Patent ID: 9230329
Filing Date: 2016-01-05
CPC Classification: G06T

Claim Text:
1. A method, comprising: obtaining at least one image comprising at least one object; calculating a background mask, the background mask being a mask of image pixels which are not part of any object in the image; calculating an object mask, the object mask being a mask of image pixels which are part of the object to be gripped; calculating a gripper mask, the gripper mask being a mask of image pixels corresponding to gripping parts of a gripper; calculating a gripping area mask, the gripping area mask being a mask of image pixels that fit inside the gripper; overlaying the gripper mask on the background mask in at least one location; calculating an overlap area of the gripper mask and the background mask at the at least one location; overlaying the gripping area mask on the object mask in at least one location; calculating an overlap area of the gripping area mask and the object mask at the at least one location; selecting a gripping location based on the calculated overlap area; and issuing at least one instruction to the gripper to grip the object at the selected gripping location.