Refuse can detection systems and methods

A method for detecting a refuse can, the method comprising:

• receiving data from one or more sensors coupled to a refuse collection vehicle, wherein the data is received responsive to detection of an object;
• processing the data by inputting the data into a single-stage object detector;
• identifying the object as the refuse can based on an output of the single-stage object detector, wherein identifying the object as the refuse can based on the output of the single-stage object detector includes determining that the object is located in a predetermined bounding box;
• generating, responsive to identifying the object as the refuse can, a user interface to display at least a portion of the data;
• providing, via the user interface, an element that indicates a location of the refuse can, the element added to the at least a portion of the data such that the element:
• surrounds the refuse can within the at least a portion of the data;
• and
• continues to surround the refuse can responsive to at least one movement of the refuse collection vehicle;
• determining a trajectory for an actuator assembly of the refuse collection vehicle, wherein the trajectory includes (i) a path or (ii) one or more movements for the actuator assembly to engage the refuse can;
• updating, responsive to determining the trajectory, the user interface to include a graphical representation of the trajectory such that (i) the path or (ii) the one or more movements is presented via the user interface;
• updating the graphical representation of the trajectory responsive to a change in a position between the refuse collection vehicle and the refuse can;
• and
• adjusting, during performance of at least a portion of the trajectory by the actuator assembly, a position of the element within the at least a portion of the data such that the element continues to surround the refuse can to indicate the location of the refuse can.

A controller for a refuse collection vehicle, the controller comprising:

• one or more memory devices having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
• receiving data from one or more image sensors coupled to an exterior of the refuse collection vehicle, wherein the data is received responsive to detection of an object;
• processing the data via a single-stage object detector to identify the object as a refuse can, wherein an output of the single-stage object detector is a determination that the object is located in a predetermined bounding box;
• generating, responsive to identifying the object as the refuse can, a user interface to display at least a portion of the data;
• providing, via the user interface, an element that indicates a location of the refuse can, the element added to the at least a portion of the data such that the element:
• surrounds the refuse can within the at least a portion of the data;
• and
• continues to surround the refuse can responsive to at least one movement of the refuse collection vehicle;
• determining a trajectory for an actuator assembly of the refuse collection vehicle, wherein the trajectory includes (i) a path or (ii) one or more movements for the actuator assembly to engage the refuse can;
• updating, responsive to determining the trajectory, the user interface to include a graphical representation of the trajectory such that (i) the path or (ii) the one or more movements is presented via the user interface;
• updating the graphical representation of the trajectory responsive to a change in a position between the refuse collection vehicle and the refuse can;
• and
• adjusting, during performance of at least a portion of the trajectory by the actuator assembly, a position of the element within the at least a portion of the data such that the element continues to surround the refuse can to indicate the location of the refuse can.