Patent ID: 9002098
Filing Date: 2015-04-07
Classification: G06K,G06T,Y10S

Abstract:
1. A visual perception system for determining a position and pose of a three-dimensional object, the system comprising: one or more processors and a memory having instructions such that when the instructions are executed, the one or more processors perform operations of: receiving visual input from a sensor of a robotic controller that senses an object of interest; extracting a plurality of rotation-invariant shape features from the sensed object of interest; extracting a plurality of rotation-invariant shape features from a set of object templates; identifying a match between the sensed object of interest and an object template using shape features; confirming the match between the sensed object of interest and the object template using appearance features; identifying the sensed object of interest and determining a three-dimensional pose of the sensed object of interest; and using the robotic controller to handle the sensed object of interest based on the determined three-dimensional pose of sensed object of interest.