Recovering material properties with active illumination and camera on a robot manipulator
US11745353B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 30, 2020 |
| Grant date | Sep 5, 2023 |
| Priority date | — |
| Expiry date | Feb 26, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/58
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method includes identifying a target surface in an environment of a robotic device. The method further includes controlling a moveable component of the robotic device to move along a motion path relative to the target surface, wherein the moveable component comprises a light source and a camera. The method additionally includes receiving a plurality of images from the camera when the moveable component is at a plurality of poses along the motion path and when the light source is illuminating the target surface. The method also includes determining bidirectional reflectance distribution function (BRDF) image data, wherein the BRDF image data comprises the plurality of images converted to angular space with respect to the target surface. The method further includes determining, based on the BRDF image data and by applying at least one pre-trained machine learning model, a material property of the target surface.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.