Robot motion planning accounting for object pose estimation accuracy

A system comprising one or more computers and one or more storage devices storing instructions that when executed by the one or more computers cause the one or more computers to perform operations comprising:

• generating a plurality of candidate measurement configurations for measuring an object to be manipulated by a robot in a robotic process;
• determining respective measurement accuracies for the plurality of candidate measurement configurations, comprising, for each of the plurality of candidate measurement configurations:
• determining one or more estimated object poses;
• obtaining a ground truth object pose;
• and
• computing a respective measure of error for each of the one or more estimated object poses with respect to the ground truth object pose;
• determining a measurement accuracy landscape for the object including defining a high measurement accuracy region based on the respective measurement accuracies for the plurality of candidate measurement configurations;
• and
• generating a motion plan for manipulating the object in the robotic process that moves the robot, a sensor, or both, through the high measurement accuracy region when performing pose estimation for the object.

One or more non-transitory computer-readable storage media storing instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:

• generating a plurality of candidate measurement configurations for measuring an object to be manipulated by a robot in a robotic process;
• determining respective measurement accuracies for the plurality of candidate measurement configurations, comprising, for each of the plurality of candidate measurement configurations:
• determining one or more estimated object poses;
• obtaining a ground truth object pose;
• and
• computing a respective measure of error for each of the one or more estimated object poses with respect to the ground truth object pose;
• determining a measurement accuracy landscape for the object including defining a high measurement accuracy region based on the respective measurement accuracies for the plurality of candidate measurement configurations;
• and
• generating a motion plan for manipulating the object in the robotic process that moves the robot, a sensor, or both, through the high measurement accuracy region when performing pose estimation for the object.