Self-position identifying method and device, and three-dimensional shape measuring method and device
US8121399B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 15, 2006 |
| Grant date | Feb 21, 2012 |
| Priority date | — |
| Expiry date | Jun 27, 2029 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10016
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The invention includes a step S1 for inputting into a computer coordinate values on a three-dimensional shape; a step S4 for structuring an environment model that partitions a spatial region, in which a three-dimensional shape exists, into a plurality of voxels of rectangular solids, and stores each position; and a step S5 for setting and recording a representative point and an error distribution thereof, within the voxel corresponding to the coordinate value. If there is no data in a previous measurement position, position matching is performed in a fine position matching step S7 so as to minimize an evaluation value regarding the distances between adjacent error distributions by rotating and translating a new measurement data and error distribution for the environment model for a previous measuring position, or rotating and translating an environment model for a new measuring position, relative to an environment model for a previous measuring position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.