US 12,380,671 B2
Systems and methods for generating an object recognition template
Ahmed Abouelela, Tokyo (JP); Hamdi Sahloul, Tokyo (JP); Jose Jeronimo Moreira Rodrigues, Tokyo (JP); Xutao Ye, Tokyo (JP); and Jinze Yu, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, INC., Tokyo (JP)
Filed on Aug. 9, 2022, as Appl. No. 17/884,114.
Claims priority of provisional application 63/230,931, filed on Aug. 9, 2021.
Prior Publication US 2023/0041378 A1, Feb. 9, 2023
Int. Cl. G06V 10/75 (2022.01); B25J 9/16 (2006.01); G06T 1/00 (2006.01); G06T 7/73 (2017.01); G06V 20/64 (2022.01)
CPC G06V 10/7515 (2022.01) [B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); G06T 1/0014 (2013.01); G06T 7/74 (2017.01); G06V 10/751 (2022.01); G06V 10/757 (2022.01); G06V 20/653 (2022.01); G06V 2201/06 (2022.01)] 18 Claims
OG exemplary drawing
 
1. A computing system configured to generate an object recognition template for identifying an object in a scene comprising: at least one processing circuit configured for: obtaining object information including a digitally represented object; extracting two-dimensional measurement information from the object information, including extracting gradient information from the object information, the gradient information being indicative of a direction or orientation of a candidate edge of the digitally represented object; extracting three-dimensional measurement information from the object information, including extracting surface normal vector information from the object information, the surface normal vector information describing a plurality of vectors normal to a surface of the digitally represented object; and generating an object recognition template according to the two-dimensional measurement information and the three-dimensional measurement information, wherein the object recognition template is for an object picking operation for the object in the scene by a robot interaction.