Movement control method, mobile machine and non-transitory computer readable storage medium
US11865724B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 26, 2021 |
| Grant date | Jan 9, 2024 |
| Priority date | — |
| Expiry date | Dec 28, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Image-based trajectory planning for a mobile machine having a camera is disclosed. A trajectory for the mobile machine to move to a referenced target is planned by obtaining, a desired image of the referenced target captured at a desired pose of the trajectory and an initial image of the referenced target captured at an initial pose of the trajectory through the camera of the mobile machine, calculating a homography of the desired image and the initial image; decomposing the homography into an initial translation component and an initial rotation matrix, obtaining optimized translation component(s) corresponding to constraint(s) for the mobile machine based on the initial translation component, obtaining optimized homography(s) based on the optimized translation component(s) and the initial rotation matrix, and obtaining objective image features corresponding to the trajectory based on the optimized homography(s).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.