Microsoft Technology Licensing, LLC

Liberty Reach Inc.

Liberty Robotics Inc.

Michael Kallay

Bodin Dresevic

G Neil Haven

Gary William Bartos

Ashraf A Michail

Gregory David Swedberg

Eric Joel Stollnitz

Christopher N Raubacher

Michel Gangnet

John Michael Lounsbery

Devon Lyn Strawn

Fansheng Meng

Andrew Y Wu

Isaac Kunen

Manoj Kumar Biswas

Lutz Gerhard

Simon A J Winder

Patrick Perez

Michael John Arvold

DoRon Banu Motter

Grason Brennan

Patrick Pérez

Jason Davis Lawrence

Danica M Porobic

Devon L Strawn

Michel J Gangnet

A machine vision-based method and system to facilitate the unloading of a pile of cartons within a work cell are provided. The method includes the step of providing at least one 3-D or depth sensor having a field of view at the work cell. Each sensor has a set of radiation sensing elements which detect reflected, projected radiation to obtain 3-D sensor data. The 3-D sensor data including a plurality of pixels. For each possible pixel location and each possible carton orientation, the method includes generating a hypothesis that a carton with a known structure appears at that pixel location with that container orientation to obtain a plurality of hypotheses. The method further includes ranking the plurality of hypotheses. The step of ranking includes calculating a surprisal for each of the hypotheses to obtain a plurality of surprisals. The step of ranking is based on the surprisals of the hypotheses.

Machine vision-based method and system to facilitate the unloading of a pile of cartons in a carton handling system

A machine vision-based method and system for measuring 3D pose of a part or subassembly of parts having an unknown pose are disclosed. A number of different applications of the method and system are disclosed including applications which utilize a reprogrammable industrial automation machine such as a robot. The method includes providing a reference cloud of 3D voxels which represent a reference surface of a reference part or subassembly having a known reference pose. Using at least one 2D/3D hybrid sensor, a sample cloud of 3D voxels which represent a corresponding surface of a sample part or subassembly of the same type as the reference part or subassembly is acquired. The sample part or subassembly has an actual pose different from the reference pose. The voxels of the sample and reference clouds are processed utilizing a matching algorithm to determine the pose of the sample part or subassembly.

Machine vision-based method and system for measuring 3D pose of a part or subassembly of parts

Method and system for measuring outermost dimensions of a vehicle positioned at an inspection station and having top, front, back and side exterior surfaces are provided. The system includes a plurality of 3-D or depth sensors supported around and above the vehicle at the inspection station. Each of the sensors has a field of view so that one of the exterior surfaces of the vehicle is in one of the fields of view. Each sensor includes a set of radiation sensing elements which detect projected radiation reflected from its exterior surface to obtain sensor data. At least one processor processes the sensor data from each of the sensors to obtain a virtual 3-D model of the vehicle. Control logic is employed to obtain measurements of outermost dimensions of the vehicle based on the 3-D model.

Method and system for measuring outermost dimension of a vehicle positioned at an inspection station

Various technologies described herein pertain to computing surface normals for points in a point cloud. The point cloud is representative of a measured surface of a physical object. A point in the point cloud can be set as a point of origin, and points in the point cloud can be modeled as electrostatic point charges. Moreover, a point of least electrostatic potential on a sphere centered at the point of origin can be computed as a function of the electrostatic point charges. Further, unit vector with a direction from the point of origin to the point of least electrostatic potential on the sphere can be assigned as a normal for the point of origin.

Surface normal computation on noisy sample of points

A method with acts for representing a buffer about a feature represented on an ellipsoid or round-object model. The method includes accessing a definition of a buffer stored on one or more computer readable medium in a format readable by a computer application. The definition of the buffer includes a number of arcs around a feature on an ellipsoid or round-object model. Each of the arcs is defined using three points defined using geodetic coordinates. The three points includes two endpoints of a given arc and a point on the arc between the two endpoints. The method further includes rendering the buffer by rendering the plurality of arcs. The method further includes displaying the rendered buffer to a user at a computing system display.

Buffer construction with geodetic circular arcs

A system and method that facilitates planar processing of round earth data by employing a tiled projection is provided. The tiled projection is a two-step projection from the surface of the earth to a common plane that preserves polygons and polygonal paths. During the first step, the system performs a gnomonic projection to the facets of a circumscribed platonic solid, which maps spherical polygons to spatial polygons on the facets of the solid. During the second step, the system performs a polygon-preserving projection from the facets of the platonic solid to tiles in common plane. Thus, projections from multiple facets of the platonic solid on the common plane are processed by employing a planar algorithm.

Tiled projections for planar processing of round earth data

Effects are applied to a shape that is generated from a merged text path. The merged text path is created from text paths that are associated with a text run. Boolean operations may be used to create the merged text path. The merged text path removes any overlap and redundancy of the characters within the text run. The shape that is generated from the merged text path maintains the text path information that is associated with the text run such that additional effects may be applied to the shape.

Applying effects to a merged text path

Systems and methods are provided for providing anti-aliasing by introducing a falloff area around a graphics object to be rendered. The falloff area is shaded, using Gouraud shading or texture mapping to reduce the aliasing effects of the graphics object. The outside edge of the falloff area is set to be fully transparent, and the inside edge to an opacity matching the outer edge of the graphics object being rendered. To counteract bloating effects, the graphics object is shrunk by half the width of the falloff area. While the width of the falloff area may vary, generally, the width of the falloff area stays constant. In one embodiment, this width corresponds to the edge or diagonal of the square area mapped to each pixel.

Hardware accelerated anti-aliased primitives using alpha gradients

A system and method for generating color gradients is provided. The system generates color gradients using techniques from geometric surface modeling. The system and method of the present invention allow designers to specify very complex gradients in a simple way. The system can employ, for example, a vector-based interpolation method and/or a pixel-based partial differential equation (PDE) interpolation methods to facilitate generation of the color gradients. In one example, input boundary curves and/or feature curves are approximated by line segments, which are then utilized to generate a triangulation approximating a smooth color gradient.

Color gradient paths

A method and system for tessellating a polygon is provided, in which a polygon is divided into bands, each band being bounded by a pair of chains. Each chain is made up of one or more line segments of the polygon. The bands are merged with one another and/or split as needed. Each band is then subdivided into constituent triangles, which may then be sent to a graphics card of a computer. The graphics card then renders the polygon on a monitor by reassembling the constituent triangles.

Method and system for tesselating a polygon

Apparatus and methods for dynamically rendering transparent ink strokes, in some situations such that the rendered ink stroke has transparency similar to physical ink while it is being drawn. For example, the ink stroke may be dynamically rendered as a stroke having uniform transparency while it is being drawn. Only the new ink segment that has most recently been added to the stroke may be drawn, and areas of the new ink segment that overlap older segments of the ink stroke may be frozen, or excluded from being re-painted.

Dynamic rendering of ink strokes with transparency

Apparatus and methods for dynamically rendering digital ink strokes of arbitrary stroke width while a user is drawing the ink strokes. An ink rendering system may receive sampled pen tip positions associated with a stylus or pen on a digitizer. The ink rendering system may further determine pen tip instances having particular shapes, sizes, and/or rotations, and may determine connecting shapes, preferably quadrangles, that connect between the pen tip instances. Smoothing techniques may also be used for existing digital ink.

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Bellevue, WA, United States of America

Michael Kallay