Abstract: A method and system for eliminating 2D features from planar surfaces in 2D images. Three digital images are taken, from a single camera at a fixed position, of a subject such as a pallet of boxes. One image (IA) is taken with ambient lighting, one image (I1) has ambient lighting plus a first added light source, and one image (I2) has ambient lighting plus a second added light source. An output image Q is then computed by Q=(I1?IA)/(I2?IA). Subtracting the ambient image removes ambient diffuse and specular reflections. Division eliminates all variations in the output image caused by color. The only variations that remain are those due to the angle between each surface point's normal direction and the direction from the light to that point. The output image Q, devoid of all colors and 2D features, is well suited for computing a robot grasp of an object in the image.

Abstract: An augmented reality (AR) system for visualizing and modifying robot operational zones. The system includes an AR device such as a headset in communication with a robot controller. The AR device includes software for the AR display and modification of the operational zones. The AR device is registered with the robot coordinate frame via detection of a visual marker. The AR device displays operational zones overlaid on real world images of the robot and existing fixtures, where the display is updated as the user moves around the robot work cell. Control points on the virtual operational zones are displayed and allow the user to reshape the operational zones. The robot can be operated during the AR session, running the robot's programmed motion and evaluating the operational zones. Zone violations are highlighted in the AR display. When zone definition is complete, the finalized operational zones are uploaded to the robot controller.

Abstract: An augmented reality (AR) system for visualizing and modifying robot operational zones. The system includes an AR device such as a headset in communication with a robot controller. The AR device includes software for the AR display and modification of the operational zones. The AR device is registered with the robot coordinate frame via detection of a visual marker. The AR device displays operational zones overlaid on real world images of the robot and existing fixtures, where the display is updated as the user moves around the robot work cell. Control points on the virtual operational zones are displayed and allow the user to reshape the operational zones. The robot can be operated during the AR session, running the robot's programmed motion and evaluating the operational zones. Zone violations are highlighted in the AR display. When zone definition is complete, the finalized operational zones are uploaded to the robot controller.