Systems and methods for object detection
AssigneeMujn, Inc.
InventorsAhmed Abouelela, Hamdi Sahloul, Jose Jeronimo Moreira Rodrigues, Xutao Ye, Jinze Yu
Life of this patent
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Abstract
A computing system including a processing circuit in communication with a camera having a field of view. The processing circuit is configured to perform operations related to detecting, identifying, and retrieving objects disposed amongst a plurality of objects. The processing circuit may be configured to perform operations related to object recognition template generation, feature generation, hypothesis generation, hypothesis refinement, and hypothesis validation.
Claims17
A computing system comprising:
- at least one processing circuit in communication with a robot, having an arm and an end-effector connected thereto, and a camera having a field of view and configured, when one or more objects are or have been in the field of view, to execute instructions stored on a non-transitory computer-readable medium for:
- obtaining object image information of an object in a scene;
- obtaining a detection hypothesis including a corresponding object recognition template representing a template object;
- identifying a discrepancy between the template object and the object image information;
- identifying a set of template locations in the template object corresponding to a set of object locations of the object image information;
- adjusting the set of template locations to converge to the set of object locations by identifying respective vectors extending between the set of template locations and corresponding ones of the set of object locations;
- iteratively adjusting the set of template locations according to magnitudes and directions of the respective vectors until the respective vectors cancel each other out and no further adjustments to the template locations can be made;
- and
- generating an adjusted detection hypothesis including an adjusted corresponding object recognition template according to the set of template locations after adjustment.
A method comprising:
- obtaining object image information of an object in a scene;
- obtaining a detection hypothesis including a corresponding object recognition template representing a template object;
- identifying a discrepancy between the template object and the object image information;
- identifying a set of template locations in the template object corresponding to a set of object locations of the object image information;
- adjusting the set of template locations to converge to the set of object locations by identifying respective vectors extending between the set of template locations and corresponding ones of the set of object locations;
- iteratively adjusting the set of template locations according to magnitudes and directions of the respective vectors until the respective vectors cancel each other out and no further adjustments to the template locations can be made;
- and
- generating an adjusted detection hypothesis including an adjusted corresponding object recognition template according to the set of template locations after adjustment.
A non-transitory computer readable medium, configured with executable instructions for implementing a method for refining a detection hypothesis, operable by at least one processing circuit via a communication interface configured to communicate with a robotic system, the method comprising:
- receiving object image information of an object in a scene;
- receiving a detection hypothesis including a corresponding object recognition template representing a template object;
- performing an operation to identify a discrepancy between the template object and the object image information;
- performing an operation to identify a set of template locations in the template object corresponding to a set of object locations of the object image information;
- performing an operation to adjust the set of template locations to converge to the set of object locations by identifying respective vectors extending between the set of template locations and corresponding ones of the set of object locations;
- performing an operation to iteratively adjust the set of template locations according to magnitudes and directions of the respective vectors until the respective vectors cancel each other out and no further adjustments to the template locations can be made;
- and
- outputting to the robotic system an adjusted detection hypothesis including an adjusted corresponding object recognition template according to the set of template locations after adjustment.
Dependencies are inferred from the claim text.