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1. 发明申请

WO2006002320A2 SYSTEM AND METHOD FOR 3D OBJECT RECOGNITION USING RANGE AND INTENSITY 审中-公开
标题翻译：使用范围和强度的3D对象识别的系统和方法
公开(公告)号：WO2006002320A2
公开(公告)日：2006-01-05
申请号：PCT/US2005/022294
申请日：2005-06-22
申请人： STRIDER LABS, INC. , HAGER, Gregory , WEGBREIT, Eliot
发明人： HAGER, Gregory , WEGBREIT, Eliot
IPC分类号： G06K9/00
CPC分类号： G06K9/00208 , G06K9/00214 , G06K9/4671 , G06K9/6211
摘要： A system and method for performing object and class recognition that allows for wide changes of viewpoint and distance of objects is disclosed. The invention provides for choosing pose-invariant interest points of a three-dimensional (3D) image, and for computing pose-invariant feature descriptors of the image. The system and method also allows for the construction of three-dimensional (3D) object and class models from the pose-invariant interest points and feature descriptors of previously obtained scenes. Interest points and feature descriptors of a newly acquired scene may be compared to the object and/or class models to identify the presence of an object or member of the class in the new scene.
摘要翻译：公开了一种用于执行允许物体的视点和距离的广泛变化的对象和类识别的系统和方法。本发明提供了选择三维（3D）图像的姿态不变兴趣点，以及用于计算图像的姿态不变特征描述符。该系统和方法还允许从先前获得的场景的姿态不变兴趣点和特征描述符构建三维（3D）对象和类模型。可以将新获取的场景的兴趣点和特征描述符与对象和/或类模型进行比较，以识别新场景中的对象或类的成员的存在。

2. 发明申请

WO2005099417A2 SYSTEM AND METHOD FOR COMPUTING GRASPS FOR A ROBOTIC HAND WITH A PALM 审中-公开
标题翻译：系统和方法用于计算带有PALM的机器手的抓手
公开(公告)号：WO2005099417A2
公开(公告)日：2005-10-27
申请号：PCT/US2005/012634
申请日：2005-04-12
申请人： STRIDER LABS, INC. , HAGER, Gregory , WEGBREIT, Eliot
发明人： HAGER, Gregory , WEGBREIT, Eliot
IPC分类号： B25J9/16 , B25J15/00
CPC分类号： B25J9/1612 , B25J15/0009
摘要： A system and method for automatically computing desirable palm grasp configurations of an object by a robotic hand is disclosed. A description of the object's surface is obtained. A grasp configuration of a robotic hand comprising a palm and one or more fingers is selected, which specifies a hand configuration and joint variables of the hand, and a plurality of contact points on the object's surface for the palm and fingers. The coefficient of friction at each of the contact points is determined, and a description of one or more external wrenches to which may apply to the object is acquired. The ability of the robotic hand to hold the object against the external wrenches in the selected configuration is then computed. In some embodiments, a plurality of grasp configurations may be compared to determine which are the most desirable. In other embodiments, the space of hand configurations, or the smaller space of palm contact configurations, may be searched to find the most desirable grasp configurations.
摘要翻译：公开了一种用于通过机器人手自动计算物体的理想手掌抓握配置的系统和方法。获得物体表面的描述。选择包括手掌和一个或多个手指的机器人手的抓握配置，其指定手的手部配置和关节变量以及用于手掌和手指的物体表面上的多个接触点。确定每个接触点处的摩擦系数，并且获取可应用于物体的一个或多个外部扳手的描述。然后计算机器人手将物体保持在所选配置中的外部扳手的能力。在一些实施例中，可以比较多个抓握配置以确定哪些是最合意的。在其他实施例中，可以搜索手部配置的空间或手掌接触配置的较小空间以找到最合适的抓握配置。

3. 发明申请

WO2005060629A2 PROBABLE RECONSTRUCTION OF SURFACES IN OCCLUDED REGIONS BY COMPUTED SYMMETRY 审中-公开
标题翻译：通过计算对称可以重建区域内的表面
公开(公告)号：WO2005060629A2
公开(公告)日：2005-07-07
申请号：PCT/US2004/041554
申请日：2004-12-10
申请人： STRIDER LABS, INC. , THRUN, Sebastian , WEGBREIT, Eliot
发明人： THRUN, Sebastian , WEGBREIT, Eliot
IPC分类号： G06K9/52 , G06T15/40
CPC分类号： G01B21/20 , G06K9/52 , G06T7/55 , G06T7/68 , G06T2207/10012 , G06T2207/20116
摘要： A system for obtaining a probable 3D map of an occluded surface of an object is provided. The system receives an initial 3D map of a visible surface of the object and identifies one or more symmetries of the initial 3D map. The system computes the probable 3D map of the occluded surface by projecting points of the initial 3D map into occluded regions of space according to the identified symmetries. The system can also comprise an imager for obtaining the initial 3D map. The actual occluded surface cannot be known with absolute certainly because it is occluded; however, the computed 3D map will closely resemble the actual occluded surface in many instances because most objects possess one or more symmetries and the computed 3D map is based on such symmetries that are identified in the initial 3D map of the object.
摘要翻译：提供了一种用于获得物体的遮挡表面的可能的3D地图的系统。系统接收对象的可见表面的初始3D图，并识别初始3D图的一个或多个对称性。该系统根据所确定的对称性，将初始3D图的点投影到空间的闭塞区域中来计算遮挡表面的可能3D图。该系统还可以包括用于获得初始3D地图的成像器。实际的封闭表面绝对不能被绝对知道，因为它被遮挡; 然而，在许多情况下，计算的3D地图将与实际的遮挡表面非常相似，因为大多数物体具有一个或多个对称性，并且所计算的3D地图基于在对象的初始3D地图中识别的对称性。

4. 发明申请

WO2005065264A2 ROBOTIC HAND WITH EXTENDABLE PALM 审中-公开
标题翻译：机械手与可扩展的棕榈
公开(公告)号：WO2005065264A2
公开(公告)日：2005-07-21
申请号：PCT/US2004/043250
申请日：2004-12-20
申请人： STRIDER LABS , ANDERSON, Perry , ALCORTA, J. Efrain , DEWINTER, Scott , JENSEN, Joel , SALISBURY, JR, J. Kenneth , WEGBREIT, Eliot
发明人： ANDERSON, Perry , ALCORTA, J. Efrain , DEWINTER, Scott , JENSEN, Joel , SALISBURY, JR, J. Kenneth , WEGBREIT, Eliot
IPC分类号： B25J15/00 , B25J15/08
CPC分类号： B25J15/08 , B25J15/0009 , B25J15/0028
摘要： A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.
摘要翻译：机器人手包括具有手指和手掌的基座。手指定义工作量。手能够通过改变从手掌到工作体积的距离来掌握手指和手掌之间的物体。通过将手掌向工作体积移动或通过将工作体积朝向手掌移动，可以实现不同的距离。移动手掌的机器人手包括致动器，该致动器将手掌从底座延伸到工作容积。相对于手掌移动工作体积的机械手将手指安装到被配置为相对于底座平移的公共手指支撑单元。

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