Binocular-vision-based method for tracking fruit space attitude and fruit space motion
US11694343B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 23, 2020 |
| Grant date | Jul 4, 2023 |
| Priority date | — |
| Expiry date | Jul 4, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30188
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A binocular-vision-based method for tracking fruit space attitude and fruit space motion, the method comprising: establishing a connected base coordinate system by taking a junction of a fruit and a fruit stem as an origin; statically photographing a feature point on the surface of the fruit and a point of the connected base coordinate system established at the junction of the fruit and the fruit stem; storing a photographed image; acquiring an inherent relationship between the feature point and the connected base coordinate system; photographing dynamic motion of the fruit; acquiring absolute coordinates of the feature point on the surface of the fruit; calculating, according to the inherent relationship between the feature point and the connected base coordinate system, absolute coordinates of a point of the connected base coordinate system at each moment corresponding to each frame of image; and respectively calculating the displacement, instantaneous speed and instantaneous acceleration of the fruit, calculating swing angular displacement and swing angular acceleration of the fruit, and calculating a fruit torsion angular speed and a fruit torsion angular acceleration at the mo…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.