IP Library › Granted Patent US 12664684

Granted Patent B2

US 12664684 · App. 17/957,529 · Granted Jun 23, 2026

Human-robot interactive workspace

Inventors: David Gonzalez Aguirre (Portland, OR); Javier Felip Leon (Hillsboro, OR); Javier Felix Rendon (Tlajomulco de Zuniga, MX); Arturo Tellez Velazquez (Huajuapan de Leon, MX)

Assignee: Intel Products IP LLC

G06T7/80 B25J9/1692 B25J9/1697 G06T7/70 H04N17/002 G06T2207/30244

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Quick Facts

Patent No.: US 12664684
App. No.: 17/957,529
Granted: Jun 23, 2026
Kind: B2

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Abstract

Various aspects of techniques, systems, and use cases include provide instructions for calibrating or object identification in a human-robot interactive environment. A technique may include displaying a back illumination image having at least two distinct sections, capturing a scene including the first back illumination image and an object obstructing a portion of one of the at least two distinct sections of the first back illumination image, and identifying, using an orientation of the display screen relative to the camera (e.g., obtained via calibration), location information of the object relative to a robotic device based on the first scene. The technique may include outputting the location information.

Claims (66)

1 . A system comprising:

a collaborative robotic device including at least one safety control for interacting in a human-robotic shared workspace;

a display screen positioned within the human-robotic shared workspace to display a calibration image;

a camera to capture a scene including the collaborative robotic device, the calibration image, and an object obstructing a first portion of the calibration image;

processing circuitry; and

memory including instructions, which when executed by the processing circuitry cause the processing circuitry to:

determine an orientation of the display screen relative to the camera based on a second portion of the calibration image that is unobstructed;

identify a spatial location of the object within the human-robotic shared workspace relative to the collaborative robotic device based on the orientation; and

output information corresponding to the spatial location of the object to the collaborative robotic device for controlling operation of the collaborative robotic device within the human-robotic shared workspace.

2 . The system of claim 1 , wherein the camera is located at least ten meters away from the display screen.

3 . The system of claim 1 , wherein the instructions further cause the processing circuitry to recalibrate the camera to the display screen based on a second calibration image displayed by the display screen, a second scene captured by the camera including the second calibration image and a second object obstructing a third portion of the second calibration image, and a determination by the processing circuitry of a second orientation of the display screen relative to the camera based on a fourth portion of the second calibration image that is unobstructed.

4 . The system of claim 1 , wherein to identify a location of the object relative to the collaborative robotic device, the instructions further cause the processing circuitry to:

identify, using the orientation, first location information of the object relative to the collaborative robotic device based on a first scene captured by the camera, the first scene including a first back illumination image displayed by the display screen and the object obstructing a portion of one of at least two distinct sections of the first back illumination image; and

identify, using the orientation, second location information of the object relative to the collaborative robotic device based on a second scene captured by the camera, the second scene including a second back illumination image displayed by the display screen and the object obstructing a portion of one of at least four distinct sections of the second back illumination image.

5 . A system comprising:

a collaborative robotic device including at least one safety control for interacting in a human-robotic shared workspace;

a display device positioned within the human-robotic shared workspace to display a first back illumination image having at least two distinct sections and a second back illumination image having at least four distinct sections;

a camera to capture a first scene including the first back illumination image and an object obstructing a portion of one of the at least two distinct sections of the first back illumination image and a second scene including the second back illumination image and the object obstructing a portion of one of the at least four distinct sections of the second back illumination image; and

processing circuitry to:

identify, using an orientation of the display device relative to the camera obtained via calibration, first location information of the object within the human-robotic shared workspace relative to the collaborative robotic device based on the first scene and the one of the at least two distinct sections;

identify, using the orientation of the display device relative to the camera obtained via the calibration, second location information of the object within the human-robotic shared workspace relative to the collaborative robotic device based on the second scene and the one of the at least four distinct sections;

determine a spatial location of the object within the human-robotic shared workspace relative to the collaborative robotic device using the first location information and the second location information; and

6 . The system of claim 5 , wherein:

the display device is further to display a calibration image;

the camera is further to capture a third scene including the collaborative robotic device, the calibration image, and the object obstructing a first portion of the calibration image; and

wherein to determine the orientation, includes the processing circuitry to determine the orientation of the display device relative to the camera based on a second portion of the calibration image that is unobstructed.

7 . The system of claim 6 , wherein the processing circuitry is further to recalibrate the camera to the display device based on a second calibration image displayed by the display device, a second scene captured by the camera including the second calibration image and a second object obstructing a third portion of the second calibration image, and a determination by the processing circuitry of a second orientation of the display device relative to the camera based on a fourth portion of the second calibration image that is unobstructed.

8 . The system of claim 5 , wherein the at least two distinct sections and the at least four distinct sections include a binary encoding.

9 . The system of claim 5 , wherein the processing circuitry is further to determine the location of the object using third location information of the object relative to the collaborative robotic device based on a third scene including a third back illumination image and the object obstructing a portion of one of at least eight distinct sections of the third back illumination image.

10 . The system of claim 5 , wherein the processing circuitry is further to determine a location of a second object, having a different size than the object, relative to the collaborative robotic device using the first scene and the second scene, the second object obstructing a portion of a second one of the at least two distinct sections of the first back illumination image and the second object obstructing a portion of a second one of the at least four distinct sections of the second back illumination image.

