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:

  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.