公开(公告)号：EP2972478A2

公开(公告)日：2016-01-20

申请号：EP14770009.0

申请日：2014-03-14

申请人： Uber Technologies Inc.

发明人： OSTERWOOD, Christopher, Charles ,  STROTHER, Daniel, Leland ,  LAROSE, David, Arthur

IPC分类号： G01S17/02 ,  G01S17/88 ,  G02B27/22

CPC分类号： H04N13/239 ,  B25J9/1697 ,  G01S7/4972 ,  G01S17/42 ,  G03B17/02 ,  G03B17/55 ,  G03B35/08 ,  G06T7/20 ,  G06T7/593 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/10028 ,  H04N5/2252 ,  H04N5/2253 ,  H04N5/2254 ,  H04N2013/0081 ,  Y10S901/47

摘要： Embodiments of the present invention include multi-sensory stereo vision sensors suitable for use in robotics, navigation, machine vision, manufacturing, and other applications. In some cases, a sensor includes a stereo camera that produces image data for use in generating disparity maps to determine the positions of objects in the scene and/or the position of the sensor itself. The stereo sensor may include image sensors that are fastened to a unitary frame to prevent undesired drift and a thermal pad that wicks heat away from a processor. The processor may provide an efficient means to directly compute stereo disparity maps onboard the sensor. A sensor can also include a laser rangefinder that provides range data suitable for calibrating the stereo camera and for improving its accuracy in certain environments. In some cases, the laser is coupled to a spindle, which in turn is driven by a geartrain through a slipping clutch.

摘要翻译： 本发明的实施例包括适用于机器人，导航，机器视觉，制造和其它应用的多感觉立体视觉传感器。 在一些情况下，传感器包括立体相机，其产生用于产生视差图的图像数据，以确定场景中的物体的位置和/或传感器本身的位置。 立体声传感器可以包括紧固到整体框架以防止不期望的漂移的图像传感器和将热量从处理器吸取的散热垫。 处理器可以提供用于直接计算传感器上的立体视差图的有效手段。 传感器还可以包括激光测距仪，其提供适用于校准立体相机的范围数据，并提高其在某些环境中的精度。 在某些情况下，激光器连接到主轴，主轴又由滑行离合器的齿轮组驱动。