Multi-View Camera Motion Planning for Hidden Object Geometry
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Solution Overview
Problem
Existing motion planning systems for robots in warehousing and retail environments rely on limited image information, leading to inaccurate object structure estimation and unreliable motion plans, especially when objects have hidden dimensions or complex geometries.
Innovation Solution
A computing system that uses multiple camera poses and viewpoints to generate comprehensive 2D or 3D image information, allowing for accurate estimation of object structures and updated motion plans by identifying corners and moving the camera to capture additional surface information, thereby improving the reliability of robot-object interactions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single camera pose is used for motion planning, then the system complexity is reduced, but the object structure estimation accuracy deteriorates due to hidden dimensions and complex geometries
Solution Approach 1:
The patent transitions from 2D single-viewpoint image capture to 3D multi-viewpoint image capture by moving the camera through multiple poses in three-dimensional space. This dimensional expansion allows the system to capture hidden surfaces and complex geometries that are invisible from a single viewpoint, thereby improving object structure estimation accuracy without proportionally increasing system complexity.
Solution Approach 2:
The system performs preliminary camera movements to capture multiple images from different poses before generating the motion plan. By collecting comprehensive visual data in advance from multiple viewpoints, the system ensures accurate object structure estimation is achieved before the actual robot interaction begins, resolving the contradiction between simplicity and accuracy.
2Measurement precision
If multiple camera poses are used to capture comprehensive object information, then the object structure estimation accuracy is improved, but the time required for motion planning increases
Solution Approach 1:
The camera captures images at discrete periodic poses rather than continuously, which reduces the total data processing time while still capturing essential object structure information. This periodic sampling approach balances the need for accurate multi-viewpoint data with the constraint of limited planning time.
Solution Approach 2:
The system captures more image data than the minimum single-viewpoint requirement (excessive action), but processes only the essential features from multiple views rather than all possible details. This selective processing of partial information from multiple camera poses achieves accurate object structure estimation without proportionally increasing motion planning time.
3Loss of information
If the camera is moved to multiple poses to capture hidden surfaces, then the completeness of object information is improved, but the device complexity increases
Solution Approach 1:
The end effector apparatus serves multiple functions: it performs both the robot's primary manipulation task and simultaneously positions the camera for multi-viewpoint imaging. This multi-functionality allows the system to capture complete object information from multiple poses without adding separate camera positioning mechanisms, thereby reducing overall device complexity while improving information completeness.
Solution Approach 2:
The patent merges the camera positioning function with the end effector's manipulation function. By combining these two functions into a single integrated system, the patent eliminates the need for separate camera positioning mechanisms, reducing device complexity while still achieving complete object information capture through multiple camera poses.
Data Source
AI summary
A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.