Visuotactile operators for proximity sensing and contact control
AssigneeSamsung Electronics Co., Ltd.
InventorsFrancois Hogan, Jean-Francois Tremblay, Bobak Hamed Baghi, Michael Jenkin, Kaleem Siddiqi, Gregory Lewis Dudek
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Abstract
A method for identifying and manipulating objects may include obtaining, from an image sensor, image sensor data; identifying, using the image sensor data, a location of an object; controlling a robotic element, which includes the image sensor, to move towards the location of the object; determining a slippage based on contact between the image sensor and the object; and controlling a movement of the robotic element based on the determined slippage.
Claims15
A method for identifying and manipulating objects, the method comprising:
- obtaining, from an image sensor, image sensor data;
- identifying, using the image sensor data, a location of an object;
- controlling a robotic element, which includes the image sensor, to move towards the location of the object;
- controlling a speed of the robotic element based on a time to contact the object,
- based on the time to contact the object being within a desired tolerance, grasping the object and modulating the image sensor to switch to tactile sensing,
- determining a slippage based on contact between the image sensor and the object;
- and
- controlling a movement of the robotic element based on the determined slippage,
- wherein the determining the slippage comprises determining a marker flow and determining an object flow, and determining a pixel-wise slip vector field as a difference between the object flow and the marker flow,
- wherein the identifying the location of the object comprises identifying a bounding box for the object in an image that is represented by the image sensor data,
- wherein the time to contact the object is determined based on an area of the bounding box.
An electronic device for performing image authentication, the electronic device comprising:
- at least memory storing instructions;
- and
- at least one processor configured to execute the instructions to:
- obtain, from an image sensor, image sensor data;
- identify, using the image sensor data, a location of an object;
- control a robotic element, which includes the image sensor, to move towards the location of the object;
- control a speed of the robotic element based on a time to contact the object;
- based on the time to contact the object being within a desired tolerance, grasp the object and modulate the image sensor to switch to tactile sensing;
- determine a slippage based on contact between the image sensor and the object;
- and
- control a movement of the robotic element based on the determined slippage,
- wherein the at least one processor is further configured to determine a marker flow and determine an object flow, and determine a pixel-wise slip vector field as a difference between the object flow and the marker flow;
- and
- identify a bounding box for the object in an image that is represented by the image sensor data,
- wherein the time to contact the object is determined based on an area of the bounding box.
A non-transitory computer readable storage medium that stores instructions to be executed by at least one processor to perform a method for identifying and manipulating objects, the method comprising:
- obtaining, from an image sensor, image sensor data;
- identifying, using the image sensor data, a location of an object;
- controlling a robotic element, which includes the image sensor, to move towards the location of the object;
- controlling a speed of the robotic element based on a time to contact the object;
- based on the time to contact the object being within a desired tolerance, grasping the object and modulating the image sensor to switch to tactile sensing;
- determining a slippage based on contact between the image sensor and the object;
- and
- controlling a movement of the robotic element based on the determined slippage,
- wherein the determining the slippage comprises determining a marker flow and determining an object flow, and determining a pixel-wise slip vector field as a difference between the object flow and the marker flow,
- wherein the identifying the location of the object comprises identifying a bounding box for the object in an image that is represented by the image sensor data, and
- wherein the time to contact the object is determined based on an area of the bounding box.
Dependencies are inferred from the claim text.