Plane Picking
Scope
This service is intended for product for which a CAD model is available but not further assumptions about their geometry have to be made. Restrictions apply only on the way objects populate the scene imaged by the vision sensor:
- A part can only appear in a discrete set of stable states, i.e., the poses under which it would naturally appear under the influence of gravity when being placed on a planar surface. Small rotational deviations from those states are tolerated.
- Parts can appear in multiple layers at different heights over the plane.
- Occlusions either by other parts or the image boundary are tolerated, but note that typically, the algorithm will prefer unoccluded parts as these exhibit a higher chance to get picked successfully, as a part on top of another could be lifted simultaneously and dropped.
This service naturally extends to sorting. When more than one CAD model, i.e., one per SKU, is supplied to training, the underlying AI model not only learns to localize the objects but also to distinguish between different SKUs, e.g., to place them in pure clusters.