Robotic kitchen system with grease-compensating markers to identify and locate objects in the kitchen workspace

A robotic kitchen system for carrying out a food preparation step within a robotic workspace, the system comprises:

• at least one retro-reflective marker arranged on an object in the kitchen workspace;
• a camera assembly comprising a light emitter and aimed at a scene containing the at least one retro-reflective marker, said camera assembly generating image data of the scene including the at least one retro-reflective marker;
• and
• a computer programmed and operable to identify and locate the at least one retro-reflective marker based on the image data.

A method for carrying out a food preparation step within a robotic kitchen workspace, the method comprising:

• installing a retro-reflective marker on an object in the robotic kitchen workspace;
• arranging at least one IR light source adjacent a lens of a camera;
• directing IR light from the light source at a scene containing the retro-reflective marker;
• receiving, by the lens, light reflected off the marker and the surroundings;
• generating image data of the scene including the marker;
• and
• detecting the identity and location of the marker based on the image data.