US 11,986,955 B2
In-hand pose refinement for pick and place automation
Rishav Agarwal, Waterloo (CA); Achuta Kadambi, Los Altos Hills, CA (US); Agastya Kalra, Nepean (CA); and Kartik Venkataraman, San Jose, CA (US)
Assigned to Intrinsic Innovation LLC, Mountain View, CA (US)
Filed by INTRINSIC INNOVATION LLC, Mountain View, CA (US)
Filed on Sep. 9, 2021, as Appl. No. 17/471,063.
Prior Publication US 2023/0071384 A1, Mar. 9, 2023
Int. Cl. B25J 19/02 (2006.01); B25J 13/08 (2006.01); G06T 7/00 (2017.01)
CPC B25J 19/023 (2013.01) [B25J 13/089 (2013.01); G06T 7/0004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of tracking a pose of an object, the method comprising:
moving, by a robotic arm in a workcell, a physical object along a path;
determining, from one or more first images captured by one or more first cameras in the workcell, an initial pose of the object at a first position on the path;
receiving position data and velocity data corresponding to movement of the object along the path to a second position on the path by the robotic arm;
determining an expected pose of the object at the second position on the path based on the position and velocity data and the initial pose of the object;
receiving second image data captured by one or more second cameras in the workcell, the second image data being image data of the object at the second position; and
determining a refined pose of the object at the second position based on the second image data and the expected pose, including:
determining expected keypoints on the expected pose of the object and estimated keypoints on the object from the second image data,
providing the expected pose as an initial condition to a keypoint alignment process to compute an alignment of the expected keypoints and the estimated keypoints, and
computing the refined pose from the alignment of the expected keypoints and the estimated keypoints.