Object Recognition Template Generation for Irregular Robotic Retrieval
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robots lack the sophistication to duplicate human interactions required for executing complex tasks involving object identification and retrieval, particularly in environments where objects are irregularly arranged.
Innovation Solution
A computing system generates a set of object recognition templates representing different viewpoints and appearances of an object, which are communicated to a robotic control system to enhance object identification and retrieval, using 2D and 3D image information and validation scores to refine and validate detection hypotheses.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional object detection methods are used, then the system is simple to implement, but the speed, precision, and accuracy of object detection are insufficient
Solution Approach 1:
The system performs preliminary actions by pre-generating multiple object recognition templates representing different viewpoints and appearances before actual object detection occurs. These templates are created offline and stored for rapid comparison during runtime, eliminating the need for complex real-time 3D rendering and viewpoint transformation.
Solution Approach 2:
The invention creates multiple copies of the object model from different viewpoints and appearances. Instead of analyzing a single object view, the system generates template copies representing various poses and lighting conditions, enabling robust matching against real-world variations without requiring complex adaptive algorithms.
2Measurement precision
If multiple viewpoints and appearances are considered, then object identification accuracy improves, but processing time increases
Solution Approach 1:
Multiple viewpoints and appearances are pre-computed and stored as templates before actual object detection. This preliminary generation of diverse templates eliminates the need for time-consuming real-time viewpoint synthesis, allowing rapid template matching while maintaining high identification accuracy across various object poses.
3Adaptability or versatility
If traditional robot automation is used, then the system is easy to operate, but it lacks sophistication to duplicate human interactions for complex tasks
Solution Approach 1:
The system introduces an intermediary template matching layer between the robot and the object. Instead of requiring complex human-like interaction understanding, the robot uses pre-generated templates as intermediaries to recognize objects and their poses, enabling sophisticated task execution while maintaining simple operational control through template-based pattern recognition.
Data Source
AI summary
A computing system including a processing circuit in communication with a camera having a field of view. The processing circuit is configured to perform operations related to detecting, identifying, and retrieving objects disposed amongst a plurality of objects. The processing circuit may be configured to perform operations related to object recognition template generation, feature generation, hypothesis generation, hypothesis refinement, and hypothesis validation.