Robotic system with automated package registration mechanism and methods of operating the same

A robotic system comprising:

• at least one processor;
• and
• at least one memory device connected to the at least one processor and having stored thereon instructions executable by the processor for:
• receiving an image data representative of a surface of an object located at a start location;
• determining a minimum viable region based on the image data for gripping and lifting the object;
• obtaining data representative of the object after implementation of an initial lift based on the minimum viable region to vertically displace the object;
• implementing operations to transfer the object to a task location;
• detecting an event during implementation of the operation, wherein the event represents (1) an entry or an exit of the object relative to a laterally-oriented crossing reference located at a crossing reference height and (2) an output from a crossing sensor configured to detect optical signals transmitted along a line or a plane corresponding to the laterally oriented crossing reference;
• determining a gripper height corresponding to the event, wherein the gripper height represents a vertical location of an end-effector;
• calculating an object height of the object based on the event, the gripper height, and/or the predetermined reference height;
• and
• creating new registration data representative of the object, wherein the new registration data includes the object height.

A tangible, non-transient 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 perform a method, the method comprising:

• receiving an image data representative of a surface of an object located at a start location;
• determining a minimum viable region based on the image data for gripping and lifting the unrecognized object;
• obtaining data representing the object after implementation of an initial lift based on the minimum viable region to vertically displace the object;
• implementing operations to transfer the object to a task location;
• detecting an event and a corresponding time stamp while implementing the operation, wherein the event represents (1) an entry or an exit of the unrecognized object relative to a laterally-oriented crossing reference located at a crossing reference height and (2) an output from a crossing sensor configured to detect optical signals transmitted along a line or a plane corresponding to the laterally oriented crossing reference;
• determining a gripper height corresponding to the event, wherein the gripper height represents a vertical location of an end-effector;
• calculating a height of the object based on the event, the gripper height corresponding to the event, and/or the predetermined reference height;
• and
• creating new registration data representative of a new record for the object, wherein the new registration data includes the height of the object.