Robotic system with automated package registration mechanism and auto-detection pipeline
AssigneeMUJIN, Inc.
InventorsJinze Yu, Jose Jeronimo Moreira Rodrigues, Rosen Nikolaev Diankov, Xutao Ye, Russell Islam
Life of this patent
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Abstract
The present disclosure relates to detecting and registering unrecognized or unregistered objects. A minimum viable range (MVR) may be derived based on inspecting image data that represents objects. The MVR may be determined to be a certain MVR or an uncertain MVR according to one or more features represented in the image data. The MVR may be used to register corresponding objects according to the certain or uncertain determination.
Claims20
A method for detecting unrecognized objects in a target stack, the method comprising:
- receiving image data representative of one or more unrecognized objects in the target stack;
- identifying an unexplained region of the image data based on a comparison with an object set of registered objects;
- identifying one or more layers corresponding to objects in the target stack within the unexplained region;
- identifying exposed edges representing boundaries of the one or more layers corresponding to objects in the target stack, wherein depth measures deviate across horizontally adjacent locations;
- identifying one or more exposed corners of the one or more layers corresponding to objects in the target stack based on the exposed edges;
- deriving a minimum viable region (MVR) based on the exposed edges and the one or more exposed corners;
- determining a number of the one or more exposed corners associated with the derived MVR;
- detecting an unrecognized object according to the MVR and the number of the one or more exposed corners associated with the derived MVR;
- and
- registering the unrecognized object by updating the object set to include at least one of the MVR and a processing result thereof.
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 unrecognized objects in a target stack of objects;
- deriving a minimum viable region (MVR) based on identifying one or more exposed corners of objects in the one or more image data;
- updating an object set of previously registered objects with at least one of the MVR and a processing result thereof based on a number of the exposed corners of objects associated with the MVR;
- and
- recognizing another object based on the updated object set.
A tangible, non-transitory computer-readable storage medium having processor instructions stored thereon that, when executed by a processor, cause the processor to implement a method, the method comprising:
- iteratively analyzing one or more received image data that represent at least one of registered objects and unrecognized objects of a target stack by:
- deriving one or more minimum viable regions (MVRs) based on identifying one or more exposed corners of objects in the received image data;
- determining a classification for each of the MVRs based on a number of the exposed corners associated with the corresponding MVR;
- updating an object set of previously registered objects with at least one of the MVRs and a processing result thereof according to the corresponding classification;
- and
- recognizing other objects in the target stack using the updated object set.
Dependencies are inferred from the claim text.