A method for controlling a robotic device is presented. The method includes positioning the robotic device within a task environment. The method also includes mapping descriptors of a task image of a scene in the task environment to a teaching image of a teaching environment. The method further includes defining a relative transform between the task image and the teaching image based on the mapping. Furthermore, the method includes updating parameters of a set of parameterized behaviors based on the relative transform to perform a task corresponding to the teaching image.

A method for controlling a robotic device is presented. The method includes positioning the robotic device within a task environment. The method also includes mapping descriptors of a task image of a scene in the task environment to a teaching image of a teaching environment. The method further includes defining a relative transform between the task image and the teaching image based on the mapping. Furthermore, the method includes updating parameters of a set of parameterized behaviors based on the relative transform to perform a task corresponding to the teaching image.

A method, device, computer system and computer readable storage medium for 3D reconstruction are provided. The method comprises: performing a 3D reconstruction of an original 2D image of a target object to generate an original 3D object corresponding to the original 2D image; selecting a complementary view of the target object from candidate views based on a reconstruction quality of the original 3D object at the candidate views; obtaining a complementary 2D image of the target object based on the complementary view; performing a 3D reconstruction of the complementary 2D image to generate a complementary 3D object corresponding to the complementary 2D image; and fusing the original 3D object and the complementary 3D object to obtain a 3D reconstruction result of the target object.

A method, device, computer system and computer readable storage medium for 3D reconstruction are provided. The method comprises: performing a 3D reconstruction of an original 2D image of a target object to generate an original 3D object corresponding to the original 2D image; selecting a complementary view of the target object from candidate views based on a reconstruction quality of the original 3D object at the candidate views; obtaining a complementary 2D image of the target object based on the complementary view; performing a 3D reconstruction of the complementary 2D image to generate a complementary 3D object corresponding to the complementary 2D image; and fusing the original 3D object and the complementary 3D object to obtain a 3D reconstruction result of the target object.

A pure pose solution method and system for a multi-view camera pose and scene are provided. The method includes: a pure rotation recognition (PRR) step: performing PRR on all views, and marking views having a pure rotation abnormality, to obtain marked views and non-marked views; a global translation linear (GTL) calculation step: selecting one of the non-marked views as a reference view, constructing a constraint t.sub.r=0, constructing a GTL constraint, solving a global translation (I), reconstructing a global translation of the marked views according to t.sub.r and (I), and screening out a correct solution of the global translation; and a structure analytical reconstruction (SAR) step: performing analytical reconstruction on coordinates of all 3D points according to a correct solution of a global pose. The method and system can greatly improve the computational efficiency and robustness of the multi-view camera pose and scene structure reconstruction.

A method for acquiring a distance from a moving body to an object located in any direction of the moving body includes steps of: an image processing device (a) instructing a rounded cuboid sweep network to project pixels of images, generated by cameras covering all directions of the moving body, onto N virtual rounded cuboids to generate rounded cuboid images and apply 3D concatenation operation thereon to generate an initial 4D cost volume, (b) instructing a cost volume computation network to generate a final 3D cost volume from the initial 4D cost volume, and (c) generating inverse radius indices, corresponding to inverse radii representing inverse values of separation distances of the N virtual rounded cuboids, by referring to the final 3D cost volume and extracting the inverse radii by using the inverse radius indices, to acquire the separation distances and thus, the distance from the moving body to the object.

A method for acquiring a distance from a moving body to an object located in any direction of the moving body includes steps of: an image processing device (a) instructing a rounded cuboid sweep network to project pixels of images, generated by cameras covering all directions of the moving body, onto N virtual rounded cuboids to generate rounded cuboid images and apply 3D concatenation operation thereon to generate an initial 4D cost volume, (b) instructing a cost volume computation network to generate a final 3D cost volume from the initial 4D cost volume, and (c) generating inverse radius indices, corresponding to inverse radii representing inverse values of separation distances of the N virtual rounded cuboids, by referring to the final 3D cost volume and extracting the inverse radii by using the inverse radius indices, to acquire the separation distances and thus, the distance from the moving body to the object.

A photoelectric conversion device includes a substrate provided with pixels each including a photoelectric converter that accumulates charge generated by an incidence of light, a charge holding portion that holds charge transferred from the photoelectric converter, and an amplifier unit that includes an input node that receives charge transferred from the charge holding portion, a metal film disposed over a side of a first surface of the substrate so as to cover at least the charge holding portion, and a trench structure provided in the substrate on the side of the first surface of the substrate. The photoelectric conversion device is configured such that the light is incident from the side of the first surface of the substrate. The trench structure is disposed between the photoelectric converter and the charge holding portion of a first pixel.

A photoelectric conversion device includes a substrate provided with pixels each including a photoelectric converter that accumulates charge generated by an incidence of light, a charge holding portion that holds charge transferred from the photoelectric converter, and an amplifier unit that includes an input node that receives charge transferred from the charge holding portion, a metal film disposed over a side of a first surface of the substrate so as to cover at least the charge holding portion, and a trench structure provided in the substrate on the side of the first surface of the substrate. The photoelectric conversion device is configured such that the light is incident from the side of the first surface of the substrate. The trench structure is disposed between the photoelectric converter and the charge holding portion of a first pixel.

A vision inspection system includes a sorting platform having an upper surface supporting parts for inspection, wherein the parts are configured to be loaded onto the upper surface of the sorting platform in a random orientation. The vision inspection system includes an inspection station including an imaging device. The vision inspection system includes a vision inspection controller receiving images and processing the images based on an image analysis model to determine inspection results for each of the parts. The vision inspection controller has a shape recognition tool configured to recognize the parts in the field of view regardless of the orientation of the parts on the sorting platform. The vision inspection controller has an AI learning module operated to customize and configure the image analysis model based on the images received from the imaging device.