursohi , Ryan Hickman
IPC分类号： G06T15/50 , G06K9/00 , G06F7/00
CPC分类号： G06F17/30047 , G06F17/30259 , G06F17/30268 , G06T15/50 , G06T2215/16
摘要： Methods and systems are provided for determining and transmitting applicable lighting information, applicable viewing perspective, and a 3D model for an object in response to a search query. An example method includes receiving, at a server, a search query regarding an object. A 3D model for the object is determined. The 3D model includes three-dimensional shape information about the object. The method also includes determining, based on a plurality of stored images of the object, at least one applicable light field and at least one applicable viewing perspective. A search query result is transmitted from the server. The search query result may include the 3D model, the applicable light field(s), and the applicable viewing perspective(s). A server and a non-transitory computer readable medium are also disclosed that could perform a similar method.

7. 发明授权

US08386078B1 Methods and systems for providing a data library for robotic devices 有权
标题翻译：为机器人设备提供数据库的方法和系统
公开(公告)号：US08386078B1
公开(公告)日：2013-02-26
申请号：US13463345
申请日：2012-05-03
申请人： Ryan Hickman , Damon Kohler , Anthony Gerald Francis, Jr. , James J. Kuffner, Jr.
发明人： Ryan Hickman , Damon Kohler , Anthony Gerald Francis, Jr. , James J. Kuffner, Jr.
IPC分类号： G06N5/02
CPC分类号： G06F17/30194 , G01C21/20 , G05D1/0246 , G05D1/0274
摘要： Methods and systems for robot cloud computing are described. Within examples, cloud-based computing generally refers to networked computer architectures in which application execution and storage may be divided, to some extent, between client and server devices. A robot may be any device that has a computing ability and interacts with its surroundings with an actuation capability (e.g., electromechanical capabilities). A client device may be configured as a robot including various sensors and devices in the forms of modules, and different modules may be added or removed from robot depending on requirements. A robot may interact with the cloud to perform any number of actions, such as to share information with other cloud computing devices. A robot's performance of a task can be augmented by a cloud service which contains a data library of elements which are delivered to the robot to help the robot execute actions.
摘要翻译：描述了机器人云计算的方法和系统。在实例中，基于云的计算通常是指网络计算机体系结构，其中应用程序执行和存储在一定程度上可以在客户端和服务器设备之间划分。机器人可以是具有计算能力并与其周围环境具有致动能力（例如机电能力）相互作用的任何装置。客户端设备可以被配置为包括模块形式的各种传感器和设备的机器人，并且可以根据需要从机器人添加或移除不同的模块。机器人可以与云交互以执行任何数量的动作，例如与其他云计算设备共享信息。机器人的任务性能可以通过云服务来增强，该云服务包含传递给机器人以帮助机器人执行动作的元素的数据库。

8. 发明授权

US08363930B1 Use of materials and appearances to merge scanned images 有权
标题翻译：使用材料和外观来合并扫描图像
公开(公告)号：US08363930B1
公开(公告)日：2013-01-29
申请号：US13615469
申请日：2012-09-13
申请人： Anthony Gerald Francis, Jr. , James J. Kuffner, Jr.
发明人： Anthony Gerald Francis, Jr. , James J. Kuffner, Jr.
IPC分类号： G06K9/00
CPC分类号： G06K9/00214
摘要： Methods and systems for merging scanned images of objects using materials and appearance information are described. An example method may include receiving material information and 3D geometry information for surfaces of an object based on a first and second viewpoint. The first viewpoint may differ from the second viewpoint by an amount of motion within a common reference system and the material information may identify given points of the surfaces of the object as being of a given material. The method may also include determining an alignment within the common reference system between first and second 3D geometry information. A processor may determine an error metric between both the 3D geometry information and the material information at multiple positions of the alignment, and adjust the alignment based on error metrics at the multiple positions so as to converge to a minimum error metric.
摘要翻译：描述了使用材料和外观信息合并对象的扫描图像的方法和系统。示例性方法可以包括基于第一和第二视点来接收对象表面的材料信息和3D几何信息。第一观点可以不同于第二观点在公共参考系统内的运动量，并且材料信息可以将物体表面的给定点识别为给定材料。该方法还可以包括确定第一和第二3D几何信息之间的公共参考系统内的对准。处理器可以在对准的多个位置处确定3D几何信息和材料信息之间的误差度量，并且基于多个位置处的误差度量来调整对齐，以便收敛到最小误差度量。

9. 发明授权

US08452451B1 Methods and systems for robotic command language 有权
标题翻译：机器人命令语言的方法和系统
公开(公告)号：US08452451B1
公开(公告)日：2013-05-28
申请号：US13464414
申请日：2012-05-04
申请人： Anthony G. Francis, Jr. , Ryan Hickman , James J. Kuffner, Jr.
发明人： Anthony G. Francis, Jr. , Ryan Hickman , James J. Kuffner, Jr.
IPC分类号： G05B15/00
CPC分类号： B25J9/1658 , G05B2219/40392
摘要： Methods and systems for robotic command and operation are provided. In some examples, a robot may be configured to receive a short-form command input that is comprised of an action verb and an object/target, and to analyze contextual/situational data for event outcomes from which the robot can determine an action of a plurality of possible actions to execute. The determination and analyses functions may be performed, in whole or part, through use of a cloud computing system.
摘要翻译：提供了机器人指令和操作的方法和系统。在一些示例中，机器人可以被配置为接收由动作动词和对象/目标组成的短格式命令输入，并且分析用于事件结果的上下文/情境数据，从该结果可以确定机器人的动作多个可能的执行动作。决定和分析功能可以全部或部分通过使用云计算系统来执行。

10. 发明授权

US10391633B1 Systems and methods for inventorying objects 有权
公开(公告)号：US10391633B1
公开(公告)日：2019-08-27
申请号：US14946266
申请日：2015-11-19
申请人： Ryan Hickman , James J. Kuffner, Jr. , Anthony G. Francis, Jr. , Chaitanya Gharpure
发明人： Ryan Hickman , James J. Kuffner, Jr. , Anthony G. Francis, Jr. , Chaitanya Gharpure
IPC分类号： B25J9/16
摘要： The present application discloses systems and methods for inventorying objects. In one embodiment, a robot detects an object and sends identification data and location data associated with the detected object to a cloud computing system. The identification data may include an image of the object and/or information from a tag, code, or beacon associated with the object. In response to receiving the identification data and the location data, the cloud computing system identifies the object. The cloud computing system may also determine or create a first map associated with the identified object and a second map associated with the identified object. The first map may be associated with the current location of the object and the second map may correspond to a past location of the object. The cloud computing server may compare the first and second maps, and then send instructions to the robot based on the comparison.

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