Robotic system with automated package registration mechanism and minimum viable region detection
AssigneeMUJIN, Inc.
InventorsJinze Yu, Jose Jeronimo Moreira Rodrigues, Rosen Nikolaev Diankov, Xutao Ye
Life of this patent
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Abstract
The present disclosure relates to methods and systems for generating a verified minimum viable range (MVR) of an object. An exposed outer corner and exposed edges of an object may be identified by processing one or more image data. An initial MVR may be generated by identifying opposing parallel edges opposing the exposed edges. The initial MVR may be adjusted, and the adjusted result may be tested to generate a verified MVR.
Claims20
A method comprising:
- receiving one or more image data representative of a target stack including one or more unregistered objects;
- identifying an exposed outer corner associated thereto based on the one or more image data, wherein the exposed outer corner corresponds to exposed edges that represent an unregistered object;
- identifying complementing edges associated with the exposed edges based on identifying one or more other edges that intersect the exposed edges;
- generating an initial minimum viable region (MVR) based on the exposed outer corner, the exposed edges, and the complementing edges;
- and
- generating a verified MVR based on adjusting the initial MVR and testing a corresponding result, wherein the verified MVR represents an area between estimated peripheral edges of one of the unregistered objects.
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 one or more image data representative of one or more unregistered objects;
- identifying an exposed outer corner based on the one or more image data, wherein the exposed outer corner represents an unregistered object;
- generating an initial minimum viable region (MVR) based on the exposed outer corner;
- and
- generating a verified MVR based on adjusting the initial MVR and testing a corresponding result.
A tangible, non-transitory computer-readable medium having processor instructions stored thereon that, when executed by a processor, cause the processor to:
- receive one or more image data representative of one or more unregistered objects;
- identify an exposed outer corner based on the one or more image data, wherein the exposed outer corner represents an unregistered object;
- generate an initial minimum viable region (MVR) based on the exposed outer corner;
- and
- generate a verified MVR based on adjusting the initial MVR and testing a corresponding result.
Dependencies are inferred from the claim text.