Systems and methods for machine vision robotic processing

A method for detecting an object, the method comprising:

• capturing, with a camera, a first background image of the object on a surface that is positioned in a field-of-view (FOV) of the camera;
• controlling a plurality of aimable illumination sources to simultaneously project corresponding illuminations toward the surface within the FOV of the camera to form a projected illumination on the surface;
• capturing, with the camera, a scan image comprising the projected illumination formed by simultaneously projected corresponding illuminations that intersect the surface at respective positions;
• determining a first depth map based on separating the scan image into plurality of object scan mask sets, each object scan mask set representing a corresponding image formed only by an illumination of an aimable illumination source chosen from the plurality of aimable illumination sources;
• providing the first depth map and the first background image to a machine learning model;
• and receiving an output from the machine learning model, wherein the output comprises information associated with the object,
• wherein the plurality of aimable illumination sources comprises a first aimable illumination source and a second aimable illumination source, and wherein the first aimable illumination source and the second aimable illumination source have different spectra, and
• wherein the controller is configured to separate the scan image into the plurality of scan image sets each of which is formed only by light having a spectrum of an illumination of said aimable illumination source chosen from the plurality of aimable illumination sources.

A system for detecting an object on a surface, comprising:

• a camera oriented to include the surface in a field-of-view (FOV) of the camera;
• a plurality of aimable illumination sources configured to project corresponding illuminations toward the surface within the FOV of the camera;
• and
• a controller comprising a processor that is configured:
• to control the camera to capture, with the camera, a first background image of the object on the surface;
• to control the plurality of aimable illumination sources to project the corresponding illuminations simultaneously toward the surface to form a projected illumination on the surface;
• to control the camera to capture a scan image comprising the projected illumination formed by simultaneously projected corresponding illuminations that intersect the surface at respective positions;
• to determine a first depth map based on separating the scan image into a plurality of object scan mask sets, each object scan mask set representing an image formed only by an illumination of an aimable illumination source chosen from the plurality of aimable illumination sources;
• to provide the first depth map and the first background image to a trained machine learning model executed by the processor;
• and
• to receive an output from the machine learning model, wherein the output comprises information associated with the object;
• wherein the controller is further configured:
• to controllably scan the projected illumination across the surface within the FOV in a plurality of scan steps by changing a position of the corresponding illumination of each of the plurality aimable illumination source on the surface;
• to determine an object scan set, comprising a plurality of scan image sets, at each scan step of the plurality of scan steps;
• and
• to determine the first depth map based on the object scan set.