Patent · US Active

Localization in industrial robotics using rao-blackwellized particle filtering

US8219352B2 · kind B2 · utility

5Cited by
1References
25Claims
0Family size

Assignee

Inventors

Key dates

Filing dateMar 31, 2010
Grant dateJul 10, 2012
Priority date—
Expiry dateSep 17, 2030

Classification

  • Technology area (CPC B)Performing Operations; Transporting
  • CPC primaryB25J9/1694
  • WIPO fieldHandling
  • WIPO sectorMechanical engineering

Abstract

Embodiments of the invention disclose a system and a method for determining a pose of a probe relative to an object by probing the object with the probe, comprising steps of: determining a probability of the pose using Rao-Blackwellized particle filtering, wherein a probability of a location of the pose is represented by a location of each particle, and a probability of an orientation of the pose is represented by a Gaussian distribution over orientation of each particle conditioned on the location of the particle, wherein the determining is performed for each subsequent probing until the probability of the pose concentrates around a particular pose; and estimating the pose of the probe relative to the object based on the particular pose.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.