US 12,080,006 B2
Method and system for performing image classification for object recognition
Jinze Yu, Tokyo (JP); Jose Jeronimo Moreira Rodrigue, Tokyo (JP); and Ahmed Abouelela, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, INC., Tokyo (JP)
Filed on Dec. 22, 2022, as Appl. No. 18/145,512.
Application 18/145,512 is a continuation of application No. 16/991,510, filed on Aug. 12, 2020, granted, now 11,538,238.
Claims priority of provisional application 62/959,182, filed on Jan. 10, 2020.
Prior Publication US 2023/0128352 A1, Apr. 27, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); G06F 18/241 (2023.01); G06N 20/00 (2019.01); G06T 7/41 (2017.01); G06V 10/22 (2022.01); G06V 10/44 (2022.01); G06V 10/56 (2022.01); G06V 20/10 (2022.01); B65G 61/00 (2006.01)
CPC G06T 7/41 (2017.01) [B25J 9/163 (2013.01); B25J 9/1661 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 13/08 (2013.01); G06F 18/241 (2023.01); G06N 20/00 (2019.01); G06V 10/22 (2022.01); G06V 10/443 (2022.01); G06V 10/56 (2022.01); G06V 20/10 (2022.01); B65G 61/00 (2013.01); G06V 10/44 (2022.01); G06V 2201/06 (2022.01); G06V 2201/07 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A method of image classification, comprising:
receiving an image by a computing system, wherein the image is for representing one or more objects;
generating, by the computing system, one or more masks indicating whether one or more visual features are present in at least one image portion of the image or describe whether there is variation in intensity across the at least one image portion;
determining, by the computing system, a texture classification of the at least one image portion as textured or textureless based on the one or more masks; and
performing motion planning for robot interaction with the one or more objects based on the texture classification of the at least one image portion.