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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
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。
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公开(公告)号：US07336814B2
公开(公告)日：2008-02-26
申请号：US11183228
申请日：2005-07-14
申请人： Remus F Boca , Babak Habibi , Mohammad Sameti , Simona Pescaru
发明人： Remus F Boca , Babak Habibi , Mohammad Sameti , Simona Pescaru
IPC分类号： G06K9/00
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。
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