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Methods and systems for detecting, recognizing, and localizing pallets

  • US 10,328,578 B2
  • Filed: 04/21/2017
  • Issued: 06/25/2019
  • Est. Priority Date: 04/21/2017
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving, at a computing system and from a sensor, sensor data representing aspects of an environment;

    identifying a set of edge points in the sensor data, wherein identifying the set of edge points involves;

    (i) determining a first local surface normal relative to a surface represented in a cluster of data points in the sensor data and a second local surface normal relative to the surface represented in the cluster of data points, and (ii) identifying data points in the cluster of data points that correspond to edge points based on the first local surface normal and the second local surface normal;

    determining a set of line segments from the set of edge points, wherein each line segment is fit to a subset of the set of edge points;

    filtering the set of line segments to exclude line segments that have a length outside a height range and a width range associated with dimensions of a pallet template;

    identifying, from the filtered set of line segments, a subset of line segments that align with the pallet template; and

    determining a pose of a pallet in the environment based on the identified subset of line segments.

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