Method and apparatus for machine-vision
US7336814B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 14, 2005 |
| Grant date | Feb 26, 2008 |
| Priority date | — |
| Expiry date | Jul 14, 2025 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V10/24
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A system and method facilitate machine-vision, for example three-dimensional pose estimation for target objects, using one or more images sensors to acquire images of the target object at one or more positions, and to identify features of the target object in the resulting images. A set of equations is set up exploiting invariant physical relationships between features such as constancy of distances, angles, and areas or volumes enclosed by or between features. The set of equations may be solved to estimate a 3D pose. The number of positions may be determined based on the number of image sensors, number of features identified, and/or number of known physical relationships between less than all features. Knowledge of physical relationships between image sensors and/or between features and image sensors may be employed. A robot path may be transformed based on the pose, to align the path with the target object.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.