Defining and/or applying a planar model for object detection and/or pose estimation

A robot, comprising:

• at least one non-transitory computer readable storage medium storing a three-dimensional planar model that approximates surfaces of an object, the planar model defining a plurality of planar shapes modeled relative to one another in a three-dimensional space,
• wherein the object is a pallet that includes a plurality of stringers and wherein a first planar shape of the planar model approximates a first stringer surface of a first stringer end of a first stringer of the stringers and a second planar shape of the planar model approximates a second stringer surface of a second stringer end of a second stringer of the stringers, and
• wherein the first stringer end and the second stringer end are both on a same side of the pallet;
• a three-dimensional vision sensor;
• and
• one or more processors in communication with the non-transitory computer readable storage medium and receiving data generated by the three-dimensional vision sensor, wherein the one or more processors are configured to:
• receive a group of data points sensed by the three-dimensional vision sensor;
• calculate, for each of a plurality of projections of the model to the data points, differences between the planar model and the data points for a corresponding projection of the projections;
• determine that a projection of the projections satisfies a threshold based on the differences between the planar model and the data points for the projection;
• determine an object pose for the object relative to the robot based on a planar model pose of the planar model at the projection that satisfies the threshold;
• and
• provide, to one or more actuators of the robot, control commands that are based on the determined object pose.

At least one non-transitory computer-readable medium comprising instructions that, in response to execution of the instructions by one or more processors, cause the one or more processors to perform the following operations:

• receiving, from a three-dimensional vision sensor of a robot, a group of data points sensed by the three-dimensional vision sensor;
• retrieving a three-dimensional planar model that approximates a plurality of surfaces of an object, the planar model defining a plurality of planar shapes modeled relative to one another in a three-dimensional space,
• wherein the object is a pallet that includes a plurality of stringers and wherein a first planar shape of the planar model approximates a first stringer surface of a first stringer end of a first stringer of the stringers and a second planar shape of the planar model approximates a second stringer surface of a second stringer end of a second stringer of the stringers, and
• wherein the first stringer end and the second stringer end are both on a same side of the pallet;
• calculating, for each of a plurality of projections of the model to the data points, differences between the planar model and the data points for a corresponding projection of the projections;
• determining that a projection of the projections satisfies a threshold based on the differences between the planar model and the data points for the projection;
• and
• determining an object pose for the object relative to the robot based on a planar model pose of the planar model at the projection that satisfies the threshold.