CN102034238A - Multi-camera system calibrating method based on optical imaging test head and visual graph structure - Google Patents
Multi-camera system calibrating method based on optical imaging test head and visual graph structure Download PDFInfo
- Publication number
- CN102034238A CN102034238A CN201010585261.6A CN201010585261A CN102034238A CN 102034238 A CN102034238 A CN 102034238A CN 201010585261 A CN201010585261 A CN 201010585261A CN 102034238 A CN102034238 A CN 102034238A
- Authority
- CN
- China
- Prior art keywords
- mrow
- camera
- cameras
- msubsup
- optical imaging
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000012634 optical imaging Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims abstract description 51
- 230000000007 visual effect Effects 0.000 title claims abstract description 48
- 239000011159 matrix material Substances 0.000 claims abstract description 44
- 239000013598 vector Substances 0.000 claims abstract description 26
- 238000013519 translation Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000010586 diagram Methods 0.000 claims description 14
- 239000000523 sample Substances 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 11
- 230000036544 posture Effects 0.000 claims description 10
- 230000009466 transformation Effects 0.000 claims description 9
- 230000011218 segmentation Effects 0.000 claims description 8
- 238000005457 optimization Methods 0.000 claims description 7
- 239000003550 marker Substances 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 230000004075 alteration Effects 0.000 abstract 1
- 238000011160 research Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010105852616A CN102034238B (en) | 2010-12-13 | 2010-12-13 | Multi-camera system calibrating method based on optical imaging probe and visual graph structure |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2010105852616A CN102034238B (en) | 2010-12-13 | 2010-12-13 | Multi-camera system calibrating method based on optical imaging probe and visual graph structure |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102034238A true CN102034238A (en) | 2011-04-27 |
CN102034238B CN102034238B (en) | 2012-07-18 |
Family
ID=43887091
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2010105852616A Active CN102034238B (en) | 2010-12-13 | 2010-12-13 | Multi-camera system calibrating method based on optical imaging probe and visual graph structure |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102034238B (en) |
Cited By (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103196370A (en) * | 2013-04-01 | 2013-07-10 | 北京理工大学 | Measuring method and measuring device of conduit connector space pose parameters |
CN103377471A (en) * | 2012-04-16 | 2013-10-30 | 株式会社理光 | Method and device for object positioning, and method and device for determining optimal camera pair |
CN103617622A (en) * | 2013-12-10 | 2014-03-05 | 云南大学 | Pose estimation orthogonal iterative optimization algorithm |
CN103792950A (en) * | 2014-01-06 | 2014-05-14 | 中国航空无线电电子研究所 | Three-dimensional shooting optical error correcting device and method based on piezoelectric ceramics |
CN104145294A (en) * | 2012-03-02 | 2014-11-12 | 高通股份有限公司 | Scene structure-based self-pose estimation |
CN104766291A (en) * | 2014-01-02 | 2015-07-08 | 株式会社理光 | Method and system for calibrating multiple cameras |
CN105894505A (en) * | 2016-03-30 | 2016-08-24 | 南京邮电大学 | Quick pedestrian positioning method based on multi-camera geometrical constraint |
CN106060524A (en) * | 2016-06-30 | 2016-10-26 | 北京邮电大学 | Method and device for setting camera |
CN106408614A (en) * | 2016-09-27 | 2017-02-15 | 中国船舶工业系统工程研究院 | Video camera intrinsic parameter calibration method and system suitable for field application |
CN106780630A (en) * | 2017-01-09 | 2017-05-31 | 上海商泰汽车信息系统有限公司 | Demarcate panel assembly, vehicle-mounted camera scaling method and device, system |
CN106799732A (en) * | 2016-12-07 | 2017-06-06 | 中国科学院自动化研究所 | For the control system and its localization method of the motion of binocular head eye coordination |
CN106843224A (en) * | 2017-03-15 | 2017-06-13 | 广东工业大学 | A kind of method and device of multi-vision visual positioning collaboration guiding transport vehicle |
CN108827156A (en) * | 2018-08-24 | 2018-11-16 | 合肥工业大学 | A kind of industrial photogrammetry station meter |
