Patent ID: 11872702
Assignee: THE CHARLES STARK DRAPER LABORATORY, INC.
Field: Handling (Mechanical engineering)
Classification: CPC A  B  G | IPC B  G

Claim 5:
6. The method of claim 1 wherein predicting motion of the object based on the detected type of the object, the detected 6DOF pose of the object, and the physics-based dynamics model of the object comprises at least one of:
processing the image of the object using a neural network trained to estimate future position of the object based on at least one image of the object having a reference frame;
processing the image of the object using a neural network trained to determine motion of the object based on a successive set of images;
processing images of the object using optical flow which tracks motion of pixels associated with the object in the image and determines center-of-mass velocity of the object;
examining a database of recorded candidate object motions and interpolating between the candidate object motions to determine the predicted motion of the object; and
determining occupancy of the object in one or more safety zones around the detected 6DOF pose of the object, where occupancy is determined based on (i) the detected 6DOF pose or (ii) transforming depth estimates of pixels in the image, which are segmented and determined to belong to the object, into a point cloud in the reference frame of the robot.