Iterative control of robot for target object

A processor-executable method comprising:

• acquiring a first image of an observation area in a vicinity of a robot, from an image sensor;
• calculating a probability that the observation area includes a task area in which the robot is to perform a task on a target object, based on the first image, wherein the calculating comprises comparing a configuration of an end effector of the robot with a structure of the target object included in the observation area based on the first image to calculate the probability;
• extracting the task area from the first image, based on the probability calculated;
• controlling the robot to cause the robot to approach the task area;
• acquiring a second image of the observation area from the image sensor, after the robot approaches the task area;
• calculating the probability that the observation area includes the task area, based on the second image, wherein the calculating comprises comparing the configuration of the end effector with the structure of the target object included in the observation area based on the second image to calculate the probability;
• extracting the task area from the second image based on the probability associated with the second image;
• and
• controlling the robot to further approach the task area extracted from the second image, to iteratively move the robot toward the task area.

A non-transitory computer-readable storage medium storing processor-executable instructions to:

• acquire a first image of an observation area in a vicinity of a robot, from an image sensor;
• calculate a probability that the observation area includes a task area in which the robot is to perform a task on a target object, based on the first image, wherein a configuration of an end effector of the robot is compared with a structure of the target object included in the observation area based on the first image to calculate the probability;
• extract the task area from the first image, based on the probability calculated;
• control the robot to cause the robot to approach the task area;
• acquire a second image of the observation area from the image sensor, after the robot approaches the task area;
• calculate the probability that the observation area includes the task area, based on the second image, wherein the configuration of the end effector is compared with the structure of the target object included in the observation area based on the second image to calculate the probability;
• extract the task area from the second image based on the probability associated with the second image;
• and
• control the robot to further approach the task area extracted from the second image, to iteratively move the robot toward the task area.