New 3-stages picking objects algorithm

Let me demonstrate a new 3-stages algorithm of picking up objects.

1. At the first stage the robot make a picture of area ~5×5 inches to see if there is an object or part there. If a whole object is detected, the second stage can be skipped. The robot already knows the location and dimensions of the object.

partObj4flipped

2. If there is only part of an object in the first picture, on the 2nd stage robot moves his head to a position to see the detected corner on the opposite side next picture. If the the object still not fully fit the the image, a new attempt is made. Totally he does up to 3 attempts.

partObj3flipped

3. When the object fits to the image, the position and dimensions can be captured, robot can pick it up on the 3rd stage.

Let’s watch the video