System and method for object segmentation for task performance
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsAnoop Cherian, Siddarth Jain, Tim Marks
Life of this patent
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Abstract
Embodiments disclosing a controller for controlling a robot to perform a task are provided. The task is performed in an environment that is represented by an input image. The controller causes segmenting of an object in the input image. A confidence level of segmentation is updated by comparing the segmented object with constrained affined transformations of a template of the object. The constrained affine transformations are based on constraints indicative of a property of the object. The property of the object and the updated confidence level of segmentation are then used for performing the task.
Claims20
A robot for performing a task, comprising a processor causing the robot to:
- segment an object in an input image to produce a segmented object and a confidence level of segmentation;
- update the confidence level of segmentation, to generate an updated confidence level, by comparing the segmented object with constrained affined transformations of a template of the object, wherein a constraint limiting the affined transformations is indicative of a property of the object, wherein the property of the object is selected based on the task to be performed and limits a space of affine transformations considered during updating of the confidence level;
- and
- perform the task based on the segmented object and the updated confidence level of the segmented object.
A controller for controlling a robot for performing a task, the controller comprising:
- a memory to store instructions;
- and
- a processor configured to execute the instructions to cause the controller to perform operations, the operations comprising:
- segmenting an object in an input image, wherein the input image is indicative of an environment associated with the task;
- updating a confidence level of segmentation by comparing the segmented object with constrained affined transformations of a template of the object with constraints indicative of a property of the object, wherein the property of the object is selected based on the task to be performed and limits a space of affine transformations considered during updating of the confidence level;
- and
- performing the task using the property of the object based on the updated confidence level of the segmented object.
A non-transitory computer-readable medium having stored thereon instructions that when executed by a computer, cause the computer to perform a method for controlling a robot for performing a task, the method comprising:
- segmenting an object in an input image;
- updating a confidence level of segmentation by comparing the segmented object with constrained affined transformations of a template of the object with constraints indicative of a property of the object, wherein the property of the object is selected based on the task to be performed and limits a space of affine transformations considered during updating of the confidence level;
- and
- performing the task using the property of the object based on the updated confidence level of the segmented object.
Dependencies are inferred from the claim text.