US 12,205,188 B2
Multicamera image processing
Kevin Jose Chavez, Redwood City, CA (US); Yuan Gao, Santa Clara, CA (US); Rohit Arka Pidaparthi, Mountain View, CA (US); Talbot Morris-Downing, Redwood City, CA (US); Harry Zhe Su, Union City, CA (US); and Samir Menon, Atherton, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Apr. 24, 2023, as Appl. No. 18/138,655.
Application 18/138,655 is a continuation of application No. 16/667,661, filed on Oct. 29, 2019, granted, now 11,741,566.
Application 16/667,661 is a continuation in part of application No. 16/380,859, filed on Apr. 10, 2019, granted, now 10,549,928, issued on Feb. 4, 2020.
Claims priority of provisional application 62/809,389, filed on Feb. 22, 2019.
Prior Publication US 2023/0260071 A1, Aug. 17, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 1/00 (2006.01); G06T 1/20 (2006.01); G06T 7/174 (2017.01); G06T 7/593 (2017.01); G06T 7/90 (2017.01); H04N 13/204 (2018.01)
CPC G06T 1/0014 (2013.01) [G06T 1/20 (2013.01); G06T 7/174 (2017.01); G06T 7/593 (2017.01); G06T 7/90 (2017.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01); H04N 13/204 (2018.05)] 22 Claims
OG exemplary drawing
 
1. A system, comprising:
a communication interface configured to receive image data from each of a plurality of cameras associated with a workspace; and
a processor coupled to the communication interface and configured to:
merge image data from the plurality of cameras to generate a merged point cloud data;
perform segmentation based on visual image data from a subset of the plurality of cameras to generate a segmentation result, wherein the segmentation result includes an indication of an object boundary for one or more objects;
use the merged point cloud data and the segmentation result to generate a merged three dimensional and segmented view of the workspace, including by:
for at least a subset of the plurality of cameras, generating a point cloud for each object and computing a corresponding centroid; and
segmenting objects within the workspace based at least in part on centroids of corresponding to each object; and
provide the merged three dimensional and segmented view of the workspace as an output to a module configured to determine a strategy to grasp an object present in the workspace using a robot.