Robotic system with enhanced scanning mechanism

A method for operating a robotic system, the method comprising:

• identifying one or more scanning fields, wherein each of the scanning fields represent a space adjacent to an object scanner;
• determining an initial pose of a target object based on imaging data, wherein the target object includes one or more object identifiers;
• calculating a first estimated location of one of the object identifiers according to a first hypothesis of the initial pose being accurate;
• calculating a second estimated location of one of the object identifiers according to a second hypothesis of the initial pose being inaccurate;
• and
• deriving a motion plan that places the first estimated location and the second estimated location in one or more of the scanning fields, wherein the motion plan includes actuation device commands, actuation device settings, or a combination thereof for operating a robotic arm and an end-effector to (1) pick up the target object, (2) transfer the target object, and (3) present the one or more object identifiers to one or more object scanners during the transfer, wherein:
• the motion plan is derived based on an approached location and a scanning location, the approach location defining a location for the end-effector to contact and grip the target object, the scanning location defining a location for the end-effector to present one or more surfaces of the target object before one or more corresponding object scanners so as to scan the one or more object identifiers,
• the approached location and the scanning location are selectively calculated according to a performance metric and/or a scanning metric, wherein the scanning metric corresponds to a likelihood of at least one of the object identifiers remaining uncovered by the end-effector regardless of whether or not the initial pose is accurate;
• wherein:
• deriving the approach location and the scanning location includes prioritizing the scanning metric before the performance metric when the confidence measure fails to satisfy the sufficiency threshold.

A tangible, non-transitory computer-readable medium having processor instructions stored thereon that, when executed by a robotic system via one or more processors thereof, cause the robotic system to:

• receive imaging data representing a pickup area including a target object;
• determine an initial pose of the target object based on the imaging data;
• calculate a confidence measure associated with the initial pose, wherein the confidence measure is indicative of a likelihood of the initial pose being accurate;
• derive, based on the confidence measure, an approach location and at least one scanning location, the approach location defining a location for the end-effector to contact and grip the target object, the scanning location defining a location for the end-effector to present one or more surfaces of the target object before one or more corresponding object scanners so as to scan the one or more object identifiers;
• derive, based on the derived approached location and the scanning location, a motion plan,
• wherein the motion plan includes commands, settings, or a combination thereof, for operating a robotic arm and an end-effector to execute a task based on (1) picking up the target object from a start location, (2) transferring the target object to a task location, and (3) presenting one or more object identifiers to one or more object scanners located between the start location and the task location,
• wherein the motion plan is derived based on:
• comparing the confidence measure to a sufficiency threshold,
• selectively calculating the approach location and the scanning location according to a performance metric and/or a scanning metric, based on an outcome of the comparison, wherein the scanning metric corresponding to a likelihood of at least one of the object identifiers remaining uncovered by the end-effector regardless of whether or not the initial pose is accurate;
• and
• implement the motion plan for operating one or more actuation devices to execute the task;
• wherein:
• the approach location and the scanning location are derived based on prioritizing the scanning metric before the performance metric when the confidence measure fails to satisfy the sufficiency threshold.