Systems and methods for detecting and picking up a waste receptacle
First Claim
1. A system for detecting and picking up a waste receptacle, comprising:
- a) an arm for grasping the waste receptacle, the arm mountable on a waste-collection vehicle;
b) a camera for capturing an image;
c) a database for storing a template representation corresponding to the waste receptacle;
d) an arm-actuation module connected to the arm; and
e) a processor mounted on the waste-collection vehicle, in communication with the camera and the database and the arm-actuation module;
f) wherein the processor is configured for;
i) generating a pose candidate based on the image;
ii) verifying whether the pose candidate matches the template representation; and
iii) if the pose candidate matches the template representation, calculating a location of the waste receptacle; and
g) wherein the arm-actuation module is configured for automatically moving the arm in response to the calculated location of the waste receptacle.
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Accused Products
Abstract
Systems and methods for detecting and picking up a waste receptacle, the system being mountable on a waste-collection vehicle, and including an arm for grasping the waste receptacle, a processor, a camera, a non-transitory computer-readable medium, and an arm-actuation module. The processor is configured for generating a pose candidate based on an image captured by the camera, verifying that the pose candidate matches a template representation stored on the medium, and calculating a location of the waste receptacle. The arm-actuation module can be configured to automatically move the arm in response to the calculated location, in order to grasp the waste receptacle, lift, and dump the waste receptacle into a waste-collection vehicle.
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Citations
20 Claims
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1. A system for detecting and picking up a waste receptacle, comprising:
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a) an arm for grasping the waste receptacle, the arm mountable on a waste-collection vehicle; b) a camera for capturing an image; c) a database for storing a template representation corresponding to the waste receptacle; d) an arm-actuation module connected to the arm; and e) a processor mounted on the waste-collection vehicle, in communication with the camera and the database and the arm-actuation module; f) wherein the processor is configured for; i) generating a pose candidate based on the image; ii) verifying whether the pose candidate matches the template representation; and iii) if the pose candidate matches the template representation, calculating a location of the waste receptacle; and g) wherein the arm-actuation module is configured for automatically moving the arm in response to the calculated location of the waste receptacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for detecting and picking up a waste receptacle comprising:
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a) capturing an image with a camera; b) generating a pose candidate based on the image; c) verifying whether the pose candidate matches a template representation; d) if and only if the pose candidate matches the template representation, calculating a location of the waste receptacle; and
,e) moving an arm mounted on a waste-collection vehicle in response to the calculated location of the waste receptacle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A method for creating a representation of an object, comprising:
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a) capturing a plurality of images of the object at a plurality of angles and depths; b) deriving gradient information corresponding to the boundary of the object based on the plurality of images; c) obtaining pose information corresponding to the plurality of angles and depths; d) deriving pose metadata based on the pose information; and
,e) composing a template representation corresponding to the object based on the gradient information and the pose metadata. - View Dependent Claims (20)
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Specification