Position-and-attitude recognition method and apparatus by use of image pickup means
Patent 5499306 Issued on March 12, 1996. Estimated Expiration Date: 
March 7, 2014. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.
March 7, 2014. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.Patent ReferencesMethod and system for automatically determining the position and orientation of an object in 3-D space Patent #: 4942539 InventorsAssigneeApplicationNo. 206828 filed on 03/07/1994US Classes:382/291, Determining the position of an object382/153, Robotics382/203Shape and form analysisExaminersPrimary: Boudreau, Leo H.Assistant: Tran, Phuoc Attorney, Agent or FirmForeign Patent References
International ClassG06K 009/36Foreign Application Priority Data1993-03-08 JPAbstractA positional relationship between an autonomous mobile robot and a workpiece to be handled by the robot is calculated promptly and accurately on the basis of the image information obtained from a monocular vision camera mounted on the robot. Extracting the image feature points of the workpiece taken by the camera, a search region with a plurality of discrete space points is set on the basis of the estimated position and attitude of the camera. Then, the estimated image feature points of the workpiece, to be obtained when the workpiece is taken a view from these space points, are obtained. Then an error between the image feature point and the estimated feature point is calculated, and the position and attitude of the camera can be determined by finding the space point where the error is minimized.Other References
| |
