3D pose and grasp tracking for overlapping metal parts
Visible flange tracks and a reachable candidate target are shown together. A valid pose completes a simulated pick; occluded or colliding candidates do not become robot commands. Vision, identity and command states are animated as an illustrative simulation.
Visible flange tracks and a reachable candidate target are shown together. A valid pose completes a simulated pick; occluded or colliding candidates do not become robot commands.
- 01 Frame
- 02 Track
- 03 Associate
- 04 Validate target
- 05 Allowed command and record
Items arrive and the initial frame and item context are established. Vision results are illustrative.
- Visible item tracks
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- Valid associations
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- Simulated command
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Scenes are illustrative simulations; they are not customer references or performance guarantees.
Need
Overlapping metal flanges hide parts of each other. Treating an unsupported pose estimate as a grasp target can select the wrong item or a colliding path.
Solution approach
Visible 3D surfaces of overlapping metal parts are separated; a reachable grasp candidate is marked, while an occluded pose is withheld from the robot.
Process steps
- 01
Frame
Items arrive and the initial frame and item context are established. Vision results are illustrative.
- 02
Track
Each visible item receives a separate track contour; the first contour is the annotated track component.
- 03
Associate
Visible 3D surfaces of overlapping metal parts are separated; a reachable grasp candidate is marked, while an occluded pose is withheld from the robot.
- 04
Validate target
The track is checked against its event record and uncertain association enters HOLD. No physical command has been applied in this phase.
- 05
Allowed command and record
Only a validated target enters a simulated robot pick; the other cycle has no command and keeps the candidate on hold.
Related applications
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