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US 2022/0016765 A1Published application
Method and system for object grasping
AssigneeVicarious FPC, Inc.
InventorsLi Yang Ku, Michael Stark, Ahmad Humayun, Nan Rong, Bhaskara Marthi
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Abstract
A method for object grasping, including: determining features of a scene; determining candidate grasp locations; determining a set of candidate grasp proposals for the candidate grasp locations; optionally modifying a candidate grasp proposal of the set; determining grasp scores associated with the candidate grasp proposals; selecting a set of final grasp proposals based on the grasp scores; and executing a grasp proposal from the set of final grasp proposals.
Claims21
A method, comprising:
- determining a set of keypoint and object component identifier pairs for each of a plurality of objects in a scene;
- determining a set of candidate grasp locations, using the sets of keypoint and object component identifier pairs;
- determining a set of candidate grasp proposals for the set of candidate grasp locations;
- scoring the candidate grasp proposals of the set;
- selecting a final grasp proposal based on a respective score;
- and
- executing the final grasp proposal.
4 more elements
A system, comprising:
- imaging system, configured to capture images of an inference scene;
- an object detector, configured to determine a set of keypoint and object component identifier pairs for a plurality of objects in the inference scene;
- a planning module, configured to determine a final grasp based at least in part on keypoints and the associated object component identifiers;
- and
- a robotic system, configured to execute the final grasp.
2 more elements
Dependencies are inferred from the claim text.