Remove Overlapped Objects

Function Description

This step removes objects that do not meet grasping requirements because they overlap with other objects or scene geometry.

Use Cases

This step is typically used after the 3D Fine Matching step to remove objects that are unsuitable for grasping because of overlap.

Inputs

• Original Pose (Required): List of poses to be filtered.

• Object Point Clouds (Required): Original object point cloud list.

• Scene Point Cloud (Optional): Scene point cloud list, used to handle overlapping problems caused by missed recognition of workpieces, dividers, bins, etc.

Outputs

• Filtered Poses: Filtered pose list.

• Filtered Object Point Clouds: Filtered object point cloud list.

• Filtered Pose Confidences: Confidence list of filtered poses.

• Validation Results: Boolean list indicating whether each filtered pose is valid.

Parameters

Parameter Tuning Level

Used to set the parameter tuning level. Different levels correspond to different parameter items.

• Basic: After selecting “Basic”, you need to complete parameter settings under the “Object Template Type” and “Threshold Settings” groups.

• Advanced: After selecting “Advanced”, you also need to complete parameter settings under the “Advanced Settings” group.

Object Template Type

• Object Template Type

  Selects the template type of the object point cloud.

Threshold Settings

• Overlap Ratio Threshold

  Used to set the threshold for the overlap ratio between objects and other objects. When the overlap ratio exceeds this value, the object will be judged as an overlapped object.

  Overlap Ratio = Projected area of point cloud above the object / Projected area of object point cloud template

Advanced Settings

• Method to Generate Pixel Size

  When calculating the overlap ratio, the object point cloud needs to be orthogonally projected onto a 2D plane. This parameter is used to select the generation method for the pixel size of the projected image.

  • Automatic: Automatically determines pixel size. Requires the input object point clouds to be the same type of object.

  • Manual: Manually sets pixel size. Supports input of point clouds of different types of objects.

• Pixel Size

  If this value is too large, the overlap ratio calculation accuracy may be low; if this value is too small, the calculated overlap ratio may be small.

  Unit is millimeters (mm).

• Range of Scene Point Removal Around Object

  Within this range, scene point clouds around the object will be removed, and the remaining scene point clouds will participate in overlap detection.

  Unit is millimeters (mm).