Position and attitude determination method and system using edge images
US10607364B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 31, 2017 |
| Grant date | Mar 31, 2020 |
| Priority date | — |
| Expiry date | Sep 20, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of determining at least one of position and attitude in relation to an object is provided. The method includes capturing at least two images of the object with at least one camera. Each image is captured at a different position in relation to the object. The images are converted to edge images. The edge images of the object are converted into three-dimensional edge images of the object using positions of where the at least two images were captured. Overlap edge pixels in the at least two three-dimensional edge images are located to identify overlap points. A three dimensional edge candidate point image of the identified overlapped points in an evidence grid is built. The three dimensional candidate edge image in the evidence grid is compared with a model of the object to determine at least one of a then current position and attitude in relation to the object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.