Generating a model for an object encountered by a robot
AssigneeX Development LLC
InventorsKurt Konolige, Nareshkumar Rajkumar, Stefan Hinterstoisser
Life of this patent
Estimating the term…
Abstract
Methods and apparatus related to generating a model for an object encountered by a robot in its environment, where the object is one that the robot is unable to recognize utilizing existing models associated with the robot. The model is generated based on vision sensor data that captures the object from multiple vantages and that is captured by a vision sensor associated with the robot, such as a vision sensor coupled to the robot. The model may be provided for use by the robot in detecting the object and/or for use in estimating the pose of the object.
Claims20
A method implemented by one or more processors, the method comprising:
- identifying a three-dimensional (3D) object model of an object;
- generating a plurality of rendered images based on the 3D object model, wherein the rendered images capture the 3D object model at a plurality of different poses relative to viewpoints of the rendered images, and wherein generating the rendered images based on the object model comprises:
- rendering a first image that renders the 3D object model at a first pose of the different poses and that includes first additional content;
- and
- rendering a second image that renders the 3D object model at a second pose of the different poses and that includes second additional content that is distinct from the first additional content:
- generating training examples that each include a corresponding one of the rendered images as training example input and that each include training example output that is based on a feature of the object in the corresponding one of the rendered images;
- training a machine learning model based on the training examples;
- and
- providing the machine learning model for use in control of a robot.
A system comprising:
- one or more processors executing instructions stored in memory to cause the one or more processors to:
- identify a three-dimensional (3D) object model of an object;
- generate a plurality of rendered images based on the 3D object model, wherein the rendered images capture the 3D object model at a plurality of different poses relative to viewpoints of the rendered images, and wherein in generating the rendered images based on the object model one or more of the processors are to:
- render a first image that renders the 3D object model at a first pose of the different poses and that includes first additional content;
- and
- render a second image that renders the 3D object model at a second pose of the different poses and that includes second additional content that is distinct from the first additional content:
- generate training examples that each include a corresponding one of the rendered images as training example input and that each include training example output that is based on a feature of the object in the corresponding one of the rendered images;
- train a machine learning model based on the training examples;
- and
- provide the machine learning model for use in control of a robot.
Dependencies are inferred from the claim text.