Plan Object Poses at Placement

Function

This Step utilizes the input scene images and information of the bin and objects to be placed to plan the object poses at placements.

Usage Scenario

This Step is usually used for planning the object poses at placements in piece picking and palletizing/depalletizing scenarios.

Input and Output

  • Input

  1. Scene color image in the ROI. Usually from Step Scale Image in 2D ROI.

  2. Scene depth map in the ROI. Usually from Step Scale Image in 2D ROI.

  3. ROI parameters. Usually from Step Scale Image in 2D ROI.

  4. The 3D dimensions of the objects to be placed. In palletizing/depalletizing, please input the box dimensions. In piece picking, please input the dimensions of the objects’ 3D bounding boxes.

  5. Pose of the bin’s top plane.

  • Output

  1. Object poses at placement, in the planned placement order.

  2. Visualization image.