Method and computing system for performing container detection and object detection

A non-transitory computer-readable medium having instructions that, when executed by at least one processing circuit of a computing system, wherein the computing system is configured to communicate with a robot having a robot arm that has a spatial structure sensing camera with a camera field of view disposed on the robot arm, causes the at least one processing circuit to, when a drawer is in a closed position:

• determine a location representing a handle of the drawer;
• output a container movement command for causing the robot arm to move the drawer from the closed position to an open position;
• move the spatial structure sensing camera to another location to capture spatial structure information;
• receive the spatial structure information;
• determine a drawer pose based on the spatial structure information;
• determine an object pose of an object located within the drawer based on the drawer pose;
• and
• output a movement command for causing robot interaction with the object, wherein the movement command is generated based on the object pose.

A method for object detection, comprising:

• receiving, by a processing circuit of a computing system, spatial structure information, wherein the computing system is configured to communicate with a robot having a robot arm that has a spatial structure sensing camera disposed on the robot arm and having a camera field of view, when a drawer is in a closed position;
• determining a location representing a handle of the drawer;
• outputting a container movement command for causing the robot arm to move the drawer from the closed position to an open position;
• moving the spatial structure sensing camera to another location to capture spatial structure information;
• determining a drawer pose based on the spatial structure information;
• determining an object pose of an object located within the drawer based on the drawer pose;
• and
• outputting a movement command for causing robot interaction with the object, wherein the movement command is generated based on the object pose.