SE0100954D0 - Camera based distance and angle gauges - Google Patents
Camera based distance and angle gaugesInfo
- Publication number
- SE0100954D0 SE0100954D0 SE0100954A SE0100954A SE0100954D0 SE 0100954 D0 SE0100954 D0 SE 0100954D0 SE 0100954 A SE0100954 A SE 0100954A SE 0100954 A SE0100954 A SE 0100954A SE 0100954 D0 SE0100954 D0 SE 0100954D0
- Authority
- SE
- Sweden
- Prior art keywords
- angular
- pixels
- reflector
- determining
- relation
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
A method for determining an angular position of a reflector from a vehicle reference position in relation to an angular reference position including the step of arranging vertically extended reflectors in a working area. From the vehicle reference position vertical image slices of at least one horizontal segment of the working area are obtained, each image slice comrising a plurality of pixels and intensity values of pixels in each vertical image slice are added into a set of column sums, one position in teh set forming an angular reference point. Then the angular position of a reflector is determined as the position of a peak column sum or a subset of adjacent peak column sums in the said set in relation to the angular reference point. The invention also includes a method for determining the distance between a reflector and a vehicle reference position using reflectors with a predetermined vertical extension. The number of consecutive pixels having intensity values exceeding a predetermined intensity value is calculated and based on said number of consecutive pixels the distance is calculated. A device for determining the angular position comprises an image sensing means. An adder is provided for adding intensity values of pixels in vertical image slices into a set of column sums and computing means are provided for determining the angular position of a reflector as the position of a peak column sum or a subset of adjacent peak column sums in the said set in relation to the angular reference point.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0100954A SE523318C2 (en) | 2001-03-20 | 2001-03-20 | Camera based distance and angle gauges |
PCT/SE2002/000544 WO2002075350A1 (en) | 2001-03-20 | 2002-03-20 | Method and device for determining an angular position of a reflector |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0100954A SE523318C2 (en) | 2001-03-20 | 2001-03-20 | Camera based distance and angle gauges |
Publications (3)
Publication Number | Publication Date |
---|---|
SE0100954D0 true SE0100954D0 (en) | 2001-03-20 |
SE0100954L SE0100954L (en) | 2002-11-08 |
SE523318C2 SE523318C2 (en) | 2004-04-13 |
Family
ID=20283428
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE0100954A SE523318C2 (en) | 2001-03-20 | 2001-03-20 | Camera based distance and angle gauges |
Country Status (2)
Country | Link |
---|---|
SE (1) | SE523318C2 (en) |
WO (1) | WO2002075350A1 (en) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US8788092B2 (en) | 2000-01-24 | 2014-07-22 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
US7663333B2 (en) | 2001-06-12 | 2010-02-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
DE10336085A1 (en) * | 2003-08-06 | 2005-03-10 | Siemens Ag | Determining the position of a cargo by combining local, absolute position measurement and relative position measurement |
US20050060899A1 (en) * | 2003-09-23 | 2005-03-24 | Snap-On Technologies, Inc. | Invisible target illuminators for 3D camera-based alignment systems |
US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
US7720554B2 (en) | 2004-03-29 | 2010-05-18 | Evolution Robotics, Inc. | Methods and apparatus for position estimation using reflected light sources |
EP1776624A1 (en) | 2004-06-24 | 2007-04-25 | iRobot Corporation | Programming and diagnostic tool for a mobile robot |
US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US8670866B2 (en) | 2005-02-18 | 2014-03-11 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
ES2522926T3 (en) | 2005-12-02 | 2014-11-19 | Irobot Corporation | Autonomous Cover Robot |
ATE534941T1 (en) | 2005-12-02 | 2011-12-15 | Irobot Corp | COVER ROBOT MOBILITY |
EP2533120B1 (en) | 2005-12-02 | 2019-01-16 | iRobot Corporation | Robot system |
US8584305B2 (en) | 2005-12-02 | 2013-11-19 | Irobot Corporation | Modular robot |
EP2023788B1 (en) | 2006-05-19 | 2011-09-07 | iRobot Corporation | Removing debris from cleaning robots |
US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
KR101393196B1 (en) | 2007-05-09 | 2014-05-08 | 아이로보트 코퍼레이션 | Compact autonomous coverage robot |
CN108378771B (en) | 2010-02-16 | 2021-06-11 | 艾罗伯特公司 | Vacuum cleaner brush |
CN108132667B (en) * | 2017-11-21 | 2020-08-25 | 北京特种机械研究所 | AGV navigation state machine |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4947094A (en) * | 1987-07-23 | 1990-08-07 | Battelle Memorial Institute | Optical guidance system for industrial vehicles |
US5051906A (en) * | 1989-06-07 | 1991-09-24 | Transitions Research Corporation | Mobile robot navigation employing retroreflective ceiling features |
JP2000161918A (en) * | 1998-12-01 | 2000-06-16 | Tsubakimoto Chain Co | Method and device for detecting position of moving body |
-
2001
- 2001-03-20 SE SE0100954A patent/SE523318C2/en not_active IP Right Cessation
-
2002
- 2002-03-20 WO PCT/SE2002/000544 patent/WO2002075350A1/en not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
SE0100954L (en) | 2002-11-08 |
WO2002075350A1 (en) | 2002-09-26 |
SE523318C2 (en) | 2004-04-13 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |