Detect Bin (Max Inscribed Rect) V2

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Function

This Step inputs the point cloud and pose of bin to estimate the pose and dimensions of bin. Please note that the dimensions of the output are the outer dimensions of the bin.

Usage Scenario

This Step is used to recognize comparatively irregular four-sided bins and send the recognition results to external services for collision detection.

Input and Output

  • Input:

    1. Point cloud of bin’s top surface

    2. Pose of bin’s top surface

  • Output:

    1. Detected bin pose

    2. Detected outer contour dimensions of bin

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