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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.:

US 11717971 B1

PDFFull Text
Date of Patent:
Aug. 08, 2023

Filed:

Jul. 26, 2021

Method and computing system for performing motion planning based on image information generated by a camera

Applicant:

Mujin, Inc., Tokyo, JP;

Inventors:

Xutao Ye, Tokyo, JP;

Puttichai Lertkultanon, Tokyo, JP;

Rosen Nikolaev Diankov, Tokyo, JP;

Assignee:

MUJIN, INC., Tokyo, JP;

Attorney:

Medler Ferro Woodhouse & Mills PLLC

Primary Examiner:

Yolanda R Cumbess

Int. Cl.
CPC ...
G06F 7/00 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); G06T 7/73 (2017.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B65G 59/02 (2006.01); G05B 19/4155 (2006.01); G06T 7/60 (2017.01); G06F 18/2413 (2023.01); H04N 23/54 (2023.01); H04N 23/695 (2023.01); G06V 10/764 (2022.01); G06V 20/10 (2022.01);
U.S. Cl.
CPC ...
B25J 9/1697 (2013.01); B25J 9/1612 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 9/1669 (2013.01); B25J 9/1671 (2013.01); B25J 13/08 (2013.01); B25J 15/0061 (2013.01); B25J 19/023 (2013.01); B65G 59/02 (2013.01); G05B 19/4155 (2013.01); G06F 18/2413 (2023.01); G06T 7/60 (2013.01); G06T 7/74 (2017.01); G06V 10/764 (2022.01); G06V 20/10 (2022.01); H04N 23/54 (2023.01); H04N 23/695 (2023.01); G05B 2219/40269 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20164 (2013.01); G06T 2207/30244 (2013.01);
Abstract

A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

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