Patent ID: 11911919
Assignee: MUJIN, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 12:
13. The computing system of claim 12, wherein the initial set of one or more 2D patches includes a first 2D patch of the plurality of 2D patches, and wherein the at least one processing circuit is configured to expand the initial set of one or more 2D patches into the set of contiguous 2D patches by:
determining a first normal vector, which is a vector perpendicular to the first 2D patch;
identifying, from among the plurality of 2D patches, a second 2D patch that is contiguous with the first 2D patch and not in the initial set of one or more 2D patches;
determining a second normal vector, which is a vector perpendicular to the second 2D patch;
determining at least one of: (i) a first distance from the first 2D patch to the second 2D patch along an axis parallel with the first normal vector, or (ii) a second distance from the second 2D patch to the first 2D patch along an axis parallel with the second normal vector;
determining whether the first normal vector and the second normal vector satisfy the defined orientation similarity criterion;
determining whether at least one of the first distance or the second distance satisfies the defined depth similarity criterion;
in response to a determination that the first normal vector and the second normal vector satisfy the defined orientation similarity criterion, and a determination that at least one of the first distance or the second distance satisfies the defined depth similarity criterion, adding the second 2D patch to the initial set to generate an expanded set of 2D patches, wherein the expanded set forms the set of contiguous 2D patches or forms part of the set of contiguous 2D patches.