公开(公告)号：WO2011009108A3

公开(公告)日：2011-04-28

申请号：PCT/US2010042375

申请日：2010-07-17

Applicant: UNIVERSAL ROBOTICS INC ,  PETERS II RICHARD ALAN ,  ATKINS SHAWN ,  KIM DAE JIN ,  NAWAB ADITYA

Inventor： PETERS II RICHARD ALAN ,  ATKINS SHAWN ,  KIM DAE JIN ,  NAWAB ADITYA

IPC: H04N13/00

CPC classification number: G06T7/85 ,  G06T2207/10012 ,  G06T2207/20224 ,  G06T2207/30204

Abstract: A method and system to enable a computer to estimate calibration parameters autonomously so that accurate stereopsis can be performed. The present invention automatically calibrates two or more cameras with unknown parameters with respect to a robot or robotic appendage (e.g., articulated robot arm) with a light source that can be turned on and off at one end. A pair of cameras (e.g., digital cameras) are positioned and aimed so as to give stereoptic coverage of the robot's workspace. The procedure determines the positions and orientations of the pair of cameras with respect to a robot (i.e., exterior orientations) and the focal lengths, optical centers, and distortion coefficients of each camera (i.e., intrinsic parameters) automatically from a set of known positions of the robot arm, and a set of images from the right and left cameras of the robot arm in each position as the light is turned on and off.

Abstract translation: 一种使计算机能够自主地估计校准参数以便能够执行准确的立体视觉的方法和系统。 本发明自动地校准具有关于机器人或机器人附肢（例如，关节式机器人臂）的未知参数的两个或更多个具有可在一端被打开和关闭的光源的相机。 定位和瞄准一对相机（例如，数码相机），以便给予机器人工作空间的立体声覆盖。 该过程从一组已知位置自动确定相机相对于机器人（即，外部取向）和每个照相机的焦距，光学中心和失真系数的位置和取向（即固有参数） 的机器人手臂，以及一组来自机器人手臂的左右照相机的图像，因为光线被打开和关闭。

公开(公告)号：WO2011009108A2

公开(公告)日：2011-01-20

申请号：PCT/US2010/042375

申请日：2010-07-17

Applicant: UNIVERSAL ROBOTICS, INC. ,  PETERS, II, Richard, Alan ,  ATKINS, Shawn ,  KIM, Dae, Jin ,  NAWAB, Aditya

Inventor： PETERS, II, Richard, Alan ,  ATKINS, Shawn ,  KIM, Dae, Jin ,  NAWAB, Aditya

IPC: H04N13/00

CPC classification number: G06T7/85 ,  G06T2207/10012 ,  G06T2207/20224 ,  G06T2207/30204

Abstract: A method and system to enable a computer to estimate calibration parameters autonomously so that accurate stereopsis can be performed. The present invention automatically calibrates two or more cameras with unknown parameters with respect to a robot or robotic appendage (e.g., articulated robot arm) with a light source that can be turned on and off at one end. A pair of cameras (e.g., digital cameras) are positioned and aimed so as to give stereoptic coverage of the robot's workspace. The procedure determines the positions and orientations of the pair of cameras with respect to a robot (i.e., exterior orientations) and the focal lengths, optical centers, and distortion coefficients of each camera (i.e., intrinsic parameters) automatically from a set of known positions of the robot arm, and a set of images from the right and left cameras of the robot arm in each position as the light is turned on and off.

Abstract translation: 一种使计算机能够自主估计校准参数以便能够执行精确立体视觉的方法和系统。 本发明利用可在一端开启和关闭的光源，相对于机器人或机器人附肢（例如，多关节机器人手臂）自动校准具有未知参数的两个或更多个相机。 定位并定位一对相机（例如数码相机）以便对机器人的工作空间进行立体覆盖。 该过程从一组已知位置自动地确定一对摄像机相对于机器人的位置和方向（即，外部方位）以及每个摄像机的焦距，光学中心和失真系数（即内在参数） 机器人手臂的位置，以及机器人手臂右侧和左侧摄像机在每个位置打开和关闭的一组图像。