Title:
TRANSPARENT OBJECT BIN PICKING
Document Type and Number:
Japanese Patent JP2022181173
Kind Code:
A
Abstract:
To provide a system and method for identifying an object, such as a transparent object, to be picked up by a robot from a bin of objects without relying on an accurate depth map image.SOLUTION: A method includes: obtaining a 2D red-green-blue (RGB) color image and a 2D depth map image of objects using a 3D camera, where pixels in the depth map image are assigned a value identifying a distance from the camera to the objects; generating a segmentation image of the objects using a deep learning mask R-CNN (convolutional neural network) that performs an image segmentation process that extracts features from the RGB image and assigns a label to the pixels so that objects in the segmentation image have the same label; and identifying a location for picking up the object using the segmentation image and the depth map image.SELECTED DRAWING: Figure 2
Inventors:
TANG TE
KATO TETSURO
KATO TETSURO
Application Number:
JP2022068052A
Publication Date:
December 07, 2022
Filing Date:
April 18, 2022
Export Citation:
Assignee:
FANUC LTD
International Classes:
G06T7/73; B25J13/08; G06T7/00
Attorney, Agent or Firm:
Aoki Atsushi
Shinji Mihashi
Shigeki Hirose
Shinji Mihashi
Shigeki Hirose