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公开(公告)号：US12079978B2
公开(公告)日：2024-09-03
申请号：US17526865
申请日：2021-11-15
申请人： Cognex Corporation
CPC分类号： G06T7/0004 , G01B11/0608 , G01S7/4802 , G01S17/42 , G01S17/48 , G01S17/89 , G06T7/44 , G06T2207/10028 , G06T2207/30224
摘要： This invention provides a system and method for determining the location and characteristics of certain surface features that comprises elevated or depressed regions with respect to a smooth surrounding surface on an object. A filter acts on a range image of the scene. A filter defines an annulus or other perimeter shape around each pixel in which a best-fit surface is established. A normal to the pixel allows derivation of local displacement height. The displacement height is used to establish a height deviation image of the object, with which bumps, dents or other height-displacement features can be determined. The bump filter can be used to locate regions on a surface with minimal irregularities by mapping such irregularities to a grid and then thresholding the grid to generate a cost function. Regions with a minimal cost are acceptable candidates for application of labels and other items in which a smooth surface is desirable.
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公开(公告)号：US20240192370A1
公开(公告)日：2024-06-13
申请号：US18553737
申请日：2022-02-22
发明人： TOMONORI MASUNO , TOMOO MITSUNAGA
IPC分类号： G01S17/87 , G01S7/4913 , G01S17/36 , G01S17/48 , G01S17/894
CPC分类号： G01S17/87 , G01S7/4913 , G01S17/36 , G01S17/48 , G01S17/894
摘要： An error in distance measurement is reduced. The distance measuring sensor generates multiple images by receiving light in light reception periods that are synchronized with pulse train pattern light, which repeats a light emission period and a non-light emission period of two types of luminance of a bright portion and a dark portion, and have different phases from each other. A bright region detecting unit detects a bright region which is a region generated by receiving reflected light corresponding to the bright portion of the pattern light in each of the multiple images. A first distance measuring unit detects a phase difference between the emitted pattern light and the reflected light on the basis of the bright regions detected in the multiple images and calculates a first distance measurement value that is a distance to the object on the basis of the detected phase difference. A bright region selecting unit selects among the bright regions, detected in the multiple images, on the basis of image signals constituting the images. A second distance measuring unit calculates a second distance measurement value that is a distance to the object by triangulation using a position of the selected bright region in the image. A fusion unit generates a fused distance measurement value by fusing the first distance measurement value and the second distance measurement value.
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公开(公告)号：US20240168167A1
公开(公告)日：2024-05-23
申请号：US18551899
申请日：2022-04-08
CPC分类号： G01S17/89 , G01S7/4808 , G01S7/4814 , G01S7/4816 , G01S7/4817 , G01S17/48
摘要： An optical imaging system including a transmitter unit and a receiver unit. The transmitter unit includes a light-emitting source generating at least one first optical beam at a given wavelength; a light modulator, associated with a first field of view, detects the at least one first optical beam in a first deflection direction within the first field of view to generate a first deflected beam, by applying an external control signal; and a transmissive deflecting device, associated with a second field of view and including a two-dimensional arrangement of deflecting cells, each of the deflecting cells being reachable by the first deflected beam and being associated with an elementary field of view, the transmissive deflecting device generating at least one second deflected beam from the first deflected beam using an operational deflecting cell of the plurality of deflecting cells that receives the first deflected beam.
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公开(公告)号：US11982805B2
公开(公告)日：2024-05-14
申请号：US17599888
申请日：2020-03-26
发明人： Minsu Hwangbo , Myungsik Kim , Hyunseok Hong
CPC分类号： G02B27/0025 , G01S17/48 , G01S17/931 , H04N23/54 , H04N23/55 , H04N23/56
摘要： A wide-angle, high-resolution distance measurement device according to one aspect of the present disclosure comprises: a light source which emits structured light; a camera which forms an image by capturing reflected light, which is the structured light emitted from the light source and incident on the camera after being reflected by an obstacle; and a resolution correction lens which is disposed in front of the camera and corrects the reflected light which is reflected by the obstacle and incident on the camera, such that the resolution of the image formed by the camera is uniform irrespective of distance.
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公开(公告)号：US20240119614A1
公开(公告)日：2024-04-11
申请号：US18489572
申请日：2023-10-18
IPC分类号： G06T7/593 , G06V20/64 , G01S17/86 , G06T7/13 , G06T7/30 , G05D1/02 , G06T7/136 , G06T7/33 , G06V20/10 , G06V10/10 , G06T7/00 , G06V10/75 , G01S17/48 , G06N5/047 , G01S7/48 , G01S17/89
CPC分类号： G06T7/593 , G06V20/64 , G01S17/86 , G06T7/13 , G06T7/30 , G05D1/0253 , G06T7/136 , G06T7/344 , G06V20/10 , G06V10/16 , G06V10/10 , G06T7/0002 , G06V10/751 , G05D1/0274 , G01S17/48 , G06N5/047 , G01S7/4804 , G01S17/89 , G06T2207/10028 , G05D2201/0203
摘要： A method for perceiving a model of an environment, including: capturing a plurality of data while the robot moves within the environment, wherein: the plurality of data comprises at least a first data and a second data captured by a first sensor of a first sensor type and a second sensor of a second sensor type, respectively; the first sensor type is an imaging sensor; the second senor type captures movement data; an active source of illumination is positioned adjacent to the imaging sensor such that reflections of illumination light illuminating a path of the robot fall within a field of view of the imaging sensor; perceiving the model of the environment based on at least a portion of the plurality of data; storing the model of the environment in a memory; and transmitting the model of the environment to an application of a smartphone.
