Systems and methods for a vision guided end effector
AssigneeIntrinsic Innovation LLC
InventorsVage Taamazyan, Kartik Venkataraman, Agastya Kalra, Achuta Kadambi
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Abstract
Systems and method for an object from a plurality of objects are disclosed. An image of a scene containing the plurality of objects is obtained, and a segmentation map is generated for the objects in the scene. The shapes of the objects are determined based on the segmentation map. An end effector is adjusted in response to determining the shapes of the objects. The adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects. The plurality of objects is approached in response to the shaping of the end effector, and one of the plurality of objects is picked with the end effector.
Claims17
A computer-implemented method for picking an object from a plurality of objects by a robot having an end effector, the method comprising:
- obtaining an image of a scene containing the plurality of objects;
- generating a segmentation map for the plurality of objects in the scene;
- determining shapes of the plurality of objects based on the segmentation map including obtaining, for each of one or more objects of the plurality of objects in the segmentation map, a respective 3D CAD model of the object and generating a respective shape of the object from the 3D CAD model of the object;
- adjusting the end effector including shaping the end effector according to a shape belonging to an object of the plurality of objects;
- approaching the plurality of objects;
- and
- picking the object of the plurality of objects with the end effector adjusted according to the shape of the object.
A system for picking an object from a plurality of objects with a robot having an end effector, the system comprising:
- one or more cameras for obtaining an image of a scene containing the plurality of objects;
- a processing system coupled to the one or more cameras, the processing system comprising one or more electronic circuits and memory storing instructions that, when executed by the processing system, cause the processing system to perform operations comprising:
- generating a segmentation map for the plurality of objects in the scene;
- determining shapes of the plurality of objects based on the segmentation map including obtaining, for each of one or more objects of the plurality of objects in the segmentation map, a respective 3D CAD model of the object and generating a respective shape of the object from the 3D CAD model of the object;
- adjusting the end effector including shaping the end effector according to a shape belonging to an object of the plurality of objects;
- approaching the plurality of objects;
- and
- picking the object of the plurality of objects with the end effector adjusted according to the shape of the object.
Memory storing instructions that when executed by a computer system comprising one or more electronic circuits cause the computer system to perform operations using a robot having an end effector, the operations comprising:
- obtaining an image of a scene containing a plurality of objects;
- generating a segmentation map for the plurality of objects in the scene;
- determining shapes of the plurality of objects based on the segmentation map including obtaining, for each of one or more objects of the plurality of objects in the segmentation map, a respective 3D CAD model of the object and generating a respective shape of the object from the 3D CAD model of the object;
- adjusting the end effector including shaping the end effector according to a shape belonging to an object of the plurality of objects;
- approaching the plurality of objects;
- and
- picking the object of the plurality of objects with the end effector adjusted according to the shape of the object.
Dependencies are inferred from the claim text.