WO2025257594 - VISION SYSTEM FOR RANDOM BIN PICKING APPLICATIONS OF UNSEEN OBJECTS
National phase entry is expected:
Publication Number
WO/2025/257594
Publication Date
18.12.2025
International Application No.
PCT/IB2024/055721
International Filing Date
11.06.2024
Title **
[English]
VISION SYSTEM FOR RANDOM BIN PICKING APPLICATIONS OF UNSEEN OBJECTS
[French]
SYSTÈME DE VISION POUR APPLICATIONS DE PRÉLÈVEMENT DE COMPARTIMENT ALÉATOIRE D'OBJETS NON VUS
Applicants **
ABB SCHWEIZ AG
Inventors
WANG, Jianjun
LIU, Haoyan
CHEN, Yi
ZHANG, Biao
Application details
| Total Number of Claims/PCT | * |
| Number of Independent Claims | * |
| Number of Priorities | * |
| Number of Multi-Dependent Claims | * |
| Number of Drawings | * |
| Pages for Publication | * |
| Number of Pages with Drawings | * |
| Pages of Specification | * |
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| Number of Office Actions | * |
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International Searching Authority |
EPO
* |
| Recordal of a Change of the Applicant's Name/Address |
Change of Applicant's Name and Address
* |
| Type of Assignment |
The Standard Agent's Assignment
* |
| Applicant's Legal Status |
Legal Entity
* |
| * | |
| * | |
| * | |
| * | |
| * | |
| Entry into National Phase under |
Chapter I
* |
| Patent Delivery |
Send the Letters Patent by Courier
* |
| Translation |
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* The data is based on automatic recognition. Please verify and amend if necessary.
** IP-Coster compiles data from publicly available sources. If this data includes your personal information, you can contact us to request its removal.
Quotation for National Phase entry
| Country | Stages | Total | |
|---|---|---|---|
| China | Filing, Examination, Granting | 2095 | |
| EPO | Filing, Examination, Granting | 10712 | |
| Japan | Filing, Examination, Granting | 2325 | |
| South Korea | Filing, Examination, Granting | 2267 | |
| USA | Filing, Examination, Granting | 4740 |
Total:
22,139
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Abstract[English]
Images of a plurality of objects in a bin from multiple views are received from two image sensors. One or more candidate segmentation proposals are generated using a generalized segmentation model that uses the image. Top candidates are selected from the one or more candidate segmentation proposals using associated confidence scores. A six-degree of freedom (6DoF) pose estimation for an object is generated using a generalized pose estimation model and the selected one or more top candidates that contain a grasp instance. The 6DoF pose estimation is refined by implementing a multi-view triangulation refinement algorithm. A robotic arm grasps the object based on the refined 6DoF pose estimation.[French]
Des images d'une pluralité d'objets dans un compartiment à partir de multiples vues sont reçues en provenance de deux capteurs d'image. Une ou plusieurs propositions de segmentation candidates sont générées à l'aide d'un modèle de segmentation généralisé qui utilise l'image. Des candidats supérieurs sont sélectionnés parmi la ou les propositions de segmentation candidates à l'aide de scores de confiance associés. Une estimation de pose à six degrés de liberté (6DoF) pour un objet est générée à l'aide d'un modèle d'estimation de pose généralisé et du ou des candidats supérieurs sélectionnés qui contiennent une instance de préhension. L'estimation de pose 6DoF est affinée par la mise en œuvre d'un algorithme d'affinement de triangulation à vues multiples. Un bras robotique saisit l'objet sur la base de l'estimation de pose 6DoF affinée.