Stefan Nusser

Bio: Stefan Nusser is an academic researcher from Google. The author has contributed to research in topics: Container (abstract data type) & Mobile manipulator. The author has an hindex of 4, co-authored 4 publications receiving 152 citations.

Methods and systems for distributing remote assistance to facilitate robotic object manipulation

Abstract: Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks.

Heterogeneous Fleet of Robots for Collaborative Object Processing

Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

Modular cross-docking system

Abstract: An example system includes a plurality of trailers arranged such that a given trailer of the plurality is connected to at least one other trailer of the plurality, where the plurality of trailers includes a plurality of respective conveyance systems to transport objects between connected trailers. The system further includes a control system configured to cause a conveyance system of a first trailer of the plurality to move at least one object to the first trailer from a first external trailer, cause respective conveyance systems of one or more trailers of the plurality to transport the at least one object from the first trailer of the plurality to a second trailer of the plurality that is connected to a second external trailer, and cause a conveyance system of the second trailer of the plurality to move the at least one object to the second external trailer.

Modular dock for facilities integration

Abstract: An example apparatus includes an enclosed rectangular container, including an openable first end and an openable second end. The apparatus further includes at least one first supporting base positioned proximate to the first end of the container that has an adjustable height in order to align a floor of the container with a trailer. The apparatus also includes at least one second supporting base positioned proximate to the second end of the container that has an adjustable height in order to align the floor of the container with a loading dock. The apparatus additionally includes a robotic manipulator connected to the floor of the container that is configured to move one or more objects between the trailer and the loading dock by moving the one or more objects through the container when the first end and the second end of the container are opened.

Handheld dimensioning system with measurement-conformance feedback

Abstract: A system and method for obtaining a dimension measurement that conforms to a conformance criteria is disclosed. The dimensioning system provides either (i) feedback to confirm that the measurement complies with the criteria or (ii) information on how the measurement geometry could be adjusted in order to provide a compliant measurement in a subsequent dimension measurement.

Handheld dimensioner with data-quality indication

Abstract: A handheld dimensioner with a user interface configured to present a quality indicator is disclosed. The handheld dimensioner is configured to capture three-dimensional (3D) data and assess the three-dimensional-data's quality. Based on this quality, a quality indicator may be generated and presented to a user via the user interface. This process may be repeated while the user repositions the handheld dimensioner. In this way, the user may use the quality indicators generated at different positions to find an optimal position for a particular dimension measurement.

Dimensioning system with guided alignment

Abstract: A dimensioning system including a computing device running an alignment software program is disclosed. The alignment software uses range information from a range sensor in order to generate alignment messages. The alignment messages may help a user define a frame of reference and align the dimensioning system's range sensor for improved dimensioning performance.

System and method for dimensioning

Abstract: A system and method for structured-light dimensioning is disclosed. The method includes combining multiple images using different camera settings to provide all of the information necessary dimensioning. What results is an improved ability to sense a light pattern reflected from an object's surfaces, especially when the lighting and/or object color make imaging all surfaces simultaneously difficult.

Handheld dimensioning system with feedback

Abstract: A handheld dimensioning system that analyzes a depth map for null-data pixels to provide feedback is disclosed. Null-data pixels correspond to missing range data and having too many in a depth map may lead to dimensioning errors. Providing feedback based on the number of null-data pixels helps a user understand and adapt to different dimensioning conditions, promotes accuracy, and facilitates handheld applications.