Invisible fiducial markers on a robot to visualize the robot in augmented reality
First Claim
1. A system, comprising:
- a robotic device;
a plurality of invisible fiducial markers positioned on a corresponding plurality of links of the robotic device, wherein the plurality of invisible fiducial markers are detectable within a particular band of invisible light;
a camera that is configured to detect the particular band of invisible light; and
a control system configured to;
receive, from the camera, an image of the robotic device within an environment;
identify respective positions within the image of the plurality of invisible fiducial marker on the robotic device;
based on the the respective positions within the image of the plurality of invisible fiducial markers on the robotic device, determine respective positions of the corresponding plurality of links of the robotic device relative to the camera;
based on the respective positions of the corresponding plurality of links of the robotic device relative to the camera, determine one or more positions within the image to overlay one or more virtual annotations; and
provide for display of the image of the robotic device within the environment with the one or more virtual annotations overlaid at the one or more determined positions within the image.
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Accused Products
Abstract
An example system includes a robotic device, at least one invisible fiducial marker on the robotic device that is detectable within a particular band of invisible light, a camera that is configured to detect the particular band of invisible light, and a control system. The control system may be configured to receive an image of the robotic device within an environment, identify at least one position within the image of the at least one invisible fiducial marker on the robotic device, determine a position of the robotic device relative to the camera, determine one or more positions within the image to overlay one or more virtual annotations, and provide for display of the image of the robotic device within the environment with the one or more virtual annotations overlaid at the one or more determined positions within the image.
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Citations
17 Claims
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1. A system, comprising:
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a robotic device; a plurality of invisible fiducial markers positioned on a corresponding plurality of links of the robotic device, wherein the plurality of invisible fiducial markers are detectable within a particular band of invisible light; a camera that is configured to detect the particular band of invisible light; and a control system configured to; receive, from the camera, an image of the robotic device within an environment; identify respective positions within the image of the plurality of invisible fiducial marker on the robotic device; based on the the respective positions within the image of the plurality of invisible fiducial markers on the robotic device, determine respective positions of the corresponding plurality of links of the robotic device relative to the camera; based on the respective positions of the corresponding plurality of links of the robotic device relative to the camera, determine one or more positions within the image to overlay one or more virtual annotations; and provide for display of the image of the robotic device within the environment with the one or more virtual annotations overlaid at the one or more determined positions within the image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method, comprising:
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receiving, from a camera that is configured to detect a particular band of invisible light, an image of a robotic device within an environment; identifying at least one position within the image of at least one invisible fiducial marker on the robotic device, wherein the at least one invisible fiducial marker is detectable within the particular band of invisible light; based on the at least one position within the image of the at least one invisible fiducial marker on the robotic device, determining a position of the robotic device relative to the camera; based on the position of the robotic device relative to the camera, determining one or more positions within the image to overlay one or more virtual annotations, wherein the one or more virtual annotations comprise one or more virtual trajectory points that correspond to one or more trajectory points for the robotic device; and providing for display of the image of the robotic device within the environment with the one or more virtual annotations overlaid at the one or more determined positions within the image. - View Dependent Claims (11, 12, 13)
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14. A non-transitory computer-readable medium having stored therein instructions, that when executed by a computing system, cause the computing system to perform functions comprising:
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receiving, from a camera that is configured to detect a particular band of invisible light, an image of a robotic device within an environment; identifying at least one position within the image of at least one invisible fiducial marker on the robotic device, wherein the at least one invisible fiducial marker is detectable within the particular band of invisible light; based on the at least one position within the image of the at least one invisible fiducial marker on the robotic device, determining a position of the robotic device relative to the camera; receiving encoded joint angles of a plurality of joints of the robotic device that connect a plurality of links of the robotic device; based on the position of the robotic device relative to the camera and further based on the encoded joint angles of the plurality of joints of the robotic device, determining respective positions of the plurality of links of the robotic device relative to the camera; based on the position of the robotic device relative to the camera and the respective positions of the plurality of links of the robotic device relative to the camera, determining one or more positions within the image to overlay one or more virtual annotations; and providing for display of the image of the robotic device within the environment with the one or more virtual annotations overlaid at the one or more determined positions within the image. - View Dependent Claims (15, 16, 17)
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Specification