Post-detection refinement based on edges and multi-dimensional corners
AssigneeMUJIN, Inc.
InventorsJinze Yu, Jose Jeronimo Moreira Rodrigues
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to verifying an initial object estimation of an object. A two-dimensional (2D) image representative of an environment including one or more objects may be obtained. The 2D image may be inspected to detect edges of an object. The edges may be processed to verify or update an initial object estimation to increase the accuracy of an object detection result.
Claims20
A tangible, non-transient computer-readable medium having instructions stored thereon that, when executed by a processor, cause the processor to perform a method, the method comprising:
- obtaining a first image and a second image representative of an environment having an object located therein, wherein the first and second images use different imaging characteristics to depict the object;
- based on the first image, computing an estimated location of the object;
- identifying one or more object edges based on analyzing the first image, wherein the identified object edges correspond to the object;
- identifying a feature location based on comparing the one or more object edges and the second image, the feature location representing a location of a feature in the second image that corresponds to the one or more object edges;
- and
- generating an object detection result based on the estimated location and the feature location.
A method of operating a robotic system, the method comprising:
- obtaining a first image and a second image representative of an environment having an object located therein, wherein the first and second images use different imaging characteristics to depict the object;
- based on the first image, computing an estimated location of the object;
- identifying one or more object edges based on analyzing the first image, wherein the identified object edges correspond to the object;
- identifying a feature location based on comparing the one or more object edges and the second image, the feature location representing a location of a feature in the second image that corresponds to the one or more object edges;
- and
- generating an object detection result based on the estimated location and the feature location.
A robotic system comprising:
- at least one processor;
- and
- at least one memory device coupled to the at least one processor, the at least one memory having instructions stored thereon, that when executed by the processor, cause the processor to:
- obtain a first image and a second image representative of an environment having an object located therein, wherein the first and second images use different imaging characteristics to depict the object;
- based on the first image, compute an estimated location of the object;
- identify one or more object edges based on analyzing the first image, wherein the identified object edges correspond to the object;
- identify a feature location based on comparing the one or more object edges and the second image, the feature location representing a location of a feature in the second image that corresponds to the one or more object edges;
- and
- generate an object detection result based on the estimated location and the feature location.
Dependencies are inferred from the claim text.