Safe and robust robotic picking of items based on reference image and item attributes

Abstract

Systems and techniques for performing robotic picking of items based on a reference image and item attributes are described. In an example technique, an image of a picking environment having multiple items is obtained. A reference image of a first item is obtained, based on an item ID associated with the first item. An instance segmentation operation is performed on the image of the picking environment to determine an instance of the first item within the image of the picking environment, based on the reference image and the image of the picking environment. A grasp plan for a robotic arm end-of-arm tool is generated based on segmentation information output from the instance segmentation operation and the item attributes. The end-of-arm tool is controlled to pick an item from the multiple items according to the grasp plan.

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