Information processing apparatus for determining interference between peripheral objects and grasping unit, information processing method, and storage medium
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United States of America Patent
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Apr 11, 2017
Issued Date -
N/A
app pub date -
Jun 23, 2014
filing date -
Jun 28, 2013
priority date (Note) -
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Abstract
An information processing apparatus of the present invention correctly determines in advance whether interference occurs between an object around a target workpiece to be grasped, and a hand. The information processing apparatus includes an obtaining unit configured to obtain a range image of a space including a plurality of workpieces, an identification init configured to identify, from the obtained range image, an area of the target workpiece to be grasped among the plurality of workpieces, an interference determination unit configured to determine whether interference occurs between an area included in the range image and a grasping unit configured to grasp the target workpiece, and an output unit configured to output, based on a result of the interference determination by the interference determination unit, a result of determination as to whether interference occurs between an area excluding the area of the target workpiece and the grasping unit.
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