Container Pose Detection Using Rim Measurements
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Solution Overview
Problem
Existing robotic systems face challenges in accurately determining the pose of objects within containers due to imaging noise and measurement errors, which can affect the precision of robot interaction, especially when objects are disposed on container surfaces or within crowded containers.
Innovation Solution
The system employs a spatial structure sensing camera and object identifier sensing device to generate spatial structure information and object identifier information, allowing the computing system to determine container and object poses by using container rim measurements to compensate for noise and errors, and outputting movement commands for robot interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If spatial structure sensing camera is used to capture objects in container, then object detection capability is improved, but measurement precision deteriorates due to imaging noise and errors
Solution Approach 1:
The patent introduces container rim measurements as an intermediary reference frame. Instead of directly measuring object poses from noisy camera images, the system first captures precise container rim positions and uses these as a stable reference to compensate for imaging noise and calculate corrected object poses, thereby improving measurement precision while maintaining detection capability
Solution Approach 2:
The system implements a feedback mechanism where container rim measurements are continuously used to correct and refine object pose calculations. The measured container rim positions feed back into the pose determination algorithm to compensate for drift and noise accumulation, ensuring sustained measurement precision during robot interaction
2Extent of automation
If robot arm is used for object retrieval, then automation level is improved, but positioning precision deteriorates due to accumulated errors in pose determination
Solution Approach 1:
The container rim serves as an intermediary reference that decouples the robot positioning system from direct dependency on noisy object measurements. By using the stable container rim as a mediator, the system reduces accumulated errors in pose determination and improves positioning precision for automated robot arm operations
Solution Approach 2:
The system performs preliminary measurement of container rim positions before object retrieval operations. This preliminary action establishes an accurate reference frame that compensates for potential drift during robot arm movement, thereby maintaining positioning precision throughout the automated retrieval process
Data Source
AI summary
A system and method for performing object detection are presented. The system receives spatial structure information associated with an object which is or has been in a camera field of view of a spatial structure sensing camera. The spatial structure information is generated by the spatial structure sensing camera, and includes depth information for an environment in the camera field of view. The system determines a container pose based on the spatial structure information, wherein the container pose is for describing at least one of an orientation for the container or a depth value for at least a portion of the container. The system further determines an object pose based on the container pose, wherein the object pose is for describing at least one of an orientation for the object or a depth value for at least a portion of the object.