ADAPTIVE REGION OF INTEREST (ROI) FOR VISION GUIDED ROBOTIC BIN PICKING

An autonomous system can include a depth camera configured to capture a depth image of a bin that contains a plurality of objects from a first direction, so as to define a captured image. Based on the bottom end of the bin and the captured image, the system can generate a cropped region that defines a plane along a second direction and a third direction that are both substantially perpendicular to the first direction. Based on the captured image, the system can make a determination as to whether at least one object of the plurality of objects lies outside the cropped region. Based on the determination, the system can select a final region of interest for determining grasp points on the plurality of objects.