CN109099883A (en) * | 2018-06-15 | 2018-12-28 | 哈尔滨工业大学 | The big visual field machine vision metrology of high-precision and caliberating device and method |
CN109416576A (en) * | 2016-06-30 | 2019-03-01 | 微软技术许可有限责任公司 | Based on the interaction of determining constraint and virtual objects |
CN105072414B (en) * | 2015-08-19 | 2019-03-12 | 浙江宇视科技有限公司 | A kind of target detection and tracking and system |
CN109785373A (en) * | 2019-01-22 | 2019-05-21 | 东北大学 | A kind of six-freedom degree pose estimating system and method based on speckle |
CN109813335A (en) * | 2017-11-21 | 2019-05-28 | 武汉四维图新科技有限公司 | Scaling method, device, system and the storage medium of data collection system |
CN110176035A (en) * | 2019-05-08 | 2019-08-27 | 深圳市易尚展示股份有限公司 | Localization method, device, computer equipment and the storage medium of index point |
CN110310337A (en) * | 2019-06-24 | 2019-10-08 | 西北工业大学 | A kind of more view optical field imaging system population parameter estimation methods based on light field fundamental matrix |
CN110782498A (en) * | 2019-09-26 | 2020-02-11 | 北京航空航天大学 | Rapid universal calibration method for visual sensing network |
CN110889901A (en) * | 2019-11-19 | 2020-03-17 | 北京航空航天大学青岛研究院 | Large-scene sparse point cloud BA optimization method based on distributed system |
CN110969662A (en) * | 2018-09-28 | 2020-04-07 | 杭州海康威视数字技术股份有限公司 | Fisheye camera internal reference calibration method and device, calibration device controller and system |
CN111127560A (en) * | 2019-11-11 | 2020-05-08 | 江苏濠汉信息技术有限公司 | Calibration method and system for three-dimensional reconstruction binocular vision system |
CN111243021A (en) * | 2020-01-06 | 2020-06-05 | 武汉理工大学 | Vehicle-mounted visual positioning method and system based on multiple combined cameras and storage medium |
CN111308448A (en) * | 2018-12-10 | 2020-06-19 | 杭州海康威视数字技术股份有限公司 | Image acquisition equipment and radar external parameter determination method and device |
CN111598954A (en) * | 2020-04-21 | 2020-08-28 | 哈尔滨拓博科技有限公司 | Rapid high-precision camera parameter calculation method |
CN111890354A (en) * | 2020-06-29 | 2020-11-06 | 北京大学 | Robot hand-eye calibration method, device and system |
CN112781496A (en) * | 2021-01-20 | 2021-05-11 | 湘潭大学 | Measuring head pose calibration technology of non-contact measuring system |
CN113077519A (en) * | 2021-03-18 | 2021-07-06 | 中国电子科技集团公司第五十四研究所 | Multi-phase external parameter automatic calibration method based on human skeleton extraction |
CN113963058A (en) * | 2021-09-07 | 2022-01-21 | 于留青 | On-line calibration method and device for CT (computed tomography) of preset track, electronic equipment and storage medium |
CN114049324A (en) * | 2021-11-15 | 2022-02-15 | 天津大学 | Associated reference telecentric measurement quick calibration method under super-field scale |
CN114581515A (en) * | 2020-12-02 | 2022-06-03 | 中国科学院沈阳自动化研究所 | Multi-camera calibration parameter optimization method based on optimal path conversion |
CN114705122A (en) * | 2022-04-13 | 2022-07-05 | 成都飞机工业(集团)有限责任公司 | Large-field stereoscopic vision calibration method |
CN115578694A (en) * | 2022-11-18 | 2023-01-06 | 合肥英特灵达信息技术有限公司 | Video analysis computing power scheduling method, system, electronic equipment and storage medium |
CN116188602A (en) * | 2023-04-26 | 2023-05-30 | 西北工业大学青岛研究院 | High-precision calibration method for underwater multi-vision three-dimensional imaging system |
CN117650844A (en) * | 2024-01-29 | 2024-03-05 | 江西开放大学 | VLC relay system safety performance optimization method |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
US20080240612A1 (en) * | 2007-03-30 | 2008-10-02 | Intel Corporation | Non-overlap region based automatic global alignment for ring camera image mosaic |
CN101285680A (en) * | 2007-12-12 | 2008-10-15 | 中国海洋大学 | Line structure optical sensor outer parameter calibration method |
CN101334267A (en) * | 2008-07-25 | 2008-12-31 | 西安交通大学 | Digital image feeler vector coordinate transform calibration and error correction method and its device |
US7554575B2 (en) * | 2005-10-28 | 2009-06-30 | Seiko Epson Corporation | Fast imaging system calibration |
-
2010
- 2010-12-13 CN CN2010105852616A patent/CN102034238B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7554575B2 (en) * | 2005-10-28 | 2009-06-30 | Seiko Epson Corporation | Fast imaging system calibration |
