Patent ID: 11875528
Assignee: FANUC CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 14:
15. A method for picking up a transparent object from a group of transparent objects using a robot, said method comprising:
obtaining a 2D red-green-blue (RGB) color image of the objects using a 3D camera;
obtaining a 2D depth map image of the objects using the 3D camera, where pixels in the depth map image are assigned a value identifying the distance from the camera to the objects;
generating a segmentation image of the objects by performing an image segmentation process using a deep learning neural network that extracts features from the RGB image, assigns a label to pixels in the segmentation image so that each object in the segmentation image has the same label and determines an orientation of the objects;
identifying a location for picking up the object using the segmentation image and the depth map image; and
rotating the object using the orientation of the object in the segmentation image, wherein obtaining a color image, obtaining a depth map image, generating a segmentation image, identifying a location for picking up the object and rotating the object are performed each time an object is picked up from the group of objects by the robot.