Perception module for a mobile manipulator robot

A mobile robot comprising:

• a mobile base including a set of wheels;
• a turntable coupled to the mobile base, the turntable configured to rotate relative to the mobile base;
• an imaging apparatus comprising:
• a structural support rigidly coupled to a surface of the turntable at a first location, the structural support extending from the surface of the turntable in a first direction;
• a plurality of perception modules, each of which is arranged on the structural support to have a different field of view and includes:
• a two-dimensional (2D) camera configured to capture a color image of an environment;
• a depth sensor configured to capture depth information of one or more objects in the environment;
• at least one light source configured to provide illumination to the environment;
• and
• control circuitry configured to control a timing of operation of the 2D camera, the depth sensor, and the at least one light source included in each of the plurality of perception modules;
• a robotic arm coupled to the surface of the turntable at a second location different from the first location, the robotic arm extending from the surface of the turntable in the first direction;
• and
• at least one computer processor configured to:
• process the color image and the depth information to identify at least one characteristic of one or more objects in the environment;
• and
• control an operation of the robotic arm based, at least in part, on the identified at least one characteristic.