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公开(公告)号：US11947014B2
公开(公告)日：2024-04-02
申请号：US17294505
申请日：2019-11-19
发明人： Jun Uchimura , Hiroshi Takahashi
IPC分类号： G01S17/48 , B61L15/00 , G01S7/48 , G01S17/894
CPC分类号： G01S17/48 , B61L15/0072 , G01S7/4802 , G01S7/4804 , G01S7/4808 , G01S17/894
摘要： Provided is a passenger monitoring system comprising: a ranging sensor that is provided in a vehicle and capable of outputting a distance information corresponding to a distance to a passenger in the vehicle; and a control unit that estimates a state of congestion of the vehicle based on the distance information.
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公开(公告)号：US11941830B2
公开(公告)日：2024-03-26
申请号：US17496021
申请日：2021-10-07
发明人： Niv Kantor , Ricardo Garcia , Nadav Grossinger , Robert Hasbun , Nitay Romano
CPC分类号： G06T7/521 , G01S17/48 , G06T2207/10028
摘要： In one embodiment, a system includes at least one projector configured to project a plurality of projected patterns, where a projected lighting characteristic of each of the projected patterns varies over a time period in accordance with an associated predetermined temporal lighting-characteristic pattern, a camera configured to capture images of detected patterns during the time period, and one or more processors configured to: determine, for each detected pattern, a detected temporal lighting-characteristic pattern based on variations in a detected lighting characteristic of the detected pattern, identify a detected pattern that corresponds to one of the projected patterns by comparing at least one of the detected temporal lighting-characteristic patterns to at least one of the temporal lighting-characteristic patterns, and compute a depth associated with the detected patterns based on the one or more of the projected patterns, the detected pattern, and a relative position between the camera and the projector.
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公开(公告)号：US11922657B2
公开(公告)日：2024-03-05
申请号：US17421767
申请日：2020-01-08
申请人： trinamiX GmbH
发明人： Michael Eberspach , Peter Schillen , Patrick Schindler , Robert Send , Christian Lennartz , Ingmar Bruder
CPC分类号： G06T7/74 , G01S7/4816 , G01S17/48 , G06T5/002 , G06T5/20
摘要： Described herein is a detector for determining a position of an object. The detector includes a sensor element having a matrix of optical sensors, wherein the sensor element is configured to determine a reflection image. The detector also includes an evaluation device configured to select a reflection feature of the reflection image at a first image position in the reflection image, determine a longitudinal coordinate z of the selected reflection feature by optimizing a blurring function fa, and determine a reference feature in a reference image at a second image position in the reference image corresponding to the reflection feature. The reference image and the reflection image are determined at two different spatial configurations, wherein the spatial configurations differ by a relative spatial constellation, wherein the evaluation device is configured to determine the relative spatial constellation from the longitudinal coordinate z and the first and the second image positions.
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公开(公告)号：US20230392920A1
公开(公告)日：2023-12-07
申请号：US18143820
申请日：2023-05-05
申请人： COGNEX CORPORATION
发明人： Eric Moore , Benjamin Braker , Daniel Feldkhun
IPC分类号： G01B11/00 , G01B11/25 , G01S7/481 , G01S7/484 , G01S7/486 , G01S7/499 , G01S17/48 , G01S17/89 , G01C3/08
CPC分类号： G01B11/005 , G01B11/2518 , G01B11/2527 , G01B11/2536 , G01S7/4815 , G01S7/4818 , G01S7/484 , G01S7/486 , G01S7/499 , G01S17/48 , G01S17/89 , G01C3/08
摘要： Methods, systems, and apparatuses are provided for estimating a location on an object in a three-dimensional scene. Multiple radiation patterns are produced by spatially modulating each of multiple first radiations with a distinct combination of one or more modulating structures, each first radiation having at least one of a distinct radiation path, a distinct source, a distinct source spectrum, or a distinct source polarization with respect to the other first radiations. The location on the object is illuminated with a portion of each of two or more of the radiation patterns, the location producing multiple object radiations, each object radiation produced in response to one of the multiple radiation patterns. Multiple measured values are produced by detecting the object radiations from the location on the object due to each pattern separately using one or more detector elements. The location on the object is estimated based on the multiple measured values.
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公开(公告)号：US11789150B2
公开(公告)日：2023-10-17
申请号：US17825245
申请日：2022-05-26
发明人： Hannes Plank , Norbert Druml , Theresa Egger , Thomas Herndl , Christoph Steffan
摘要： A localization apparatus includes: a time-of-flight circuit configured to emit a first modulated light signal and to receive reflections of the first modulated light signal from at least three devices; a processing circuit configured to determine, based on the first modulated light signal and the reflections, positions of the at least three devices in a first coordinate system associated with the apparatus; and a receive circuit configured to receive second modulated signals from the at least three devices, the second modulated signals including data indicating positions of the at least three devices in a second coordinate system. The processing circuit is further configured to determine a position and orientation of the apparatus in the second coordinate system based on the positions of the at least three devices in the first coordinate system and the data indicating the positions of the at least three devices in the second coordinate system.
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