CN106556341B - A kind of shelf pose deviation detecting method and system based on characteristic information figure - Google Patents

A kind of shelf pose deviation detecting method and system based on characteristic information figure Download PDF

Info

Publication number
CN106556341B
CN106556341B CN201610876629.1A CN201610876629A CN106556341B CN 106556341 B CN106556341 B CN 106556341B CN 201610876629 A CN201610876629 A CN 201610876629A CN 106556341 B CN106556341 B CN 106556341B
Authority
CN
China
Prior art keywords
shelf
robot
coordinate
coordinate system
pose
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.)
Active
Application number
CN201610876629.1A
Other languages
Chinese (zh)
Other versions
CN106556341A (en
Inventor
黄鸿
陶熠昆
王霞
郑洪波
朱玲芬
杜鑫峰
沈继中
宓旭东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Guozi Robot Technology Co Ltd
Original Assignee
Zhejiang Guozi Robot Technology Co 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
Application filed by Zhejiang Guozi Robot Technology Co Ltd filed Critical Zhejiang Guozi Robot Technology Co Ltd
Priority to CN201610876629.1A priority Critical patent/CN106556341B/en
Publication of CN106556341A publication Critical patent/CN106556341A/en
Application granted granted Critical
Publication of CN106556341B publication Critical patent/CN106556341B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/002Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)

Abstract

The present invention provides a kind of shelf pose deviation detecting method and system based on characteristic information figure, and step 1 installs view camera, step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system in robot;Step 3 has the figure of characteristic information in bottom shelf setting, measures coordinate of the graphic feature point under shelf coordinate system;Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point;Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in coordinate in robot coordinate system;Step 6 calculates pose deviation of the shelf relative to robot.The present invention passes through the pose deviation of phase machine testing shelf.Entire implementation process is convenient and efficient, at low cost because camera price is low and does not have to that the shelf of substantial amounts are transformed.

