US 12,136,223 B2
Robotic system for object size detection
Jinze Yu, Tokyo (JP); Yoshiki Kanemoto, Tokyo (JP); Jose Jeronimo Moreira Rodrigues, Tokyo (JP); and Rosen Nikolaev Diankov, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, INC., Tokyo (JP)
Filed on May 17, 2022, as Appl. No. 17/746,524.
Claims priority of provisional application 63/189,743, filed on May 18, 2021.
Prior Publication US 2022/0375097 A1, Nov. 24, 2022
Int. Cl. G06T 7/13 (2017.01); B25J 9/16 (2006.01); G06T 1/00 (2006.01); G06T 7/60 (2017.01); G06K 15/02 (2006.01); G06V 10/44 (2022.01); H04N 1/409 (2006.01)
CPC G06T 7/13 (2017.01) [B25J 9/1612 (2013.01); B25J 9/1653 (2013.01); B25J 9/1666 (2013.01); B25J 9/1697 (2013.01); G06T 1/0014 (2013.01); G06T 7/60 (2013.01); G06K 15/1871 (2013.01); G06T 2200/12 (2013.01); G06T 2207/20164 (2013.01); G06V 10/44 (2022.01); H04N 1/4092 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computing system comprising:
a non-transitory computer-readable medium;
at least one processing circuit in communication with a camera having a field of view and configured, when one or more objects are or have been in the field of view, to execute instructions stored on the non-transitory computer-readable medium for:
obtaining image information representing one or objects, each object having a plurality of edges, wherein the image information is generated by the camera and describes at least an object appearance associated with the one or more objects;
detecting a plurality of corners of the one or more objects based on the image information;
identifying a target open corner from the plurality of corners;
defining a minimum viable region for the target open corner, wherein the minimum viable region is defined by:
generating a plurality of candidate edge segments;
determining a plurality of candidate edges from the plurality of candidate edge segments;
defining a plurality of intersection points between respective ones of the plurality of candidate edges;
defining a set of potential minimum viable region candidates based on the plurality of intersection points;
selecting a minimum viable region candidate for the target open corner of the plurality of corners from the set of potential minimum viable region candidates; and
validating the minimum viable region candidate as a minimum viable region for the target open corner.