11 . An apparatus comprising:

means for causing display, at a display screen positioned within a human-robotic shared workspace, of a first back illumination image having at least two distinct sections and a second back illumination image having at least four distinct sections;

means for receiving a first scene including the first back illumination image and an object obstructing a portion of one of the at least two distinct sections of the first back illumination image;

means for receiving a second scene including the second back illumination image and the object obstructing a portion of one of the at least four distinct sections of the second back illumination image;

means for identifying, using an orientation of the display screen relative to a camera obtained via calibration, first location information of the object within the human-robotic shared workspace relative to a collaborative robotic device including at least one safety control for interacting in the human-robotic shared workspace based on the first scene and the one of the at least two distinct sections;

means for identifying, using the orientation of the display screen relative to the camera obtained via the calibration, second location information of the object within the human-robotic shared workspace relative to the collaborative robotic device based on the second scene and the one of the at least four distinct sections;

means for determining a spatial location of the object within the human-robotic shared workspace relative to the collaborative robotic device using the first location information and the second location information; and

means for outputting information corresponding to the spatial location of the object to the collaborative robotic device for controlling operation of the collaborative robotic device within the human-robotic shared workspace.

12 . The apparatus of claim 11 , further comprising:

means for displaying a calibration image;

means for capturing a third scene including the collaborative robotic device, the calibration image, and the object obstructing a first portion of the calibration image; and

wherein determining the orientation includes determining the orientation of the display screen relative to the camera based on a second portion of the calibration image that is unobstructed.

13 . The apparatus of claim 12 , further comprising recalibrating the camera to the display screen by:

displaying a second calibration image;

capturing a second scene including the second calibration image and a second object obstructing a third portion of the second calibration image; and

determining a second orientation of the display screen relative to the camera based on a fourth portion of the second calibration image that is unobstructed.

14 . The apparatus of claim 11 , wherein the at least two distinct sections and the at least four distinct sections include a binary encoding.

15 . The apparatus of claim 11 , wherein determining the location of the object includes using third location information of the object relative to the collaborative robotic device based on a third scene including a third back illumination image and the object obstructing a portion of one of at least eight distinct sections of the third back illumination image.

16 . The apparatus of claim 11 , further comprising means for determining a location of a second object, having a different size than the object, relative to the collaborative robotic device using the first scene and the second scene, the second object obstructing a portion of a second one of the at least two distinct sections of the first back illumination image and the second object obstructing a portion of a second one of the at least four distinct sections of the second back illumination image.

17 . At least one non-transitory machine-readable medium including instructions, which when executed by processing circuitry, cause the processing circuitry to perform operations to:

cause display, at a display screen positioned within a human-robotic shared workspace, of a first back illumination image having at least two distinct sections and a second back illumination image having at least four distinct sections;

receive an image of a first scene, captured by a camera, including the first back illumination image and an object obstructing a portion of one of the at least two distinct sections of the first back illumination image;

receive an image of a second scene, captured by the camera, including the second back illumination image and the object obstructing a portion of one of the at least four distinct sections of the second back illumination image;

identify, using an orientation of the display screen relative to the camera obtained via calibration, first location information of the object within the human-robotic shared workspace relative to a collaborative robotic device including at least one safety control for interacting in the human-robotic shared workspace based on the first scene and the one of the at least two distinct sections;

identify, using the orientation of the display screen relative to the camera obtained via the calibration, second location information of the object within the human-robotic shared workspace relative to the collaborative robotic device based on the second scene and the one of the at least four distinct sections;

18 . The at least one machine-readable medium of claim 17 , wherein the instructions further cause the processing circuitry to:

cause a calibration image to be displayed; and

receive an image of a third scene, captured by the camera, including the collaborative robotic device, the calibration image, and the object obstructing a first portion of the calibration image; and

wherein to determine the orientation, the instructions are further to cause the processing circuitry to determine the orientation of the display screen relative to the camera based on a second portion of the calibration image that is unobstructed.

19 . The at least one machine-readable medium of claim 18 , wherein the instructions further cause the processing circuitry to recalibrate the camera to the display screen based on a second calibration image displayed by the display screen, a second scene captured by the camera including the second calibration image and a second object obstructing a third portion of the second calibration image, and a determination by the processing circuitry of a second orientation of the display screen relative to the camera based on a fourth portion of the second calibration image that is unobstructed.

20 . The at least one machine-readable medium of claim 17 , wherein the at least two distinct sections and the at least four distinct sections include a binary encoding.

21 . The at least one machine-readable medium of claim 17 , wherein the instructions further cause the processing circuitry to determine the location of the object using third location information of the object relative to the collaborative robotic device based on a third scene including a third back illumination image and the object obstructing a portion of one of at least eight distinct sections of the third back illumination image.

22 . The at least one machine-readable medium of claim 17 , wherein the instructions further cause the processing circuitry to determine a location of a second object, having a different size than the object, relative to the collaborative robotic device using the first scene and the second scene, the second object obstructing a portion of a second one of the at least two distinct sections of the first back illumination image and the second object obstructing a portion of a second one of the at least four distinct sections of the second back illumination image.