Detect Bin (Max Inscribed Rect)

Function

This Step calculates the poses of the entire bin and the four sidewalls according to the maximum inscribed rectangle of the upper surface mask of the bin.

Usage Scenario

This Step is used to recognize the bin and send the results to external services for collision detection. This Step is outdated. Please use the newer Step Detect Bin (Max Inscribed Rect) V2.

Input and Output

  • Input:

  1. Mask on the upper surface of the bin.

  2. Depth map containing the bin directly from the camera.

  • Output:

  1. Poses of the bin and its four sidewalls.

  2. 3D Dimensions of the bin and its four sidewalls.