Virtual teach and repeat mobile manipulation system
US12131529B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 18, 2023 |
| Grant date | Oct 29, 2024 |
| Priority date | — |
| Expiry date | Feb 11, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20104
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for performing a task by a robotic device includes mapping a group of task image pixel descriptors associated with a first group of pixels in a task image of a task environment to a group of teaching image pixel descriptors associated with a second group of pixels in a teaching image based on positioning the robotic device within the task environment. The method also includes determining a relative transform between the task image and the teaching image based on mapping the plurality of task image pixel descriptors. The relative transform indicates a change in one or more of points of 3D space between the task image and the teaching image. The method also includes performing the task associated with the set of parameterized behaviors based on updating one or more parameters of a set of parameterized behaviors associated with the teaching image based on determining the relative transform.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.