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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

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。

3. 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。

4. 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。

5. 发明授权

US08854362B1 Systems and methods for collecting data 有权
标题翻译：用于收集数据的系统和方法
公开(公告)号：US08854362B1
公开(公告)日：2014-10-07
申请号：US13592450
申请日：2012-08-23
申请人： Arshan Poursohi , Ryan Hickman , Chaitanya Gharpure , Thor Lewis
发明人： Arshan Poursohi , Ryan Hickman , Chaitanya Gharpure , Thor Lewis
IPC分类号： G06T17/00
CPC分类号： G06T17/00
摘要： Systems and methods for collecting data from an object are provided. In examples, a plurality of sensing components are configured to receive information indicative of one or more characteristics of the object. The information indicative of one or more characteristics of the object can be associated with respective data points of the object. The system is further configured to generate a three-dimensional (3D) view of the object based on the information indicative of one or more characteristics of the object and the association with respective data points.
摘要翻译：提供了从对象收集数据的系统和方法。在示例中，多个感测组件被配置为接收指示对象的一个或多个特征的信息。指示对象的一个或多个特征的信息可以与对象的相应数据点相关联。该系统还被配置为基于指示对象的一个或多个特性的信息以及与各个数据点的关联来生成对象的三维（3D）视图。

6. 发明申请

US20140028799A1 Use of Color and Intensity Modulation of a Display for Three-Dimensional Object Information 审中-公开
标题翻译：使用三维对象信息显示的颜色和强度调制
公开(公告)号：US20140028799A1
公开(公告)日：2014-01-30
申请号：US13648393
申请日：2012-10-10
申请人： James Kuffner , Arshan Poursohi , Chaitanya Gharpure , Ryan Hickman
发明人： James Kuffner , Arshan Poursohi , Chaitanya Gharpure , Ryan Hickman
IPC分类号： H04N13/02
CPC分类号： G01B11/24 , G01B11/245 , G06T17/00
摘要： Methods and systems for using a mobile device with a multi-element display, a camera, and a controller to determine a 3D model of a target object. The multi-element display is configured to generate a light field. At least a portion of the light field reflects from a target object. The camera is configured to capture a plurality of images based on the portion of the light field reflected from the target object. The controller is configured to determine a 3D model of the target object based on the images. The 3D model includes three-dimensional shape and color information about the target object. In some examples, the light field could include specific light patterns, spectral content, and other forms of modulated/structured light.
摘要翻译：用于使用具有多元素显示器，相机和控制器的移动设备来确定目标对象的3D模型的方法和系统。多元素显示器被配置为产生光场。光场的至少一部分从目标物体反射。相机被配置为基于从目标对象反射的光场的部分捕获多个图像。控制器被配置为基于图像来确定目标对象的3D模型。 3D模型包括关于目标对象的三维形状和颜色信息。在一些示例中，光场可以包括特定光图案，光谱含量和其他形式的调制/结构光。

7. 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.

8. 发明授权

US09205886B1 Systems and methods for inventorying objects 有权
标题翻译：库存对象的系统和方法
公开(公告)号：US09205886B1
公开(公告)日：2015-12-08
申请号：US13463596
申请日：2012-05-03
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： B62D57/032 , G06Q10/08
CPC分类号： B62D57/032 , G05B2219/40543 , G05D1/0246 , G05D1/0274 , G05D2201/0216 , G06Q10/087
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.
摘要翻译：本申请公开了用于库存对象的系统和方法。在一个实施例中，机器人检测对象并将与检测到的对象相关联的识别数据和位置数据发送到云计算系统。识别数据可以包括来自与对象相关联的标签，代码或信标的对象的图像和/或信息。响应于接收到标识数据和位置数据，云计算系统识别对象。云计算系统还可以确定或创建与所识别的对象相关联的第一映射和与所识别的对象相关联的第二映射。第一映射可以与对象的当前位置相关联，并且第二映射可以对应于对象的过去位置。云计算服务器可以比较第一和第二个映射，然后根据比较发送指令给机器人。

9. 发明申请

US20140132594A1 Using Video to Encode Assets for Swivel/360-Degree Spinners 有权
标题翻译：使用视频编码旋转/ 360度旋转器的资产
公开(公告)号：US20140132594A1
公开(公告)日：2014-05-15
申请号：US13675849
申请日：2012-11-13
申请人： Chaitanya Gharpure , James J. Kuffner, JR.
发明人： Chaitanya Gharpure , James J. Kuffner, JR.
IPC分类号： G06T15/00
CPC分类号： G06T15/205 , H04N13/111 , H04N13/117 , H04N13/139 , H04N13/279 , H04N2213/003
摘要： A method and system for video encoding assets for swivel/360-degree spinners is disclosed. Still images of a 3D object from different perspectives about the 3D object may be stacked and then video encoded to generate video frames of the object from the different perspectives. The video-encoded assets may be stored on a server or other network-connected device, and later retrieved by a connected client device for display processing by a swivel/360-degree spinner on the client device. The swivel/360-degree spinner may utilize native video processing capabilities of the client device and/or of a browser running on the client device to display video motion of the object moving through different angular orientations in response to movement of an interactive cursor.
摘要翻译：公开了用于旋转/ 360度旋转器的视频编码资产的方法和系统。可以堆叠来自关于3D对象的不同观点的3D对象的静止图像，然后被视频编码以从不同的角度生成对象的视频帧。视频编码资产可以存储在服务器或其他网络连接的设备上，并且稍后由连接的客户端设备检索，以便通过客户端设备上的旋转/ 360度旋转器进行显示处理。旋转/ 360度旋转器可以利用客户端设备和/或在客户端设备上运行的浏览器的本地视频处理功能来响应于交互式光标的移动来显示通过不同角度定向移动的对象的视频运动。

10. 发明授权

US09189884B2 Using video to encode assets for swivel/360-degree spinners 有权
标题翻译：使用视频编码旋转/ 360度旋转器的资产
公开(公告)号：US09189884B2
公开(公告)日：2015-11-17
申请号：US13675849
申请日：2012-11-13
申请人： Chaitanya Gharpure , James J. Kuffner, Jr.
发明人： Chaitanya Gharpure , James J. Kuffner, Jr.
IPC分类号： G06T15/00 , G06T15/20 , H04N13/00 , H04N13/02
CPC分类号： G06T15/205 , H04N13/111 , H04N13/117 , H04N13/139 , H04N13/279 , H04N2213/003
摘要： A method and system for video encoding assets for swivel/360-degree spinners is disclosed. Still images of a 3D object from different perspectives about the 3D object may be stacked and then video encoded to generate video frames of the object from the different perspectives. The video-encoded assets may be stored on a server or other network-connected device, and later retrieved by a connected client device for display processing by a swivel/360-degree spinner on the client device. The swivel/360-degree spinner may utilize native video processing capabilities of the client device and/or of a browser running on the client device to display video motion of the object moving through different angular orientations in response to movement of an interactive cursor.
摘要翻译：公开了用于旋转/ 360度旋转器的视频编码资产的方法和系统。可以堆叠来自关于3D对象的不同观点的3D对象的静止图像，然后被视频编码以从不同的角度生成对象的视频帧。视频编码资产可以存储在服务器或其他网络连接的设备上，并且稍后由连接的客户端设备检索，以便通过客户端设备上的旋转/ 360度旋转器进行显示处理。旋转/ 360度旋转器可以利用客户端设备和/或在客户端设备上运行的浏览器的本地视频处理功能来响应于交互式光标的移动来显示通过不同角度定向移动的对象的视频运动。

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