Image analysis – Image transformation or preprocessing – Measuring image properties
Patent
1994-03-07
1996-03-12
Boudreau, Leo
Image analysis
Image transformation or preprocessing
Measuring image properties
382153, 382203, G06K 936
Patent
active
054993067
ABSTRACT:
A positional relationship between an autonomous mobile robot and a workpiece to be handled by the robot is calculated promptly and accurately on the basis of the image information obtained from a monocular vision camera mounted on the robot. Extracting the image feature points of the workpiece taken by the camera, a search region with a plurality of discrete space points is set on the basis of the estimated position and attitude of the camera. Then, the estimated image feature points of the workpiece, to be obtained when the workpiece is taken a view from these space points, are obtained. Then an error between the image feature point and the estimated feature point is calculated, and the position and attitude of the camera can be determined by finding the space point where the error is minimized.
REFERENCES:
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Kanayama et al: "Position-and-Attitude Recognition for Autonomous Mobile Robot System" pp. 1-8 Nov. 11, 1993.
Saito, et al "A Fast and Robust Localization for a Hand-Eye System"; Computer Television; 85-5; Sep. 30, 1993; pp. 33-40.
Sasaki et al: "The Calculation of the Position and the Attitude of a Viewpoint by Monocular Vision" PCSJ 93; Oct. 4-6; pp. 57 and 58.
Feddema et al., "Automatic Selection of Image Features For Visual Servoing of a Robot Manipulator," IEEE, 1989, pp. 832-837.
Y. Kuno, Y. Okamoto, and S. Okada, "Robot Vision Using a Feature Search Strategy Generated from a 3-D Object Model," IEEE Trans. Patt. Anal. Machine Intell., vol. 13, No. 10, pp. 1085-1097, Oct. 1991.
Kanayama Yukihiro
Kominami Tetsuya
Saitou Hideki
Sasaki Mikio
Boudreau Leo
Nippondenso Co. Ltd.
Tran Phuoc
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