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US 11,794,343 B2Granted
System and method for height-map-based grasp execution
AssigneeIntrinsic Innovation LLC
InventorsBhaskara Mannar Marthi, Nan Rong
Life of this patent
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Abstract
Systems and method for grasp execution using height maps.
Claims19
A method for grasp selection within a scene of piled objects, the method comprising:
- receiving scene data including a depth map and a two-dimensional (2D) image that characterizes the scene, the scene comprising a pile of objects, wherein the scene data is captured from above a maximum height of the pile of objects;
- generating, from the depth map and the 2D image included in the scene data, a height map of the scene, wherein the height map comprises a respective height value for each of a plurality of height map points corresponding respectively to a plurality of 2D image pixels included in the 2D image;
- partitioning the height map into a plurality of height map layers based on identifying height map points having height values that lie within a respective height range for each of the plurality of height map layers;
- generating, for a first height map layer of the plurality of height map layers, a set of height map layer segments, wherein within the first height map layer of the plurality of height map layers, each height map layer segment includes height map points that correspond to a distinct object of the pile;
- for the first height map layer of the plurality of height map layers, generating a set of grasps having grasp points that are on a segment boundary of a first height map layer segment within the first height map layer;
- and
- selecting a generated grasp;
- and
- executing the selected grasp for a respective object corresponding to the height map layer segment of the selected grasp by controlling a grasping manipulator.
6 more elements
A system comprising:
- a sensing system;
- a robotic controller;
- a grasp processor;
- and
- a storage device comprising machine-executable instructions that, when executed by the grasp processor, control the grasp processor to perform grasp selection for a scene of piled objects by performing operations comprising:
- receiving scene data including a depth map and a two-dimensional (2D) image that characterizes the scene, the scene comprising a pile of objects, wherein the scene data is captured from above a maximum height of the pile of objects;
- generating, from the depth map and the 2D image included in the scene data, a height map of the scene, wherein the height map comprise a respective height value for each of a plurality of height map points corresponding respectively to a plurality of 2D image pixels included in the 2D image;
- partitioning the height map into a plurality of height map layers based on identifying height map points having height values that lie within a respective height range for each of the plurality of height map layers;
- generating, for a first height map layer of the plurality of height map layers, a set of height map layer segments, wherein within the first height map layer of the plurality of height map layers, each height map layer segment includes height map points that correspond to a distinct object of the pile;
- for at least one the first height map layer of the plurality of height map layers, generating a set of grasps having grasp points that are on a segment boundary of a first height map layer segment within the first height map layer;
- and
- selecting a generated grasp;
- and
- executing the selected grasp for a respective object corresponding to the height map layer segment of the selected grasp by controlling a grasping manipulator.
11 more elements
Dependencies are inferred from the claim text.