Localization inputs

What the localization engine needs to find the objects depends on how it recognizes them:

  • CAD-based localization (CAD Localization, CAD Picking) needs a 3D model of the object. You upload an STL file made in CAD software, or you scan the real object and turn the scan into a mesh in the Studio.

  • AI-based localization (AI Localization, AI Picking) needs a neural network trained to recognize the objects. You select an existing network, or a network retrained for your objects. No 3D model is needed.

CAD-based localization

AI-based localization

Input

A 3D model of the object

A trained neural network

How you get it

Upload an STL file (CAD file), or scan the real object and edit the mesh (Mesh tools)

Select an existing network, or a network retrained for your objects

Where in the Studio

The Picked object step of the solution

The Neural Network setting of the localization profile. See General settings.

Engine

CAD Localization

AI Localization

For the solution types and their setup steps, see Solution types.

CAD-based localization: a 3D model

The CAD localization engine compares the 3D model with the point cloud from the 3D sensor to find each object and its pose. You can give the Studio the model in two ways:

  • CAD file – upload an STL model made in CAD software.

  • Mesh tools – scan the real object with the 3D sensor and clean up the scan in the Studio.

You load and edit the model in the Picked object step of the solution.

Which model to use

CAD file

Mesh tools

Source

A full 360° STL model made in CAD software

A scan of the real object, taken from the sensor’s point of view

Ideal for

Smaller rigid objects picked from a bin in random orientations

Bigger objects that are semi-oriented and always picked from about the same direction, for example doors on carriers

Why

The object can lie in any orientation, so the engine needs the model from every side

The sensor always sees the same side of the object, so a one-sided model from a scan is enough

You can also use the mesh tools on an uploaded CAD file, for example to fix its normals or move its origin.

AI-based localization: a neural network

The AI localization engine does not use a 3D model. A neural network finds the objects in the scan instead, so AI solutions have no Picked object step.

You select the network in the Neural Network setting of the localization profile. See General settings. The networks you can use depend on the software modules of your installation:

  • Existing networks for common objects: boxes (AnyPick Module for Boxes (Depalletization)), totes (AnyPick Module for Totes (Depalletization)) and slipsheets (AnyPick Module for Slipsheets).

  • Retrained networks for your own objects (AnyPick Module (Custom)).

See Software modules.

Contents

  • CAD file
    Requirements for an uploaded STL model and how to upload it.
  • Mesh tools
    Scanning the object and editing the mesh: cropping, simplification, filtering, normals and origin.