Systems and methods for assisting in object recognition in object processing systems
An object recognition system includes: an image capture system for capturing at least one image of an object, and for providing image data representative of the captured image; a patch identification system in communication with the image capture system for receiving the image data, and for identifying at least one image patch associated with the captured image, each image patch being associated with a potential grasp location on the object, each potential grasp location being described as an area that may be associated with a contact portion of an end effector of a programmable motion device; a feature identification system for capturing at least one feature of each image patch, for accessing feature image data in the database and for providing feature identification data responsive to the image feature comparison data; and an object identification system for providing object identify data responsive to the image feature comparison data.
1 . An object recognition system in communication with a database, said object recognition system comprising:
an image capture system for capturing at least one image of an object, and for providing image data representative of the captured image;
a patch identification system in communication with the image capture system for receiving the image data, and for identifying more than one image patch associated with the captured image, each image patch being associated with a potential grasp location on the object, each potential grasp location being described as an area corresponding to a contact portion of an end effector of a programmable motion device;
a feature identification system for capturing at least one feature of each image patch, the at least one feature of each image patch being a unique pattern exhibited by neighboring pixels within the image patch, for accessing feature image data in the database against which each captured at least one feature is compared to provide image feature comparison data, and for providing feature identification data responsive to the image feature comparison data; and
an object identification system for providing object identity data responsive to the image feature comparison data, said object identity data including data representative of an identity of the object as well as at least one grasp location on the object.
2 . The object recognition system as claimed in claim 1 , wherein the contact portion of the end effector of the programmable motion device is a contact portion of a vacuum cup end effector.
3 . The object recognition system as claimed in claim 1 , wherein the contact portion of the end effector of the programmable motion device is an object-level patch that includes a contact portion of a vacuum cup end effector.
4 . The object recognition system as claimed in claim 1 , wherein the object identification system provides patch center data representative of a center of each patch, and the patch center data is provided responsive to the at least one captured feature.
5 . The object recognition system as claimed in claim 1 , wherein the object recognition system further includes an object image identification system in communication with the image capture system for receiving the image data, and for identifying an object associated with at least one object image associated with the captured image.
6 . The object recognition system as claimed in claim 1 , wherein the system prioritizes patch matches over model-free grasps.
7 . The object recognition system as claimed in claim 1 , wherein the system includes an input station at which objects are provided in input containers.
8 . The object recognition system as claimed in claim 1 , wherein the system includes an input station at which objects are provided on an input conveyor.
9 . The object recognition system as claimed in claim 1 , wherein the object recognition system further includes an additional scanner through which objects may be passed by the programmable motion device.
10 . The object recognition system as claimed in claim 1 , wherein the object recognition system further includes an output station that includes at least one shuttle wing sortation system.
11 . An object processing system in communication with a database, said object processing system comprising:
an input conveyor providing an input station at which a plurality of objects may be received;
a plurality of containers at an output station at which the plurality of objects may be provided among a plurality of destination locations; and
a programmable motion device operating at a processing station intermediate the input station and the output station, said processing station including:
an image capture system for capturing at least one image of an object of the plurality of objects, and for providing image data representative of the captured image;
a patch identification system in communication with the image capture system for receiving the image data, and for identifying more than one image patch associated with the captured image, each image patch being associated with a potential grasp location on the object;
a feature identification system for capturing at least one feature of each image patch, the at least one feature being a unique pattern in the image patch exhibited by neighboring pixels, for accessing feature image data in the database against which each captured at least one feature is compared to provide image feature comparison data; and
an object identification system for providing object identity data responsive to the image feature comparison data, said object identity data including data representative of an identity of the object as well as at least one grasp location on the object.
12 . The object processing system as claimed in claim 11 , wherein each potential grasp location is described as an area that may be associated with a contact portion of the end effector of the programmable motion device.
13 . The object processing system as claimed in claim 12 , wherein the contact portion of the end effector of the programmable motion device is a contact portion of a vacuum cup end effector.
14 . The object processing system as claimed in claim 12 , wherein the contact portion of the end effector of the programmable motion device is an object-level patch that includes a contact portion of a vacuum cup end effector.
15 . The object processing system as claimed in claim 11 , wherein the object identification system provides patch center data representative of a center of each patch, and the patch center data is provided responsive to the at least one captured feature.
16 . The object processing system as claimed in claim 11 , wherein the object recognition system further includes an object image identification system in communication with the image capture system for receiving the image data, and for identifying an object associated with at least one object image associated with the captured image.
17 . The object processing system as claimed in claim 11 , wherein the system prioritizes patch matches over model-free grasps.
18 . The object processing system as claimed in claim 11 , wherein the system includes an input station at which objects are provided on an input conveyor that is fed by a cleated conveyor.
19 . The object processing system as claimed in claim 11 , wherein the object recognition system further includes a drop scanner through which objects may be dropped by the programmable motion device.
20 . The object processing system as claimed in claim 11 , wherein the output station includes at least one shuttle wing sortation system.
21 . The object processing system as claimed in claim 11 , wherein the input station includes a recirculating conveyor for recirculating objects to the processing station.
22 . The object processing system as claimed in claim 21 , wherein the input station further includes a feeding conveyor for providing objects from an input hopper to the input station.
23 . A method of providing object recognition comprising:
capturing at least one image of an object, and for providing image data representative of the captured image;
receiving the image data, and for identifying more than one image patch associated with the captured image, each image patch being associated with a potential grasp location on the object, each potential grasp location being described as an area corresponding to a contact portion of an end effector of a programmable motion device;
capturing at least one feature of each image patch, the at least one feature of each image patch being a unique pattern exhibited by neighboring pixels within the image patch, for accessing feature image data in the database against which each captured at least one feature is compared to provide image feature comparison data, and for providing feature identification data responsive to the image feature comparison data; and
providing object identity data responsive to the image feature comparison data, said object identity data including data representative of an identity of the object as well as at least one grasp location on the object.
24 . The method as claimed in claim 23 , wherein the contact portion of the end effector of the programmable motion device is a contact portion of a vacuum cup end effector.
25 . The method as claimed in claim 23 , wherein the contact portion of the end effector of the programmable motion device is an object-level patch that includes a contact portion of a vacuum cup end effector.
26 . The method as claimed in claim 23 , wherein the object identification system provides patch center data representative of a center of each patch, and the patch center data is provided responsive to the at least one captured feature.
27 . The method as claimed in claim 23 , wherein the method further includes identifying an object associated with at least one object image associated with the captured image.
28 . The method as claimed in claim 23 , wherein the method further includes prioritizing patch matches over model-free grasps.
29 . The method as claimed in claim 23 , wherein the method further includes dropping objects through a drop scanner onto an output conveyance system.
30 . The method as claimed in claim 23 , wherein the method further includes dropping objects from a reciprocating carriage into any of a plurality of destination locations based on the object identity data.