The rc_reason SilhouetteMatch Module is an optional software component that can be easily activated on-board any rc_visard and operated through the sensor’s standard interface. It enables the rc_visard to detect comparatively flat objects lying on a planar surface in unmixed scenes. For each object, the 3D position and orientation is determined.
The rc_reason SilhouetteMatch requires a template of the objects that are to be detected. Creation of this template is offered as a service, teaching of the first ten objects being included with the license cost. Users simply upload the CAD model (alternatively: a recording of the object with an rc_visard) and Roboception provides the necessary template.
rc_reason SilhouetteMatch automatically detects the base-plane of the scene at hand, which is then stored on the rc_visard in order to be occluded during the sensing operation. Typical applications include machine tending or emptying load carriers of several (separated) layers of objects.
Depending on scene/ object complexity, and especially when the base plane is detected using the rc_visard’s point cloud, coupling the module with a RandomDot Projector is advisable.
Downloads and Links
rc_visard product documentation: chapter on SilhouetteMatch (html)
rc_reason SilhouetteMatch tutorials (html)
rc_visard complete product documentation (.pdf)
Template request: Request an object template to be created