Method and computing system for performing object detection or robot interaction planning based on image information generated by a camera

A non-transitory computer-readable medium having instructions that, when executed by at least one processing circuit of a computing system, configures the at least one processing circuit to:

• identify, based on object structure information that represents at least a portion of an object structure associated with the object, an object corner associated with the object structure;
• output, based on the object structure information, one or more camera placement movement commands which, when executed by the robot, causes the robot to move the camera to a camera pose in which the camera is pointed at the object corner;
• update the object structure information based on image information, generated by the camera in the camera pose, to generate sensed structure information;
• determine an object type associated with the object based on the sensed structure information.

A method performed by a computing system, the method comprising:

• identifying at the computing system, based on object structure information, an object corner associated with an object structure, wherein the object structure information represents at least a portion of the object structure associated with the object and wherein the computing system is configured to communicate with:
• (i) a robot, and (ii) a camera mounted on the robot and having a camera field of view;
• outputting, based on the object structure information, one or more camera placement movement commands which, when executed by the robot, causes the robot to move the camera to a camera pose in which the camera is pointed at the object corner;
• updating the object structure information based on image information, generated by the camera in the camera pose, to generate sensed structure information;
• determining an object type associated with the object based on the sensed structure information.