Method and computing systems for performing object detection

A non-transitory computer-readable medium including instructions for execution by at least one processing circuit in communication with a camera having a field of view and configured, when one or more objects are or have been in the field of view, the instructions being configured for:

• obtaining image information representing a first object of the one or more objects, wherein the image information is generated by the camera and describes at least an object appearance associated with the first object;
• determining a first template matching score as an area-based template matching score which indicates a degree of match between a region of the image information and visual description information of a model template, wherein the visual description information describes an object appearance;
• determining image edge information based on the image information representing the first object, wherein the image edge information identifies a first set of one or more edges corresponding to visual features on the surface of an object that is detected from the image information, or indicates that no edge is detected from the image information;
• determining template edge information, wherein the template edge information identifies a second set of one or more edges detected from the visual description information of the model template, or indicates that no edge is detected from the visual description information;
• determining a second template matching score as an edge-based template matching score which indicates a degree of match between the image edge information within the region and the template edge information;
• determining an overall template matching score as a weighted fraction between the first template matching score and the second template matching score, wherein a first weight for the first template matching score is based in part on one or more reliability factors of the image information including damage to the object represented in the image information;
• and
• performing a robot interaction planning operation based on the overall template matching score, wherein the robot interaction planning operation is for planning robot interaction between the robot and the first object.

A method of controlling a robotic system comprising a non-transitory computer-readable medium, at least one processing circuit in communication with a camera having a field of view and configured to execute instructions, the method comprising:

• obtaining image information representing a first object of the one or more objects, wherein the image information is generated by the camera and describes at least an object appearance associated with the first object;
• determining a first template matching score as an area-based template matching score which indicates a degree of match between a region of the image information and visual description information of a model template, wherein the visual description information describes an object appearance;
• determining image edge information based on the image information representing the first object, wherein the image edge information identifies a first set of one or more edges corresponding to visual features on the surface of an object that is detected from the image information, or indicates that no edge is detected from the image information;
• determining template edge information, wherein the template edge information identifies a second set of one or more edges detected from the visual description
• information of the model template, or indicates that no edge is detected from the visual description information;
• determining a second template matching score as an edge-based template matching score which indicates a degree of match between the image edge information within the region and the template edge information;
• determining an overall template matching score as a weighted fraction between the first template matching score and the second template matching score, wherein a first weight for the first template matching score is based in part on one or more reliability factors of the image information including damage to the object represented in the image information;
• and
• performing a robot interaction planning operation based on the overall template matching score, wherein the robot interaction planning operation is for planning robot interaction between the robot and the first object.