Robotic visual perception system

A computer-implemented method for determining a position and pose of a three-dimensional object, comprising:

• an act of causing a data processor to execute instructions stored on a non-transitory memory such that upon execution, the data processor performs operations of:
• receiving visual input from a sensor of a robotic controller that senses an object of interest;
• extracting a plurality of rotation-invariant shape features from the sensed object of interest;
• extracting, a plurality of rotation-invariant shape features from a set of object templates using shape features;
• identifying a match between the sensed object of interest and an object template;
• confirming the match between the sensed object of interest and the object template using appearance features;
• identifying the sensed object of interest and determining a three-dimensional pose of the sensed object of interest;
• and
• using the robotic controller to handle the sensed object of interest based on the determined three-dimensional pose of the sensed object of interest.

A computer program product for determining a position and pose of a three-dimensional object, the computer program product comprising computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having a processor for causing the processor to perform operations of:

• receiving visual input from a sensor of a robotic controller that senses an object of interest;
• extracting a plurality of rotation-invariant shape features from the sensed object of interest;
• extracting, a plurality of rotation-invariant shape features from a set of object templates using shape features;
• identifying a match between the sensed object of interest and an object template;
• confirming the match between the sensed object of interest and the object template using appearance features;
• identifying the sensed object of interest and determining a three-dimensional pose of the sensed object of interest;
• and
• using the robotic controller to handle the sensed object of interest based on the determined three-dimensional pose of the sensed object of interest.