Information processing apparatus for determining interference between object and grasping unit, information processing method, and storage medium
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United States of America Patent
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Jun 9, 2020
Grant Date -
Jun 22, 2017
app pub date -
Mar 8, 2017
filing date -
Jun 28, 2013
priority date (Note) -
In Force
status (Latency 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 unit 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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