Detect Bin (Four Sides)¶
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:
Point cloud of bin’s top surface.
Mask of bin’s top surface.
Depth map containing the bin directly from the camera.
Output:
3D center pose of bin.
Poses of four sidewalls of bin.
3D dimensions of bin and its four sidewalls.