Method and computing system for performing grip region detection

A non-transitory computer-readable medium having instructions that, when executed by a processing circuit of a computing system, causes the processing circuit to:

• receive image information by the processing circuit of the computing system, wherein the computing system is configured to communicate with:
• (i) a robot having an end effector apparatus, and (ii) a camera having a camera field of view, wherein the image information is for representing an object surface associated with a flexible object in the camera field of view, and is generated by the camera;
• identify, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information;
• identify, as a safety region, a three-dimensional (3D) region indicative of a sag portion of the flexible object outside of the grip region in one or more horizontal dimensions, and which extends from the one or more horizontal dimensions along a vertical dimension that is perpendicular to the one or more horizontal dimensions;
• perform robot motion planning based on the grip region and the safety region, wherein the robot motion planning is for:
• gripping of the flexible object at the grip region by the end effector apparatus, and
• avoiding other objects in an environment with the robot;
• and
• communicate commands to the robot to cause the robot to perform the planned motion.

A method performed by a computing system, the method comprising:

• receiving image information by the computing system, wherein the computing system is configured to communicate with:
• (i) a robot having an end effector apparatus, and (ii) a camera having a camera field of view, wherein the image information is for representing an object surface associated with a flexible object in the camera field of view, and is generated by the camera;
• identifying, as a grip region, a surface region of the object surface that satisfies a defined smoothness condition and has a region size that is larger than or equal to a defined region size threshold, wherein the grip region is identified based on the image information;
• identifying, as a safety region, a three-dimensional (3D) region indicative of a sag portion of the flexible object outside of the grip region in one or more horizontal dimensions, and which extends from the one or more horizontal dimensions along a vertical dimension that is perpendicular to the one or more horizontal dimensions;
• performing robot motion planning based on the grip region and the safety region, wherein the robot motion planning is for:
• gripping of the flexible object at the grip region by the end effector apparatus, and
• avoiding other objects in an environment with the robot;
• and
• communicating commands to the robot to cause the robot to perform the planned motion.