Generating a model for an object encountered by a robot
AssigneeGoogle Inc.
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 representation of a three-dimensional (3D) object;
- generating a plurality of rendered images based on the representation of the 3D object, wherein generating the rendered images based on the representation of the 3D object comprises:
- rendering, using the representation of the 3D object, a first image that renders the 3D object and that includes first additional content;
- and
- rendering, using the representation of the 3D object, a second image that renders the 3D object 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 3D object in the corresponding one of the rendered images;
- and
- providing the training examples for training of a machine learning model.
A system comprising:
- memory storing instructions;
- one or more processors operable to execute the instructions to:
- identify a representation of a three-dimensional (3D) object;
- generate a plurality of rendered images based on the representation of the 3D object, wherein in generating the rendered images based on the representation of the 3D object one or more of the processors are to:
- render, using the representation of the 3D object, a first image that renders the 3D object and that includes first additional content;
- and
- render, using the representation of the 3D object, a second image that renders the 3D object 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 3D object in the corresponding one of the rendered images;
- and
- provide the training examples for training of a machine learning model.
Dependencies are inferred from the claim text.