公开(公告)号：US20060088203A1

公开(公告)日：2006-04-27

申请号：US11183228

申请日：2005-07-14

申请人： Remus Boca ,  Babak Habibi ,  Mohammad Sameti ,  Simona Pescaru

发明人： Remus Boca ,  Babak Habibi ,  Mohammad Sameti ,  Simona Pescaru

IPC分类号： G06K9/00

CPC分类号： G06K9/32 ,  G06T7/593 ,  G06T7/74 ,  G06T7/75 ,  G06T7/80

摘要： A system and method facilitate machine-vision, for example three-dimensional pose estimation for target objects, using one or more images sensors to acquire images of the target object at one or more positions, and to identify features of the target object in the resulting images. A set of equations is set up exploiting invariant physical relationships between features such as constancy of distances, angles, and areas or volumes enclosed by or between features. The set of equations may be solved to estimate a 3D pose. The number of positions may be determined based on the number of image sensors, number of features identified, and/or number of known physical relationships between less than all features. Knowledge of physical relationships between image sensors and/or between features and image sensors may be employed. A robot path may be transformed based on the pose, to align the path with the target object.

摘要翻译： 系统和方法便于机器视觉，例如使用一个或多个图像传感器在一个或多个位置处获取目标对象的图像的目标对象的三维姿态估计，以及识别所产生的目标对象的特征 图片。 建立一组方程，利用诸如距离的恒定性，角度以及特征之间或之间的区域或体积等特征之间的不变物理关系。 可以求解该方程组以估计3D姿态。 可以基于图像传感器的数量，识别的特征数量和/或小于所有特征之间的已知物理关系的数量来确定位置数量。 可以采用图像传感器之间和/或特征和图像传感器之间的物理关系的知识。 可以基于姿态来变换机器人路径，以将路径与目标对象对准。

公开(公告)号：US06816755B2

公开(公告)日：2004-11-09

申请号：US10153680

申请日：2002-05-24

申请人： Babak Habibi ,  Simona Pescaru

发明人： Babak Habibi ,  Simona Pescaru

IPC分类号： G05B1900

CPC分类号： G06K9/209 ,  B25J9/1697 ,  G01S5/16 ,  G05B2219/39057 ,  G05B2219/39393 ,  G06T1/0007 ,  G06T7/73 ,  G06T7/80 ,  G06T2207/30164

摘要： A method of three-dimensional handling of an object by a robot uses a tool and one camera mounted on the robot and at least six target features which are normal features of the object are selected on the object. The features are used to train the robot in the frame of reference of the object so that when the same object is subsequently located, the robot's path of operation can be quickly transformed into the frame of reference of the object.

摘要翻译： 由机器人对物体进行三维处理的方法使用安装在机器人上的工具和一个照相机，并且在物体上选择作为物体的正常特征的至少六个目标特征。 这些特征用于在对象的参考框架中训练机器人，使得当随后定位相同的对象时，机器人的操作路径可以快速地变换成对象的参考系。