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

Claim 9:
10. The computing system of claim 1, wherein the at least one processing circuit is configured, when the image information describes depth information for a plurality of locations in the camera field of view, to identify the grip region by:
determining a plurality of two-dimensional (2D) patches that approximate respective subsets of the plurality of locations, wherein the plurality of 2D patches represent the object surface; and
identifying, from among the plurality of 2D patches, a set of contiguous 2D patches which satisfy a defined orientation similarity criterion and a defined depth similarity criterion,
wherein the surface region identified as the grip region is formed by or fits within the set of contiguous 2D patches, and wherein satisfying the defined smoothness condition for the surface region includes satisfying the defined orientation similarity criterion and the defined depth similarity criterion for the set of contiguous 2D patches.