{
  "abstract": "METHODS AND SYSTEMS FOR REGISTERING A THREE DIMENSIONAL POSE OF AN OBJECT In an example, a system (100) for registering a three-dimensional (3D) pose of a workpiece (102) relative to a robotic device (106) is disclosed. The system (100) comprises the robotic device (106), where the robotic device (106) comprises one or more mounted lasers (110). The system (100) also comprises one or more sensors (108) configured to detect laser returns (118) from laser rays (120) projected from the one or more mounted lasers (110) and reflected by the workpiece (102). The system (100) also comprises a processor (112) configured to receive a tessellation (130) of the workpiece (102), wherein the tessellation (130) comprises a 3D representation of the workpiece (102) made up of cells, convert the laser returns (118) into a 3D point cloud (132) in a robot frame (138), based on the 3D point cloud (132), filter visible cells of the tessellation (130) of the workpiece (102) to form a tessellation included set (170), and solve for the 3D pose of the workpiece (102) relative to the robotic device (106) based on the tessellation included set (170). Nov 2020 DIMENSIONAL POSE OF AN OBJECT 2020273372 20 AH25(26399612_1):MSD FI G . 1 1/8 20 20 27 33 72 2 0 N ov 2 02 02020273372 20 Nov 2020 100 COMPUTING DEVICE ROBOTIC DEVICE 104 106 PROCESSOR MOUNTED 112 LASER(S) 110 1/8 MEMORY 114 INSTRUCTIONS SENSOR(S) 116 108 FI G . 2 2/8 20 20 27 33 72 2 0 N ov 2 02 02020273372 20 Nov 2020 134 108 108 130 160 136 162 146 152 ROBOTIC DEVICE 156 106 144 132 154 150 142 138 140 FIG. 2 FI G . 3 3/8 20 20 27 33 72 2 0 N ov 2 02 02020273372 20 Nov 2020 106 FI G . 4 4/8 20 20 27 33 72 2 0 N ov 2 02 0 FIG. 4 130 1066 2020273372 20 Nov 2020 170 FIG. 5 5/8 20 20 27 33 72 2 0 N ov 2 02 02020273372 20 Nov 2020 174 172 202 204 206 208 FIG. 6 206 FIG. 7 6/8 20 20 27 33 72 2 0 N ov 2 02 02020273372 20 Nov 2020 200 START RECEIVING, BY A PROCESSOR, A TESSELLATION OF THE WORKPIECE, WHEREIN THE TESSELLATION COMPRISES A 3D REPRESENTATION OF THE WORKPIECE MADE UP OF CELLS 202 CONVERTING, BY THE PROCESSOR, LASER RETURNS INTO A 3D POINT CLOUD IN A ROBOT FRAME, WHEREIN THE LASER RETURNS ARE DETECTED BY ONE OR MORE SENSORS, AND WHEREIN THE LASER RETURNS ARE FROM LASER RAYS PROJECTED FROM ONE OR MORE MOUNTED LASERS OF THE 204 ROBOTIC DEVICE AND REFLECTED BY THE WORKPIECE BASED ON THE 3D POINT CLOUD, FILTERING, BY THE PROCESSOR, VISIBLE CELLS OF THE TESSELLATION OF THE WORKPIECE TO FORM A TESSELLATION INCLUDED SET 206 SOLVING, BY THE PROCESSOR, FOR THE 3D POSE OF THE WORKPIECE RELATIVE TO THE ROBOTIC 208 END FILTERING VISIBLE TRIANGLES OF THE TESSELLATION OF THE WORKPIECE TO FORM THE TESSELLATION INCLUDED SET 210 206",
  "assignees": [
    "BOEING CO"
  ],
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    "DESBIEZ ALEXANDRE",
    "HAEUSLER PHILLIP"
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  "title": "Methods and systems for registering a three-dimensional pose of an object",
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