Position-and-attitude recognition method and apparatus by use of

Details Position-and-attitude recognition method and apparatus by use of Position-and-attitude recognition method and apparatus by use of

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:
patent: 4942539 (1990-07-01), McGee et al.
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.

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