US20080240612A1 (en) * | 2007-03-30 | 2008-10-02 | Intel Corporation | Non-overlap region based automatic global alignment for ring camera image mosaic |
CN101285680A (en) * | 2007-12-12 | 2008-10-15 | 中国海洋大学 | Line structure optical sensor outer parameter calibration method |
CN101231749A (en) * | 2007-12-20 | 2008-07-30 | 昆山华恒工程技术中心有限公司 | Method for calibrating industry robot |
CN101334267A (en) * | 2008-07-25 | 2008-12-31 | 西安交通大学 | Digital image feeler vector coordinate transform calibration and error correction method and its device |
Non-Patent Citations (2)
Title |
---|
《Pattern Recognition》 20011231 Bent David Olsen等 Calibration a camera network using a domino grid , 2 * |
《计测技术》 20091231 孙佳星 等 双摄像机光笔式三维坐标测量系统研究 第29卷, 第1期 2 * |
Cited By (58)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104145294A (en) * | 2012-03-02 | 2014-11-12 | 高通股份有限公司 | Scene structure-based self-pose estimation |
CN104145294B (en) * | 2012-03-02 | 2017-03-08 | 高通股份有限公司 | Self pose estimation based on scene structure |
CN103377471B (en) * | 2012-04-16 | 2016-08-03 | 株式会社理光 | Object positioning method and device, optimum video camera are to determining method and apparatus |
CN103377471A (en) * | 2012-04-16 | 2013-10-30 | 株式会社理光 | Method and device for object positioning, and method and device for determining optimal camera pair |
CN103196370A (en) * | 2013-04-01 | 2013-07-10 | 北京理工大学 | Measuring method and measuring device of conduit connector space pose parameters |
CN103617622A (en) * | 2013-12-10 | 2014-03-05 | 云南大学 | Pose estimation orthogonal iterative optimization algorithm |
CN104766291A (en) * | 2014-01-02 | 2015-07-08 | 株式会社理光 | Method and system for calibrating multiple cameras |
CN104766291B (en) * | 2014-01-02 | 2018-04-10 | 株式会社理光 | Multiple cameras scaling method and system |
CN103792950A (en) * | 2014-01-06 | 2014-05-14 | 中国航空无线电电子研究所 | Three-dimensional shooting optical error correcting device and method based on piezoelectric ceramics |
CN105072414B (en) * | 2015-08-19 | 2019-03-12 | 浙江宇视科技有限公司 | A kind of target detection and tracking and system |
CN105894505A (en) * | 2016-03-30 | 2016-08-24 | 南京邮电大学 | Quick pedestrian positioning method based on multi-camera geometrical constraint |
CN106060524A (en) * | 2016-06-30 | 2016-10-26 | 北京邮电大学 | Method and device for setting camera |
CN106060524B (en) * | 2016-06-30 | 2017-12-29 | 北京邮电大学 | The method to set up and device of a kind of video camera |
CN109416576A (en) * | 2016-06-30 | 2019-03-01 | 微软技术许可有限责任公司 | Based on the interaction of determining constraint and virtual objects |
CN109416576B (en) * | 2016-06-30 | 2022-04-29 | 微软技术许可有限责任公司 | Interaction with virtual objects based on determined constraints |
CN106408614A (en) * | 2016-09-27 | 2017-02-15 | 中国船舶工业系统工程研究院 | Video camera intrinsic parameter calibration method and system suitable for field application |
CN106408614B (en) * | 2016-09-27 | 2019-03-15 | 中国船舶工业系统工程研究院 | Camera intrinsic parameter Calibration Method and system suitable for field application |
CN106799732A (en) * | 2016-12-07 | 2017-06-06 | 中国科学院自动化研究所 | For the control system and its localization method of the motion of binocular head eye coordination |
CN106780630A (en) * | 2017-01-09 | 2017-05-31 | 上海商泰汽车信息系统有限公司 | Demarcate panel assembly, vehicle-mounted camera scaling method and device, system |
CN106843224A (en) * | 2017-03-15 | 2017-06-13 | 广东工业大学 | A kind of method and device of multi-vision visual positioning collaboration guiding transport vehicle |
CN106843224B (en) * | 2017-03-15 | 2020-03-10 | 广东工业大学 | Method and device for cooperatively guiding transport vehicle through multi-view visual positioning |
CN109813335A (en) * | 2017-11-21 | 2019-05-28 | 武汉四维图新科技有限公司 | Scaling method, device, system and the storage medium of data collection system |
CN109099883A (en) * | 2018-06-15 | 2018-12-28 | 哈尔滨工业大学 | The big visual field machine vision metrology of high-precision and caliberating device and method |
CN108827156A (en) * | 2018-08-24 | 2018-11-16 | 合肥工业大学 | A kind of industrial photogrammetry station meter |
CN110969662B (en) * | 2018-09-28 | 2023-09-26 | 杭州海康威视数字技术股份有限公司 | Method and device for calibrating internal parameters of fish-eye camera, calibration device controller and system |
