Electro-hydraulic varifocal lens-based method for tracking three-dimensional trajectory of object by using mobile robot
US12306421B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 30, 2022 |
| Grant date | May 20, 2025 |
| Priority date | — |
| Expiry date | Jan 26, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/24
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present disclosure discloses an electro-hydraulic varifocal lens-based method for tracking a three-dimensional (3D) trajectory of an object by using a mobile robot. By modeling an optical imaging system, a functional relation between a focusing control current of an electro-hydraulic varifocal lens and an optimal imaging object distance is obtained. Based on this functional relation, depth information of the object in focus with respect to a mobile robot camera and an average velocity of the objective within a time interval with respect to a previous moment can be obtained. With this information, 3D coordinates and motion trajectory of the object in a camera coordinate system can be calculated. At the same time, the mobile robot locates positions and attitudes in a world coordinate system in real time, and transforms the 3D coordinates of the tracked object from the camera coordinate system to the world coordinate system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.