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US 2022/0016767 A1Published application
Method and system for object grasping
AssigneeVicarious FPC, Inc.
InventorsLi Yang Ku, Nan Rong, Bhaskara Mannar Marthi
Life of this patent
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Abstract
A method for object grasping can include: generating a set of keypoints for one or more detected objects in a scene; subdividing the set of keypoints into subsets, each corresponding to a subregion of a detected object; determining a graspability score for the subregion; determining a grasp location for the subregion; selecting a candidate grasp location; and optionally grasping an object using the candidate grasp location.
Claims22
A method comprising:
- receiving an image of a scene comprising a plurality of visible objects;
- using an object detector, generating a set of keypoints for an exposed portion of a visible object in the scene, wherein each keypoint defines a position within a coordinate frame of the image;
- subdividing each set of keypoints into subsets, wherein each subset corresponds to a predetermined subregion of the visible object;
- determining a grasp location for each subset based on the positions of the respective keypoints;
- selecting, from a resultant set of grasp locations, a candidate grasp location for the visible object based on a grasp probability score associated with the respective subregion;
- and
- facilitating grasp execution based on the candidate grasp location.
4 more elements
A method comprising:
- generating a keypoint set for each object depicted within an image of a scene comprising a plurality of objects;
- subdividing each keypoint set into regional subsets, wherein each regional subset corresponds to a predetermined subregion of the respective object;
- determining a grasp location for each regional subset based on positions of the respective keypoints;
- selecting a grasp location, from a resultant set of grasp locations, based on the associated subregion;
- and
- facilitating grasp execution based on the selected grasp location.
3 more elements
Dependencies are inferred from the claim text.