Automated package registration systems, devices, and methods

A system for registering an unregistered package during a robotic package handling operation, the system comprising:

• at least one processor;
• and
• at least one memory coupled to the at least one processor, the memory including instructions executable by the at least one processor to:
• receive first image data representative of a first surface image of a package surface;
• determine that the package is unregistered based on comparing the first surface image to a registration record;
• identify a pair of edges for the package surface based on the first image data, wherein the pair of edges are exposed along horizontal directions and intersect each other to form a corner of the package surface;
• determine a minimum viable region based on the pair of edges, wherein the minimum viable region overlaps and/or coincides with one or both of the pair of edges;
• generate one or more commands for (1) gripping the package with an end effector positioned over the minimum viable region and (2) lifting the package;
• receive second image data of the package, wherein the second image data represents the package after the lift;
• determine third image data as a function of the first image data and the second image data;
• and
• create registration data representative of a new registration record of the package based on the third image data for subsequently identifying other packages;
• and
• estimate unclear edges based on the first image data, wherein the pair of edges and the unclear edges correspond to boundaries of the package surface;
• wherein:
• the minimum viable region does not overlap the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear edges.

A non-transitory memory medium storing computer-executable instructions, when executed by a computing system, cause the computing system to perform a computer-implemented method, the instructions comprising:

• instructions to receive first image data representative of a first surface image of a package surface;
• instructions to determine that the package is unregistered based on comparing the first surface image to a registration record;
• instructions to identify a pair of edges for the package surface based on the first image data, wherein the pair of edges are exposed along horizontal directions and intersect each other to form a corner of the package surface;
• instructions to determine a minimum viable region based on the pair of edges, wherein the minimum viable region overlaps and/or coincides with one or both of the pair of edges;
• instructions to generate one or more commands for (1) gripping the package with an end effector positioned over the minimum viable region and (2) lifting the package;
• instructions to receive second image data of the package, wherein the second image data represents the package after the lift;
• instructions to determine third image data as a function of the first image data and the second image data;
• instructions to create registration data representative of a new registration record of the package based on the third image data for subsequently identifying other packages;
• and
• instructions to estimate unclear edges based on the first image data, wherein the pair of edges and the unclear edges correspond to boundaries of the package surface;
• wherein:
• the minimum viable region does not overlap the unclear edges for gripping the package while leaving exposed portions of the package corresponding to the estimated unclear edges.