Defining and/or applying a planar model for object detection and/or pose estimation

摘要

Methods, apparatus, and computer readable storage media related to defining a planar model that approximates a plurality of surfaces of an object and/or applying the planar model to detect the object and/or to estimate a pose for the object. For example, the planar model may be compared to data points sensed by the a three-dimensional vision sensor of a robot to determine the object is present in the field of view of the sensor and/or to determine a pose for the object relative to the robot. A planar model comprises a plurality of planar shapes modeled relative to one another in a three-dimensional space and approximates an object by approximating one or more surfaces of the object with the planar shapes.