Probable reconstruction of surfaces in occluded regions by computed symmetry

A system for obtaining a probable 3D map of an occluded surface of an object, the system comprising:

• means for acquiring an initial 3D map of a visible surface of the object as viewed from a known viewpoint;
• means for identifying one or more symmetries of the initial 3D map;
• and
• means for computing the probable 3D map of the occluded surface from the one or more identified symmetries and the initial 3D map.

A method for determining a probable 3D map of an occluded surface of an object, comprising the steps of:

• acquiring an initial 3D map of a visible surface of the object as viewed from a known viewpoint;
• identifying one or more symmetries of the initial 3D map;
• and
• computing the probable 3D map of the occluded surface from the identified one or more symmetries and the initial 3D map.

A system for obtaining a probable 3D map of an occluded surface of an object, the system comprising:

• a computing device configured to
• receive an initial 3D map of a visible surface of the object as viewed from a known viewpoint;
• identify one or more symmetries of the initial 3D map;
• and
• compute the probable 3D map of the occluded surface from the identified one or more symmetries and the initial 3D map.

A non-transitory computer-readable medium comprising program instructions for computing a probable 3D map of an occluded surface of an object, the program instructions comprising the steps of:

• receiving an initial 3D map of a visible surface of the object as viewed from a known viewpoint;
• identifying one or more symmetries of the initial 3D map;
• and
• computing the probable 3D map of the occluded surface from the identified one or more symmetries and the initial 3D map.

A robotic system comprising:

• an arm terminating in an end-effector having components for grasping an object, the object having an occluded surface;
• an imager configured to acquire an initial 3D map of a visible surface of the object;
• and
• a computing device configured to
• identify one or more symmetries of the initial 3D map,
• compute a probable 3D map of the occluded surface from the identified one or more symmetries and the initial 3D map, and
• compute a grasp for the end-effector, the grasp describing positions of one or more of the components for grasping relative to the probable 3D map of the occluded surface.