US 10,455,222 B2 · Technologies for autonomous three-dimensional modeling

Abstract

An autonomous object modeler includes a modeling table, a controllable arm, a depth camera attached to the controllable arm, and a controller to control operation of the modeling table, the controllable arm, and the depth camera. The modeling table may be movable and includes a mass sensor to produce mass sensor data indicative of a mass of an object positioned on the modeling table. The controllable arm includes a force-torque sensor to produce force-torque sensor data indicative of an inertia of the object while the object is moved by the controllable arm. The controller is configured to control operation of the controllable arm to reposition the object on the modeling table to generate three-dimensional models of the object. The three-dimensional models include the mass data and the inertia data.

Claims25

Dependent claims

An object modeler for autonomously modeling an object, the object modeler comprising:

a modeling table having a mass sensor to produce mass sensor data indicative of a mass of an object positioned on the modeling table;
a controllable arm having a controllable manipulator to grasp and move the object, wherein the controllable arm includes a force-torque sensor to produce force-torque sensor data indicative of an inertia of the object while the object is moved by the controllable arm;
a depth camera attached to the controller arm to capture depth images of the object;
and
a controller to control operation of the modeling table, the controllable arm, and the depth camera.

2 more elements

A method for autonomously modeling an object, the method comprising:

determining, by an object modeler, mass data indicative of a mass of the object while the object is positioned on a modeling table of the object modeler;
capturing, by a depth camera of the object modeler, a depth image of the object;
determining, by the object modeler, whether a surface of the object is occluded from the depth camera;
repositioning, by a controllable arm of the object modeler, the object on the modeling table to a new position at which the occluded surface is viewable by the depth camera;
determining, by the object modeler, inertia data of the object while the object is being repositioned by the controllable arm;
capturing, by the depth camera the object modeler, a subsequent depth image of the object while in the new position;
generating, by the object modeler, a three-dimensional model of the object based on the captured depth images of the object;
and
appending, by the object modeler, the mass data and inertia data to the three-dimensional model.

6 more elements

One or more non-transitory, machine-readable storage media comprising a plurality of instructions stored thereon that, when executed, causes a controller of an object modeler to:

determine mass data indicative of a mass of the object while the object is positioned on a modeling table of the object modeler;
capture a depth image of the object;
determine whether a surface of the object is occluded from the depth camera;
reposition the object on the modeling table to a new position at which the occluded surface is viewable by the depth camera;
determine inertia data of the object while the object is being repositioned by the controllable arm;
capture a subsequent depth image of the object while in the new position;
generate a three-dimensional model of the object based on the captured depth images of the object;
and
append the mass data and inertia data to the three-dimensional model.

6 more elements

Dependencies are inferred from the claim text.

Technologies for autonomous three-dimensional modeling

Life of this patent

Technologies for autonomous three-dimensional modeling

Life of this patent

Abstract

Claims25