Systems and methods for picking objects using 3-D geometry and segmentation
US12172310B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 29, 2021 |
| Grant date | Dec 24, 2024 |
| Priority date | — |
| Expiry date | Feb 16, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20084
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for controlling a robotic system includes: capturing, by an imaging system, one or more images of a scene; computing, by a processing circuit including a processor and memory, one or more instance segmentation masks based on the one or more images, the one or more instance segmentation masks detecting one or more objects in the scene; computing, by the processing circuit, one or more pickability scores for the one or more objects; selecting, by the processing circuit, an object among the one or more objects based on the one or more pickability scores; computing, by the processing circuit, an object picking plan for the selected object; and outputting, by the processing circuit, the object picking plan to a controller configured to control an end effector of a robotic arm to pick the selected object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.