	US 12,444,080 B2
	Method and system for manipulating a multitude of target items supported on a substantially horizontal support surface one at a time
G. Neil Haven, Clearwater, ID (US)
Assigned to Liberty Robotics Inc., Dexter, MI (US)
Filed by Liberty Reach Inc., Clearwater, ID (US)
Filed on Dec. 20, 2022, as Appl. No. 18/085,225.
Application 18/085,225 is a continuation in part of application No. 17/852,482, filed on Jun. 29, 2022, granted, now 11,557,058.
Application 18/085,225 is a continuation in part of application No. 17/569,606, filed on Jan. 6, 2022, granted, now 12,125,242.
Application 18/085,225 is a continuation in part of application No. 17/491,975, filed on Oct. 1, 2021, granted, now 12,118,778.
Application 17/852,482 is a continuation of application No. 17/141,593, filed on Jan. 5, 2021, granted, now 11,436,753, issued on Sep. 6, 2022.
Prior Publication US 2023/0120831 A1, Apr. 20, 2023
Int. Cl. G06T 7/73 (2017.01); B25J 9/16 (2006.01); G06T 7/00 (2017.01)

CPC G06T 7/74 (2017.01) [B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); G06T 7/0008 (2013.01); G06T 2207/10028 (2013.01)]

12 Claims

1. A method of manipulating a multitude of target items supported on a substantially horizontal support surface one at a time, the support surface supporting a configuration of substantially identical items aligned substantially perpendicular to the support surface, the method comprising the steps of:

providing a plurality of hypotheses which are ranked based on surprisals of the hypotheses, each of the hypotheses describing an observation of an item in the configuration, the observations including an observation of the appearance of a perimeter of the item and an observation of the geometry of the perimeter of the item;

generating potential configurations for potential combinations of the multiple items based on the ranked hypotheses; and

ranking the potential configurations wherein the step of ranking includes the step of combining the surprisals of the hypotheses in each potential configuration.