SYSTEM AND METHOD OF IDENTIFYING OBJECTS
First Claim
1. A method for identifying objects with a robotic system, the method comprising:
- capturing an image of at least one object with an image capture device that is moveable with respect to the object;
processing the captured image to identify at least one feature of the at least one object; and
determining a hypothesis based upon the identified feature.
3 Assignments
0 Petitions
Accused Products
Abstract
A system and method for identifying objects using a robotic system are disclosed. Briefly described, one embodiment is a method that captures a first image of at least one object with an image capture device that is moveable with respect to the object, processes the first captured image to determine a first pose of at least one feature the object, determines a first hypothesis that predicts a predicted pose of the identified feature based upon the determined first pose, moves the image capture device, captures a second image of the object, processes the captured second image to identify a second pose of the feature, and compares the second pose of the object with the predicted pose of the object.
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Citations
47 Claims
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1. A method for identifying objects with a robotic system, the method comprising:
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capturing an image of at least one object with an image capture device that is moveable with respect to the object; processing the captured image to identify at least one feature of the at least one object; and determining a hypothesis based upon the identified feature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A robotic system that identifies objects, comprising:
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an image capture device mounted for movement with respect to a plurality of objects; and a processing system communicatively coupled to the image capture device, and operable to; receive a plurality of images captured by the image captive device; identify at least one feature for at least two of the objects in the captured images; determine at least one hypothesis predicting a pose for the at least two objects based upon the identified feature; determine a confidence level for each of the hypotheses; and select the hypothesis with the greatest confidence level. - View Dependent Claims (23, 24, 25, 26)
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27. A method for identifying objects with a robotic system, the method comprising:
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capturing a first image of at least one object with an image capture device that is moveable with respect to the object; determining a first hypothesis based upon at least one feature identified in the first image, wherein the first hypothesis is predictive of a pose of the feature; capturing a second image of the at least one object after a movement of the image capture device; determining a second hypothesis based upon the identified feature, wherein the second hypothesis is predictive of the pose of the feature; and comparing the first hypothesis with the second hypothesis. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. A method for identifying one of a plurality of objects with a robotic system, the method comprising:
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capturing an image of a plurality of objects; processing the captured image to identify a feature associated with at least two of the objects visible in the captured image; determining a hypothesis for the at least two visible objects based upon the identified feature; determining a confidence level for each of the hypotheses for the at least two visible objects; and selecting the hypotheses with the greatest confidence level. - View Dependent Claims (38, 39, 40, 41, 42)
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43. A method for identifying objects using a robotic system, the method comprising:
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capturing a first image of at least one object with an image capture device that is moveable with respect to the object; determining a first pose of at least one feature of the object from the captured first image; determining a hypothesis that predicts a predicted pose of the feature based upon the determined first pose; capturing a second image of the object; determining a second pose of the feature from the captured second image; and updating the hypothesis based upon the determined second pose. - View Dependent Claims (44, 45)
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46. A method for identifying objects using a robotic system, the method comprising:
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capturing a first image of at least one object with an image capture device that is moveable with respect to the object; determining a first view of at least one feature of the object from the captured first image; determining a first hypothesis based upon the first view that predicts a first possible orientation of the object; determining a second hypothesis based upon the first view that predicts a second possible orientation of the object; moving the image capture device; capturing a second image of the object; determining a second view of the at least one feature of the object from the captured second image; determining an orientation of a second view of the at least one feature; and comparing the orientation of the second view with the first possible orientation of the object and the second possible orientation of the object. - View Dependent Claims (47)
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Specification