US 11,875,528 B2
Object bin picking with rotation compensation
Te Tang, Fremont, CA (US); and Tetsuaki Kato, Fremont, CA (US)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Filed by FANUC CORPORATION, Yamanashi (JP)
Filed on May 25, 2021, as Appl. No. 17/329,530.
Prior Publication US 2022/0383538 A1, Dec. 1, 2022
Int. Cl. G06T 7/73 (2017.01); G06K 9/00 (2022.01); G06T 7/11 (2017.01); B25J 9/16 (2006.01); G06V 20/10 (2022.01)
CPC G06T 7/73 (2017.01) [B25J 9/161 (2013.01); B25J 9/1612 (2013.01); B25J 9/1697 (2013.01); G06T 7/11 (2017.01); G06V 20/10 (2022.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20076 (2013.01); G06T 2207/20084 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for picking up an object from a group of objects, said method comprising:
obtaining an image of the objects using a camera;
generating a segmentation image of the objects by performing an image segmentation process that includes using neural networks to extract features from the image to provide an extracted features image, identifying x and y coordinates of pixels in the extracted features image and identifying an orientation of the objects in the extracted features image, wherein generating a segmentation image includes identifying a center pixel of each object;
identifying a location for picking up the object using the segmentation image, wherein identifying a location for picking up the object includes identifying the center pixel of one of the objects in the segmentation image and calculating x-y-z coordinates of the center pixel using the location of that center pixel and a depth map image; and
rotating the object using the orientation of the object in the segmentation image.