Systems and methods of associating data to an item being transported by a conveying system are disclosed. The item and data associated with the item are received at a first zone of the conveying system. The data is stored in a first computer-readable storage medium associated with the first zone. The item is transported to a second zone of the conveying system, and the data stored in the first computer-readable storage medium is transferred to a second computer-readable storage medium associated with the second zone.

Provided is a marker detection apparatus able to detect the position of a marker with high accuracy and a robot teaching system using the same. A marker detection apparatus includes: an image generation unit that superimposes point group data, acquired by a 3D camera and photographed from a viewpoint same as a viewpoint of a 2D camera, on image data acquired by the 2D camera, thereby generating a combined image; a marker position calculation unit that detects a marker and calculates a position of the marker on a basis of the image data; a plane detection unit that detects a plane on a basis of the point group data; a marker plane determination unit that determines a marker plane on a basis of point group data included in a region of the marker detected from the position of the marker calculated by the marker position calculation unit and the plane detected by the plane detection unit; and a marker position correction unit that projects the position of the marker, calculated by the marker position calculation unit, onto the marker plane, thereby correcting the position of the marker.

A sortation system is disclosed that includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects, a grasp selection system for selecting a grasp location on the object, the grasp location being chosen to provide a secure grasp of the object by the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination locations, and a motion planning system for providing a motion path for the transport of the object when grasped by the end effector from the plurality of objects to the one of the plurality of destination locations, wherein the motion path is chosen to provide a path from the plurality of objects to the one of the plurality of destination locations.