Methods and apparatus for practical 3D vision system
US8111904B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 7, 2005 |
| Grant date | Feb 7, 2012 |
| Priority date | — |
| Expiry date | Oct 11, 2027 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/06
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The invention provides inter alia methods and apparatus for determining the pose, e.g., position along x-, y- and z-axes, pitch, roll and yaw (or one or more characteristics of that pose) of an object in three dimensions by triangulation of data gleaned from multiple images of the object. Thus, for example, in one aspect, the invention provides a method for 3D machine vision in which, during a calibration step, multiple cameras disposed to acquire images of the object from different respective viewpoints are calibrated to discern a mapping function that identifies rays in 3D space emanating from each respective camera's lens that correspond to pixel locations in that camera's field of view. In a training step, functionality associated with the cameras is trained to recognize expected patterns in images to be acquired of the object. A runtime step triangulates locations in 3D space of one or more of those patterns from pixel-wise positions of those patterns in images of the object and from the mappings discerned during calibration step.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.