METHOD AND SYSTEM FOR CAPTURING OBJECTS USING ROBOTIC DEVICE Russian patent published in 2021 - IPC G06K9/20 G06T7/50 B25J9/16 

FIELD: robotics.

SUBSTANCE: invention relates to the field of robotics, and in particular to a method for gripping objects using a robotic device and to a system for implementing said method. The claimed technical result is achieved due to the implementation of the method for capturing an object using a robotic device, containing the stages, at which: a color image and a depth map are obtained; objects to capture on the image are searched for, taking into account the data of the depth map; an object to capture is selected; based on the depth map data, a point cloud of the selected object is formed; point cloud is searched for a given number of key points; arithmetic center is determined between the mentioned key points; the point among the key points closest to the arithmetic center determined; based on the coordinates of key points and the point closest to the arithmetic center, the position of the selected object is determined; based on the data on the position of the object and the data of the model built as a result of machine learning, the orientation and position of the gripping device of the robotic device is determined; then the selected object is captured using a robotic device.

EFFECT: improved accuracy of recognizing the position of an object for its capture using a robotic arm.

6 cl, 7 dwg