Robotic visual perception system
US9002098B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 19, 2012 |
| Grant date | Apr 7, 2015 |
| Priority date | — |
| Expiry date | Oct 2, 2033 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Described is a robotic visual perception system for determining a position and pose of a three-dimensional object. The system receives an external input to select an object of interest. The system also receives visual input from a sensor of a robotic controller that senses the object of interest. Rotation-invariant shape features and appearance are extracted from the sensed object of interest and a set of object templates. A match is identified between the sensed object of interest and an object template using shape features. The match between the sensed object of interest and the object template is confirmed using appearance features. The sensed object is then identified, and a three-dimensional pose of the sensed object of interest is determined. Based on the determined three-dimensional pose of the sensed object, the robotic controller is used to grasp and manipulate the sensed object of interest.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.