CN110969662A (en) * | 2018-09-28 | 2020-04-07 | 杭州海康威视数字技术股份有限公司 | Fisheye camera internal reference calibration method and device, calibration device controller and system |
CN111308448B (en) * | 2018-12-10 | 2022-12-06 | 杭州海康威视数字技术股份有限公司 | External parameter determining method and device for image acquisition equipment and radar |
CN111308448A (en) * | 2018-12-10 | 2020-06-19 | 杭州海康威视数字技术股份有限公司 | Image acquisition equipment and radar external parameter determination method and device |
CN109785373B (en) * | 2019-01-22 | 2022-12-23 | 东北大学 | Speckle-based six-degree-of-freedom pose estimation system and method |
CN109785373A (en) * | 2019-01-22 | 2019-05-21 | 东北大学 | A kind of six-freedom degree pose estimating system and method based on speckle |
CN110176035A (en) * | 2019-05-08 | 2019-08-27 | 深圳市易尚展示股份有限公司 | Localization method, device, computer equipment and the storage medium of index point |
CN110176035B (en) * | 2019-05-08 | 2021-09-28 | 深圳市易尚展示股份有限公司 | Method and device for positioning mark point, computer equipment and storage medium |
CN110310337A (en) * | 2019-06-24 | 2019-10-08 | 西北工业大学 | A kind of more view optical field imaging system population parameter estimation methods based on light field fundamental matrix |
CN110310337B (en) * | 2019-06-24 | 2022-09-06 | 西北工业大学 | Multi-view light field imaging system full-parameter estimation method based on light field fundamental matrix |
CN110782498B (en) * | 2019-09-26 | 2022-03-15 | 北京航空航天大学 | Rapid universal calibration method for visual sensing network |
CN110782498A (en) * | 2019-09-26 | 2020-02-11 | 北京航空航天大学 | Rapid universal calibration method for visual sensing network |
CN111127560A (en) * | 2019-11-11 | 2020-05-08 | 江苏濠汉信息技术有限公司 | Calibration method and system for three-dimensional reconstruction binocular vision system |
CN111127560B (en) * | 2019-11-11 | 2022-05-03 | 江苏濠汉信息技术有限公司 | Calibration method and system for three-dimensional reconstruction binocular vision system |
CN110889901A (en) * | 2019-11-19 | 2020-03-17 | 北京航空航天大学青岛研究院 | Large-scene sparse point cloud BA optimization method based on distributed system |
CN110889901B (en) * | 2019-11-19 | 2023-08-08 | 北京航空航天大学青岛研究院 | Large-scene sparse point cloud BA optimization method based on distributed system |
CN111243021A (en) * | 2020-01-06 | 2020-06-05 | 武汉理工大学 | Vehicle-mounted visual positioning method and system based on multiple combined cameras and storage medium |
CN111598954A (en) * | 2020-04-21 | 2020-08-28 | 哈尔滨拓博科技有限公司 | Rapid high-precision camera parameter calculation method |
CN111890354B (en) * | 2020-06-29 | 2022-01-11 | 北京大学 | Robot hand-eye calibration method, device and system |
CN111890354A (en) * | 2020-06-29 | 2020-11-06 | 北京大学 | Robot hand-eye calibration method, device and system |
CN114581515A (en) * | 2020-12-02 | 2022-06-03 | 中国科学院沈阳自动化研究所 | Multi-camera calibration parameter optimization method based on optimal path conversion |
CN114581515B (en) * | 2020-12-02 | 2024-08-20 | 中国科学院沈阳自动化研究所 | Multi-camera calibration parameter optimization method based on optimal path conversion |
CN112781496B (en) * | 2021-01-20 | 2022-03-08 | 湘潭大学 | Measuring head pose calibration method of non-contact measuring system |
CN112781496A (en) * | 2021-01-20 | 2021-05-11 | 湘潭大学 | Measuring head pose calibration technology of non-contact measuring system |
CN113077519A (en) * | 2021-03-18 | 2021-07-06 | 中国电子科技集团公司第五十四研究所 | Multi-phase external parameter automatic calibration method based on human skeleton extraction |
CN113963058A (en) * | 2021-09-07 | 2022-01-21 | 于留青 | On-line calibration method and device for CT (computed tomography) of preset track, electronic equipment and storage medium |
CN114049324A (en) * | 2021-11-15 | 2022-02-15 | 天津大学 | Associated reference telecentric measurement quick calibration method under super-field scale |
CN114049324B (en) * | 2021-11-15 | 2024-08-23 | 天津大学 | Rapid calibration method for correlated reference telecentric measurement under super-view field scale |
CN114705122A (en) * | 2022-04-13 | 2022-07-05 | 成都飞机工业(集团)有限责任公司 | Large-field stereoscopic vision calibration method |
CN114705122B (en) * | 2022-04-13 | 2023-05-05 | 成都飞机工业(集团)有限责任公司 | Large-view-field stereoscopic vision calibration method |
CN115578694A (en) * | 2022-11-18 | 2023-01-06 | 合肥英特灵达信息技术有限公司 | Video analysis computing power scheduling method, system, electronic equipment and storage medium |
