VISUAL PERCEPTION SYSTEM AND METHOD FOR A HUMANOID ROBOT
First Claim
1. A robotic system comprising:
- a humanoid robot having a plurality of robotic joints each being moveable using at least one actuator; and
a distributed controller configured to control the movement of each of the robotic joints, the controller including a visual perception module (VPM) adapted to visually identify and track an object in the field of view of the robot under predetermined threshold ambient lighting conditions;
wherein the VPM includes a plurality of optical devices for collecting an image of the object, at least one of a laser device and a range imaging device for detecting positional information of the object, and a host machine having an algorithm for processing the image and the positional information to thereby visually identify and track the object, the VPM being configured to automatically adapt an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions.
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Abstract
A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.
251 Citations
18 Claims
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1. A robotic system comprising:
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a humanoid robot having a plurality of robotic joints each being moveable using at least one actuator; and a distributed controller configured to control the movement of each of the robotic joints, the controller including a visual perception module (VPM) adapted to visually identify and track an object in the field of view of the robot under predetermined threshold ambient lighting conditions; wherein the VPM includes a plurality of optical devices for collecting an image of the object, at least one of a laser device and a range imaging device for detecting positional information of the object, and a host machine having an algorithm for processing the image and the positional information to thereby visually identify and track the object, the VPM being configured to automatically adapt an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A visual perception module (VPM) adapted to visually identify and track an object in the field of view of a humanoid robot under predetermined threshold ambient lighting conditions, the VPM comprising:
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a plurality of optical devices configured to collect an image of the object; a positional extraction device including at least one of a laser device and a range imaging device, the positional extraction device configured to extract positional data of the object; a host machine; and an algorithm executable via the host machine; wherein execution of the algorithm by the host machine processes the image and positional data to thereby automatically adapt an exposure time of the optical devices, and to thereby prevent feature data loss of a captured image of an object under the threshold ambient lighting conditions. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method of identifying and tracking an object in the field of view of a humanoid robot under threshold lighting conditions, the method comprising:
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using a plurality of optical devices to collect an image of the object; using at least one of a laser device and a range imaging device to extract positional information of the object; and processing the image and positional information using a host machine of a visual perception module (VPM); wherein the host machine uses an algorithm to automatically adapt an exposure time of the optical devices to thereby prevent feature data loss of the image under the threshold lighting conditions. - View Dependent Claims (16, 17, 18)
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Specification