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1. 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。

2. 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.

3. 发明授权

US08436853B1 Methods and systems for acquiring and ranking image sets 有权
标题翻译：用于获取和排列图像集的方法和系统
公开(公告)号：US08436853B1
公开(公告)日：2013-05-07
申请号：US13594913
申请日：2012-08-27
申请人： Ryan Hickman , James R. Bruce , Arshan Poursohi
发明人： Ryan Hickman , James R. Bruce , Arshan Poursohi
IPC分类号： G06T15/00
CPC分类号： G06T7/55 , G06T17/00 , G06T2200/08 , G06T2207/10016
摘要： Methods and systems for acquiring and ranking image sets are described. In an example, a computing device may be configured to determine a feature-based score that may be based on features of the object including geometry of the object. The computing device also may be configured to receive a plurality of sets of images of the object. A number of respective images of each set of images may be based on the feature-based score. The computing device further may be configured to determine for each set of images a respective image-based score based on a prospective three-dimensional (3D) visualization of the object to be generated by a merged output of that set of images. The computing device also may be configured to determine a respective ranking for each set of images based on the respective image-based score; and select a set of images based on the respective ranking.
摘要翻译：描述用于获取和排列图像集的方法和系统。在一个示例中，计算设备可以被配置为确定可以基于包括对象的几何的对象的特征的基于特征的分数。计算设备还可以被配置为接收对象的多组图像。每组图像的各个图像的数量可以基于基于特征的分数。计算设备还可以被配置为基于由该组图像的合并输出生成的对象的预期三维（3D）可视化来为每组图像确定相应的基于图像的分数。计算设备还可以被配置为基于相应的基于图像的分数来确定每组图像的相应排名; 并根据各自的排名选择一组图像。

4. 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.

5. 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。

6. 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。

7. 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。

8. 发明授权

US09147279B1 Systems and methods for merging textures 有权
标题翻译：用于合并纹理的系统和方法
公开(公告)号：US09147279B1
公开(公告)日：2015-09-29
申请号：US13839508
申请日：2013-03-15
申请人： James R. Bruce , Christian Frueh , Arshan Poursohi
发明人： James R. Bruce , Christian Frueh , Arshan Poursohi
IPC分类号： G06T15/04
CPC分类号： G06T15/04
摘要： Examples disclose a method and system for merging textures. The method may be executable to receive one or more images of an object, identify a texture value for a point in a first image of the one or more images, and determine a metric indicative of a relation between a view reference point vector and a normal vector of a position of a point on the object relative to the image capturing device. Based on the metrics, the method may be executable to determine a weighted average texture value to apply to a corresponding point of a three-dimensional mesh of the object.
摘要翻译：示例公开了用于合并纹理的方法和系统。该方法可以被执行以接收对象的一个或多个图像，识别一个或多个图像的第一图像中的点的纹理值，并且确定指示视图参考点矢量与正常图像之间的关系的度量相对于图像捕获装置的对象上的点的位置的向量。基于度量，可以执行该方法以确定加权平均纹理值以应用于对象的三维网格的对应点。

9. 发明授权

US08416236B1 Calibration of devices used to generate images of a three-dimensional object data model 有权
标题翻译：用于生成三维物体数据模型图像的设备的校准
公开(公告)号：US08416236B1
公开(公告)日：2013-04-09
申请号：US13587986
申请日：2012-08-17
申请人： Ryan Hickman , James R. Bruce
发明人： Ryan Hickman , James R. Bruce
IPC分类号： G06T15/00
CPC分类号： G06T19/20
摘要： Examples are disclosed for calibrating devices used to generate images of a three-dimensional object data model (“3D model”). An initial 3D model that represents an object can be received. The initial 3D model can include a plurality of images aligned relative to one another. The plurality of images can be generated using a plurality of devices. A realignment of the plurality of images can be performed. An updated 3D model can be generated based on the realignment. At least one calibration of at least one of the plurality of devices can be determined based on a comparison of the initial 3D model with the updated 3D model. Calibration data can be provided to a computing device. The calibration data can be indicative of the at least one calibration. The computing device can be operable to use the calibration data to perform the at least one calibration.
摘要翻译：公开了用于校准用于生成三维物体数据模型（3D模型）的图像的装置的示例。可以接收表示对象的初始3D模型。初始3D模型可以包括相对于彼此对准的多个图像。可以使用多个设备来生成多个图像。可以执行多个图像的重新排列。可以基于重新对齐来生成更新的3D模型。可以基于初始3D模型与更新的3D模型的比较来确定多个装置中的至少一个的至少一个校准。校准数据可以提供给计算设备。校准数据可以指示至少一个校准。计算装置可操作以使用校准数据来执行至少一个校准。

10. 发明授权

US07912583B2 Environment map building method, environment map building apparatus and mobile robot apparatus 有权
标题翻译：环境地图构建方法，环境地图建筑装置和移动机器人装置
公开(公告)号：US07912583B2
公开(公告)日：2011-03-22
申请号：US11165047
申请日：2005-06-24
申请人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , James R. Bruce
发明人： Steffen Gutmann , Masaki Fukuchi , Kohtaro Sabe , James R. Bruce
IPC分类号： G06F19/00 , G01C21/00
CPC分类号： G06K9/00664 , G06T7/593
摘要： An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.
摘要翻译：环境地图构建方法和环境地图构建装置可以以相对于观察噪声鲁棒的方式在高度方向上以高分辨率表达周围的实施例。本发明提供了一种用于构建三维环境图的环境地图构建装置，其用于三维地确定允许移动体根据外部环境条件在其中移动的区域，该外部环境条件包括外部环境条件检测部分，其检测外部环境条件，基于由外部环境条件检测部检测到的外部环境条件构建表示三维网格的占有状态的三维地图的三维地图构建部，相对于 - 基平面高度图构建部，其基于由外部环境条件检测部检测到的外部环境条件，构建从二维基面显示高度的相对基准面高度图，以及高度图信息修改部分，其修改相对于基站的信息，平面高度图基于三维地图上的信息。

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