Terms and Concepts

Scenario Category	Term	Definition
Project & task	Project	A project contains multiple tasks, and you can freely switch between different tasks.
	task	A task contains all configurations required for the current task to run, including the camera, Robot, workpiece, vision parameters, ROI, etc. A task corresponds to only one Scene (depalletizing, ordered loading/unloading, random picking, or positioning assembly) and cannot be modified.
Workpiece Attributes	Mesh File	A file format used to store 3D model data, mainly including OBJ, STL, and PLY formats.
	Point Cloud	A Point Cloud is a collection of points with coordinate information in 3D space. Each point contains at least three coordinate values (X, Y, Z) and is used to accurately describe the geometric shape of an object's surface.
eye-hand calibration	eye-hand calibration	Determines the relative pose (position + orientation) between the Robot coordinate system (“hand”) and the camera coordinate system (“eye”), enabling the vision system to accurately guide the Robot to complete picking tasks.
	Intrinsic Parameter	Parameters that describe the internal attributes of the camera and its optical characteristics, independent of the camera's position in the world coordinate system. These parameters remain unchanged during camera use.
	Extrinsic Parameter	The pose parameters of the camera in the world coordinate system (rotation matrix + translation vector), describing its spatial position and orientation.
	Euler Angles	A method for describing the orientation of an object in 3D space, using 3 angular parameters (pitch, yaw, and roll) to represent the object's rotation in 3D space.
	TCP	TCP (Tool Center Point), the tool center point, refers to the point located at the tip of the Tool. To complete tasks such as workpiece picking, when the Robot is moved to a certain point in space, the essence is to move the Tool Center Point to that point.
Vision Model	Vision Model	A Deep Learning model that can perform Inference on input images and obtain inference results such as the object's Mask, bounding box, keypoints, and scores.
	Keypoint	Feature points in a 3D model with clear semantic or geometric meaning, used to describe the local structure or global pose of the target. In keypoint-based pose estimation, the overall pose (position + orientation) of the target is inferred by detecting the positions of these points.
	Pose	The combination of an object's Position and Orientation in space.
	Mask	A selected image, graphic, or object used to occlude all or part of the processed image to control the image processing area or process. The specific image or object used for coverage is called a Mask.
	Bounding Box	A rectangular box used in computer vision and machine learning to locate a target object by marking its position, size, and range with coordinates.
Vision Workflow	Coarse Matching	Coarse Matching is the process of matching the keypoints of the template Point Cloud with the keypoints predicted by the model for the actual Point Cloud.
	Fine Matching	Fine Matching is the process of matching the template Point Cloud with the actual Point Cloud so that the workpiece pose in the actual Point Cloud overlaps as much as possible with the workpiece pose in the template Point Cloud, thereby optimizing the workpiece pose in the actual Point Cloud.
	ROI	In machine vision and image processing, the region selected from the processed image that needs to be processed is called the ROI. In PickWiz, ROI 3D and ROI 2D need to be set separately.

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