In-hand pose refinement for pick and place automation
AssigneeIntrinsic Innovation LLC
InventorsRishav Agarwal, Achuta Kadambi, Agastya Kalra, Kartik Venkataraman
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Abstract
A method of tracking a pose of an object includes determining an initial pose of the object at a first position, receiving position data and velocity data corresponding to movement of the object to a second position by a moving device, determining an expected pose of the object at the second position based on the position and velocity data and the initial pose, receiving second image data corresponding to the object at the second position from a camera, and determining a refined pose of the object at the second position based on the second image data and the expected pose.
Claims20
A method of tracking a pose of an object, the method comprising:
- determining an initial pose of the object at a first position;
- receiving position data and velocity data corresponding to movement of the object to a second position by a moving device;
- determining an expected pose of the object at the second position based on the position and velocity data and the initial pose;
- receiving second image data corresponding to the object at the second position from a camera;
- and
- determining a refined pose of the object at the second position based on the second image data and the expected pose.
A pose tracking system comprising:
- a camera configured to capture image data corresponding to an object being moved according to position data and velocity data;
- a processor;
- and
- a memory configured to store instructions that, when executed by the processor, cause the processor to perform:
- determining an initial pose of the object at a first position;
- receiving position data and velocity data corresponding to movement of the object to a second position by a moving device;
- determining an expected pose of the object at the second position based on the position and velocity data and the initial pose;
- receiving second image data corresponding to the object at the second position from a camera;
- and
- determining a refined pose of the object at the second position based on the second image data and the expected pose.
Dependencies are inferred from the claim text.