US 2022/0187461 A1 · PERCEIVING OBJECTS BASED ON SENSING SURFACES AND SENSING SURFACE MOTION

Abstract

Embodiments are directed to perceiving surfaces and objects. Trajectories may be generated based on a continuous stream of sensor events such that each trajectory may be a parametric representation of a curve segment. The trajectories may be employed to determine the surfaces. The trajectories may be provided to a modeling engine to execute one or more actions based on the trajectories and the surfaces. In response to changes to the surfaces, the trajectories may be updated based on the continuous stream of sensor events and one or more additional actions may be executed based on the updated trajectories and the changed surfaces. Changes to the surfaces may include a position change, an orientation change, a motion change, a deformation of the one or more surfaces, or the like. Shapes that correspond to the surfaces may be determined based on characteristics of the surfaces or the trajectories.

Claims32

Dependent claims

A method for perceiving surfaces and objects using one or more processors that are configured to execute instructions, wherein the instructions perform actions, comprising:

generating one or more trajectories based on a continuous stream of sensor events, wherein each trajectory is a parametric representation of a one-dimensional curve segment in a three-dimensional space;
employing the one or more trajectories to determine the one or more surfaces;
providing the one or more trajectories to a modeling engine, wherein the modeling engine performs further actions, executing one or more actions based on the one or more trajectories and the one or more surfaces;
and
in response to one or more changes to the one or more surfaces, performing further actions, including:
updating the one or more trajectories based on the continuous stream of sensor events;
and
executing one or more additional actions based on the one or more updated trajectories and the one or more changed surfaces.

5 more elements

A system for perceiving surfaces and objects:

a network computer, comprising:
a memory that stores at least instructions;
and
one or more processors configured to execute instructions, wherein the instructions perform actions, including:
generating one or more trajectories based on a continuous stream of sensor events, wherein each trajectory is a parametric representation of a one-dimensional curve segment in a three-dimensional space;
employing the one or more trajectories to determine the one or more surfaces;
providing the one or more trajectories to a modeling engine, wherein the modeling engine performs further actions, executing one or more actions based on the one or more trajectories and the one or more surfaces;
and
in response to one or more changes to the one or more surfaces, performing further actions, including:
updating the one or more trajectories based on the continuous stream of sensor events;
and
executing one or more additional actions based on the one or more updated trajectories and the one or more changed surfaces;
and
one or more client computers, comprising:
a memory that stores at least instructions;
and
one or more processors configured to execute instructions, wherein the instructions perform actions, including, providing one or more portions of the sensor events.

14 more elements

A network computer for perceiving surfaces and objects, comprising:

a memory that stores at least instructions;
and
one or more processors configured to execute instructions, wherein the instructions perform actions, including:
generating one or more trajectories based on a continuous stream of sensor events, wherein each trajectory is a parametric representation of a one-dimensional curve segment in a three-dimensional space;
employing the one or more trajectories to determine the one or more surfaces;
providing the one or more trajectories to a modeling engine, wherein the modeling engine performs further actions, executing one or more actions based on the one or more trajectories and the one or more surfaces;
and
in response to one or more changes to the one or more surfaces, performing further actions, including:
updating the one or more trajectories based on the continuous stream of sensor events;
and
executing one or more additional actions based on the one or more updated trajectories and the one or more changed surfaces.

8 more elements

Dependencies are inferred from the claim text.

Perceiving objects based on sensing surfaces and sensing surface motion

Life of this patent

Perceiving objects based on sensing surfaces and sensing surface motion

Life of this patent

Abstract

Claims32