CN116188602A (en) * | 2023-04-26 | 2023-05-30 | 西北工业大学青岛研究院 | High-precision calibration method for underwater multi-vision three-dimensional imaging system |
CN117650844A (en) * | 2024-01-29 | 2024-03-05 | 江西开放大学 | VLC relay system safety performance optimization method |
CN117650844B (en) * | 2024-01-29 | 2024-04-26 | 江西开放大学 | VLC relay system safety performance optimization method |
Also Published As
Publication number | Publication date |
---|---|
CN102034238B (en) | 2012-07-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102034238B (en) | Multi-camera system calibrating method based on optical imaging probe and visual graph structure | |
CN108510551B (en) | Method and system for calibrating camera parameters under long-distance large-field-of-view condition | |
CN102376089B (en) | Target correction method and system | |
CN102155923B (en) | Splicing measuring method and system based on three-dimensional target | |
CN103530880B (en) | Based on the camera marking method of projection Gaussian network pattern | |
CN105716542B (en) | A kind of three-dimensional data joining method based on flexible characteristic point | |
CN112396656B (en) | Outdoor mobile robot pose estimation method based on fusion of vision and laser radar | |
CN110031829B (en) | Target accurate distance measurement method based on monocular vision | |
CN107886547B (en) | Fisheye camera calibration method and system | |
Gerke | Using horizontal and vertical building structure to constrain indirect sensor orientation | |
CN105160702A (en) | Stereoscopic image dense matching method and system based on LiDAR point cloud assistance | |
CN102982551B (en) | Method for solving intrinsic parameters of parabolic catadioptric camera linearly by utilizing three unparallel straight lines in space | |
CN103198524A (en) | Three-dimensional reconstruction method for large-scale outdoor scene | |
CN105509733A (en) | Measuring method for relative pose of non-cooperative spatial circular object | |
CN109341668B (en) | Multi-camera measuring method based on refraction projection model and light beam tracking method | |
CN103278138A (en) | Method for measuring three-dimensional position and posture of thin component with complex structure | |
CN110763204B (en) | Planar coding target and pose measurement method thereof | |
Hansen et al. | Online continuous stereo extrinsic parameter estimation | |
CN111524195B (en) | Camera calibration method in positioning of cutting head of heading machine | |
CN110782498B (en) | Rapid universal calibration method for visual sensing network | |
CN110827361A (en) | Camera group calibration method and device based on global calibration frame | |
Perdigoto et al. | Calibration of mirror position and extrinsic parameters in axial non-central catadioptric systems | |
CN116563377A (en) | Mars rock measurement method based on hemispherical projection model | |
CN113947638A (en) | Image orthorectification method for fisheye camera | |
CN113963067B (en) | Calibration method for calibrating large-view-field visual sensor by using small target |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: SUZHOU DIKA TESTING TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: XI AN JIAOTONG UNIV. Effective date: 20150528 |
|
C41 | Transfer of patent application or patent right or utility model | ||
COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 710049 XI AN, SHAANXI PROVINCE TO: 215505 SUZHOU, JIANGSU PROVINCE |
|
TR01 | Transfer of patent right |
Effective date of registration: 20150528 Address after: 215505 Jiangsu province Suzhou Changshou City Lianfeng Road No. 58 Patentee after: Suzhou cartesan Testing Technology Co. Ltd Address before: 710049 Xianning West Road, Shaanxi, China, No. 28, No. Patentee before: Xi'an Jiaotong University |
|
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20110427 Assignee: Xi'an like Photoelectric Technology Co., Ltd. Assignor: Suzhou cartesan Testing Technology Co. Ltd Contract record no.: 2015610000089 Denomination of invention: Multi-camera system calibrating method based on optical imaging test head and visual graph structure Granted publication date: 20120718 License type: Exclusive License Record date: 20150902 |
|
LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model |