Device and method to localize and control a tool tip with a robot arm
US9259840B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 13, 2014 |
| Grant date | Feb 16, 2016 |
| Priority date | — |
| Expiry date | Jul 24, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Described is a system for localizing and controlling a tool tip with a robotic arm. The system receives three-dimensional (3D) visual information of a scene having a tool with a tool tip proximate a target. A depth disparity map is generated based on the 3D visual information. The depth disparity map is filtered by depth continuity to generate boundaries of the tool. The boundaries of the tool are initially loose to ensure that the tool is contained within the boundaries. Thereafter, using level set segmentation, the boundaries of the tool are shrunk and extracted. Ends of the tool tip are identified based on the extracted boundaries, which are then used to generate a pose of the tool tip.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.