SG11201907126SA - A general monocular machine vision system and method for identifying locations of target elements - Google Patents

A general monocular machine vision system and method for identifying locations of target elements

Info

Publication number
SG11201907126SA
SG11201907126SA SG11201907126SA SG11201907126SA SG11201907126SA SG 11201907126S A SG11201907126S A SG 11201907126SA SG 11201907126S A SG11201907126S A SG 11201907126SA SG 11201907126S A SG11201907126S A SG 11201907126SA SG 11201907126S A SG11201907126S A SG 11201907126SA
Authority
SG
Singapore
Prior art keywords
international
vision system
target elements
machine vision
pct
Prior art date
Application number
SG11201907126SA
Inventor
Chris Liu
Original Assignee
Maker Trading Pte Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/SG2017/050573 external-priority patent/WO2019039996A1/en
Application filed by Maker Trading Pte Ltd filed Critical Maker Trading Pte Ltd
Publication of SG11201907126SA publication Critical patent/SG11201907126SA/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06037—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking multi-dimensional coding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/06131—Constructional details the marking comprising a target pattern, e.g. for indicating the center of the bar code or for helping a bar code reader to properly orient the scanner or to retrieve the bar code inside of an image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/0614—Constructional details the marking being selective to wavelength, e.g. color barcode or barcodes only visible under UV or IR
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/12—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using a selected wavelength, e.g. to sense red marks and ignore blue marks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Geometry (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

B) W O 19/039997 Al (12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 28 February 2019 (28.02.2019) WIPO I PCT 1111111111111101111111111111111011111010011111111111111111111111111111111111011110111111 (10) International Publication Number WO 2019/039997 Al (51) International Patent Classification: GO6T 7/73 (2017.01) GO1C 3/00 (2006.01) GO1C 21/00 (2006.01) GO6K 7/12 (2006.01) (21) International Application Number: PCT/SG2018/050254 (22) International Filing Date: 24 May 2018 (24.05.2018) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 10201706981P 25 August 2017 (25.08.2017) SG PCT/S G2017/050573 17 November 2017 (17.11.2017) SG 10201710867W 28 December 2017 (28.12.2017) SG (71) Applicant: MAKER TRADING PTE LTD [SG/SG]; 10 Anson Road, International Plaza, #03-02, Singapore 079903 (SG). (72) Inventor: LIU, Chris; Singapore 079903 (SG). (74) Agent: ALLEN & GLEDHILL LLP; One Marina Boule- vard #28-00, Singapore 018989 (SG). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, 1E, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: with international search report (Art. 21(3)) (54) Title: A GENERAL MONOCULAR MACHINE VISION SYSTEM AND METHOD FOR IDENTIFYING LOCATIONS OF TARGET ELEMENTS path (A, (1) Lv (A) FIGURE 11 (57) : The present document describe monocular machine vision systems and methods for determining locations of target elements when the three dimensional orientation of the monocular machine vision system relative to the target system is unknown. The machine vision system described herein captures and uses information gleaned from the captured target elements to determine the locations of these captured target elements relative to the vision system, or reversely, the location and orientation of the vision system relative to the target elements.
SG11201907126SA 2017-08-25 2018-05-24 A general monocular machine vision system and method for identifying locations of target elements SG11201907126SA (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
SG10201706981P 2017-08-25
PCT/SG2017/050573 WO2019039996A1 (en) 2017-08-25 2017-11-17 Machine vision system and method for identifying locations of target elements
SG10201710867W 2017-12-28
PCT/SG2018/050254 WO2019039997A1 (en) 2017-08-25 2018-05-24 A general monocular machine vision system and method for identifying locations of target elements

Publications (1)

Publication Number Publication Date
SG11201907126SA true SG11201907126SA (en) 2019-09-27

Family

ID=65438780

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201907126SA SG11201907126SA (en) 2017-08-25 2018-05-24 A general monocular machine vision system and method for identifying locations of target elements

Country Status (3)

Country Link
US (1) US11250589B2 (en)
SG (1) SG11201907126SA (en)
WO (1) WO2019039997A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112444233B (en) * 2020-10-22 2022-08-02 贵州大学 Monocular vision-based plane motion displacement and track measurement method

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4753569A (en) * 1982-12-28 1988-06-28 Diffracto, Ltd. Robot calibration
FR2770317B1 (en) * 1997-10-24 2000-12-08 Commissariat Energie Atomique METHOD FOR CALIBRATING THE ORIGINAL POSITION AND ORIENTATION OF ONE OR MORE MOBILE CAMERAS AND ITS APPLICATION TO MEASURING THE THREE-DIMENSIONAL POSITION OF FIXED OBJECTS
US7292711B2 (en) * 2002-06-06 2007-11-06 Wintriss Engineering Corporation Flight parameter measurement system
US7826641B2 (en) * 2004-01-30 2010-11-02 Electronic Scripting Products, Inc. Apparatus and method for determining an absolute pose of a manipulated object in a real three-dimensional environment with invariant features
US8239220B2 (en) * 2006-06-08 2012-08-07 Injury Sciences Llc Method and apparatus for obtaining photogrammetric data to estimate impact severity
JP5624394B2 (en) * 2010-07-16 2014-11-12 キヤノン株式会社 Position / orientation measurement apparatus, measurement processing method thereof, and program
US8655094B2 (en) * 2011-05-11 2014-02-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Photogrammetry system and method for determining relative motion between two bodies
CN102735235B (en) * 2012-06-07 2014-12-24 无锡普智联科高新技术有限公司 Indoor mobile robot positioning system based on two-dimensional code
CA2819956C (en) * 2013-07-02 2022-07-12 Guy Martin High accuracy camera modelling and calibration method
WO2015025309A1 (en) * 2013-08-20 2015-02-26 Smarter Tv Ltd. System and method for real-time processing of ultra-high resolution digital video
WO2015117904A1 (en) * 2014-02-04 2015-08-13 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Hough processor
WO2018173551A1 (en) * 2017-03-21 2018-09-27 オリンパス株式会社 Calibration device, calibration method, optical device, photographing device, and projection device
JP6975929B2 (en) * 2017-04-18 2021-12-01 パナソニックＩｐマネジメント株式会社 Camera calibration method, camera calibration program and camera calibration device

Also Published As

Publication number Publication date
US11250589B2 (en) 2022-02-15
US20210027488A1 (en) 2021-01-28
WO2019039997A1 (en) 2019-02-28

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