The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 18, 2022
Filed:
Apr. 03, 2020
Applicant:
Fanuc Corporation, Yamanashi, JP;
Inventors:
Te Tang, Fremont, CA (US);
Tetsuaki Kato, Fremont, CA (US);
Assignee:
FANUC CORPORATION, Yamanashi, JP;
Primary Examiner:
Int. Cl.
CPC ...
G06K 9/00 (2022.01); G06T 7/73 (2017.01); G06N 3/08 (2006.01); B25J 9/16 (2006.01); G06N 3/04 (2006.01);
U.S. Cl.
CPC ...
G06T 7/74 (2017.01); B25J 9/1697 (2013.01); G06N 3/0472 (2013.01); G06N 3/08 (2013.01); G06T 2207/20076 (2013.01); G06T 2207/20084 (2013.01);
Abstract
A system and method for obtaining a 3D pose of an object using 2D images from a 2D camera and a learned-based neural network. The neural network extracts a plurality of features on the object from the 2D images and generates a heatmap for each of the extracted features that identify the probability of a location of a feature point on the object by a color representation. The method provides a feature point image that includes the feature points from the heatmaps on the 2D images, and estimates the 3D pose of the object by comparing the feature point image and a 3D virtual CAD model of the object.