Pallet Information Recognition

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Function

This Step identifies the top-layer stacking status based on the pallet pattern information and the stack’s point cloud.

Usage Scenario

This Step is usually used for pallet pattern and object pose recognition where objects are closely fitted.

Input and Output

  • Input:

    1. Pallet point cloud

    2. Top layer point cloud

    3. Pallet pose

    4. Physical size represented by a single pixel

  • Output:

    1. Poses of the top-layer boxes

    2. Boolean value to indicate the orientation of the pallet

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