Patent ID: 7664571

Claim:
A method for determining one or more robot commands for controlling a robot the method comprising the steps of: receiving a set of indistinguishable points representing locations on an object having a pose, association of each indistinguishable point to the location on the object not predefined; separating the set of indistinguishable points into a plurality of subsets of indistinguishable points including a first subset of indistinguishable points representing locations on a first region of the object and a second subset of indistinguishable points representing locations on a second region of the object, wherein the number of subsets of indistinguishable points is based on the number of variables associated with the pose for a set of robot commands; determining, from said plurality of subsets of indistinguishable points, the pose of the object; and determining, based on the pose of the object, one or more robot commands from the set of robot commands.