Detect Bin (Four Sides)

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Function

This Step calculates the poses and dimensions of the bin and its four sidewalls.

Usage Scenario

This Step is used to recognize regular 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. Mask of bin’s top surface

    3. Depth map containing the bin directly from the camera

  • Output:

    1. 3D center pose of bin

    2. Poses of four sidewalls of bin

    3. 3D dimensions of bin and its four sidewalls

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