Patent ID: 11964400
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method for controlling a robot to pick up an object in various positions, the method comprising the following steps:
determining a plurality of reference points on the object, so that positions of the reference points in three-dimensional space define a pickup pose of the object;
receiving a first camera image of the object in a known position of the object, so that the positions of the reference points in the first camera image are known;
mapping the first camera image onto a first descriptor image using a machine learning model that is trained to assign object points visible in camera images to descriptors, independent of positions of the visible object points in the camera images;
identifying descriptors of the reference points from the first descriptor image by reading out the first descriptor image at the known positions of the reference points;
receiving a second camera image of the object in an unknown position in which the object is to be picked up;
mapping the second camera image onto a second descriptor image using the machine learning model;
searching for the identified descriptors of the reference points in the second descriptor image;
ascertaining the positions of the reference points in the three-dimensional space in the unknown position from found positions of the descriptors of the reference points in the second descriptor image;
ascertaining a pickup pose of the object for the unknown position from the ascertained positions of the reference points in the three-dimensional space; and
controlling the robot device to pick up the object corresponding to the ascertained pickup pose.