Systems and methods for a vision guided end effector
AssigneeIntrinsic Innovation LLC
InventorsVage TAAMAZYAN, Kartik VENKATARAMAN, Agastya KALRA, Achuta KADAMBI
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Abstract
Systems and method for an object from a plurality of objects are disclosed. An image of a scene containing the plurality of objects is obtained, and a segmentation map is generated for the objects in the scene. The shapes of the objects are determined based on the segmentation map. An end effector is adjusted in response to determining the shapes of the objects. The adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects. The plurality of objects is approached in response to the shaping of the end effector, and one of the plurality of objects is picked with the end effector.
Claims16
A computer-implemented method for picking an object from a plurality of objects, the method comprising:
- obtaining an image of a scene containing the plurality of objects;
- generating a segmentation map for the objects in the scene;
- determining shapes of the objects based on the segmentation map;
- adjusting an end effector in response to determining the shapes of the objects, wherein the adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects;
- approaching the plurality of objects in response to the shaping of the end effector;
- and
- picking one of the plurality of objects with the end effector.
A system for picking an object from a plurality of objects, the system comprising:
- one or more cameras for obtaining an image of a scene containing the plurality of objects;
- a processing system coupled to the polarization camera, the processing system comprising a processor and memory storing instructions that, when executed by the processor, cause the processor to perform:
- generating a segmentation map for the objects in the scene;
- determining shapes of the objects based on the segmentation map;
- adjusting an end effector in response to determining the shapes of the objects, wherein the adjusting the end effector includes shaping the end effector according to at least one of the shapes of the objects;
- approaching the plurality of objects in response to the shaping of the end effector;
- and
- picking one of the plurality of objects with the end effector.
Dependencies are inferred from the claim text.