Method and system for locating and picking objects using active illumination
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorsAmit K. Agrawal, Ramesh Raskar
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Abstract
A method and system determines a 3D pose of an object in a scene. Depth edges are determined from a set of images acquired of a scene including multiple objects while varying illumination in the scene. The depth edges are linked to form contours. The images are segmented into regions according to the contours. An occlusion graph is constructed using the regions. The occlusion graph includes a source node representing an unoccluded region of an unoccluded object in scene. The contour associated with the unoccluded region is compared with a set of silhouettes of the objects, in which each silhouette has a known pose. The known pose of a best matching silhouette is selected as the pose of the unoccluded object.
Claims18
A method for determining 3D pose of an object in a scene, comprising:
- determining depth edges from a set of images acquired of a scene including a plurality of objects while varying illumination in the scene;
- linking the depth edges to form contours;
- segmenting the images into regions according to the contours;
- constructing an occlusion graph using the regions, in which the occlusion graph includes a source node representing an unoccluded region of an unoccluded object in the scene;
- comparing the contour associated with the unoccluded region with a set of silhouettes of the plurality of objects, in which each silhouette has a known pose;
- and
- selecting the known pose of a best:
- matching silhouette as the pose of the unoccluded object, the steps are performed by a processor.
Dependencies are inferred from the claim text.