Description

A kind of shelf pose deviation detecting method and system based on characteristic information figure
Technical field
The present invention relates to warehouse shelf detection, in particular to a kind of shelf pose separate-blas estimation based on characteristic information figure Method and system.
Background technique
For modern warehouse material management system, fast and accurately automated material sorting is one more and more clear And the trend that can not avoid.Mobile robot is an important component part in automated material sorting system, it is by pressing Default process jacking shelf, Transport cargo rack put down shelf to realize that the automatic dispatching of shelf is carried.However it is carried in robot During the entire process of shelf, because top is put and robot motion has error, will lead to the positions of shelf, slowly to deviate it pre- If position, when the position of deviation be greater than certain threshold value when, robot will be unable to again normal Transport cargo rack, this will lead to it is entire from The failure of dynamicization sorting system.
On the one hand the existing technology for avoiding shelf deviation from amplifying passes through the movement for accurately controlling robot, on the one hand pass through Matched limiting device is made on robot lifting body and shelf to restrict shelf and deviate predeterminated position.Limiting device makes goods Frame and the offset of robot pose will not dissipate, and accurate motion planning and robot control makes the offset of robot and predeterminated position will not Diverging, so that shelf can be stablized within the scope of the acceptable deviation of default pose.But need to design processing limiting device, Process-cycle is long, at high cost and because to install limiting device, and shelf needs are modified, and the versatility of shelf is one and asks greatly The case where deviation of topic, limiting device tolerance is limited, causes limiting device to fail greatly very much there are deviation.
In warehouse automation Material Sorting, need to the pose deviation to shelf detect.For a warehouse, material Arrangement, classification, to store and distribute be an extremely important and complicated thing, especially bulk storage plant, when the type of material With quantity all it is big to a certain extent after, how to ensure that this thing is normal and orderly carry out becoming extremely difficult.Traditional is artificial Sorting mode can not increasingly adapt to the management in modernization warehouse, instead establish in information-based and industrialization base Automated sorting on plinth.It is even complete from manual type to semi-artificial semi-automatic mode for the management of modern warehouse materials The conversion of automated manner has been the trend that can not be reversed.Warehouse automatic material sorting system generally comprises material data Maintenance management, the traffic scheduling of mobile robot, moveable robot movement and its execute control, it is seen that mobile robot is entire It is played a very important role in system.
The general work process of mobile robot is to receive dispatch command, move to specified pose, jacking shelf, movement To object pose, put down shelf.In whole flow process, robot is in addition to that will guarantee that oneself is accurately mobile according to instruction and stops It leans on, it is necessary to guarantee that shelf are placed within the scope of the allowable error of default pose.However, because the movement and stop of robot are There is random error, this error will lead to the variation that shelf park pose, and after repeatedly parking for a long time, shelf may be inclined Allowable error range from default pose, so as to cause the failure of subsequent handling.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of shelf pose separate-blas estimation side based on characteristic information figure Method, which comprises the steps of:
Step 1 installs view camera in robot, makes the optical axis of view camera upward;
Step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system;
Step 3 has the figure of characteristic information in bottom shelf setting, and measurement pattern characteristic point is under shelf coordinate system Coordinate;
Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point;
Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in machine Coordinate in people's coordinate system;
Step 6, according to coordinate of multiple graphic feature points under shelf coordinate system and the seat in robot coordinate system Mark calculates pose deviation of the shelf relative to robot.
Further, in step 2, mapping relations refer to the homography matrix H of camera, the mathematical meaning of homography matrix H It is:
Wherein, the plane after selecting robot to jack shelf where bottom shelf is reference planes,For in reference planes Certain puts the pixel coordinate in camera imaging plane,For certain coordinate of point under robot coordinate system in reference planes; For homogeneous coordinates.
The scaling method of H are as follows: obtain in reference planes four or more pixel coordinates of the point in camera imaging plane and Then coordinate under robot coordinate system calls the homography matrix in open source vision library opencv to calculate function and obtains H.
Further, in step 6, shelf are calculated relative to the pose deviation of robot by following formula:
Coordinate of the multiple characteristic points that will test under shelf coordinate system and the coordinate in robot coordinate system substitute into In formula 3, x is calculated by least square method1, x2, x3, x4, then to x3, x4It normalizes, according to anti-triangulation calculation after normalization D θ out;
In formula, x1=dx, x2=dy, x3=cosd θ, x4=sind θ,It is characterized a little under shelf coordinate system Coordinate,It is characterized the coordinate a little under robot coordinate system,Pose deviation for shelf relative to robot.
The invention also discloses a kind of shelf pose offset detection system based on characteristic information figure, including robot, What is be installed on it is upper depending on camera, shelf and the figure for having characteristic information for being set to bottom shelf;There is the figure of characteristic information Including two dimensional code, four angle points of two dimensional code are as graphic feature point.
Further, the quantity of two dimensional code is 9.
Further, bottom shelf sticks two dimensional code.
Further, bottom shelf pastes any number of two dimensional code.
Beneficial effects of the present invention are as follows:
1, the present invention is in robot by installing view camera, and the figure of known features information is pasted on shelf, leads to Cross the pose deviation of phase machine testing shelf.Entire implementation process is convenient and efficient, because camera price is low and does not have to quantity Pang Big shelf are transformed, therefore at low cost
2, only characteristic information figure need to be pasted in bottom shelf, and does not have to be transformed shelf, therefore system versatility is good
3, to the characteristic information figure quantity pasted in bottom shelf, there is no limit can theoretically stick entire goods to the present invention Frame bottom, camera need to only sweep to any number of figure can the pose deviation to shelf calculate, as long as therefore theoretically Camera, which can sweep to bottom shelf, to correct back predeterminated position for shelf
Detailed description of the invention
Fig. 1 is the two-dimension code pattern that bottom shelf is affixed in one embodiment of the present of invention.
Specific embodiment
The present invention is described in further details in the following with reference to the drawings and specific embodiments.
The invention discloses a kind of shelf pose deviation detecting method based on characteristic information figure, includes the following steps:
Step 1 installs view camera in robot, make regard camera optical axis upward, thus with bottom shelf plane Vertically;
Step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system;
Wherein mapping relations refer to the homography matrix H of camera, and mathematical meaning is:
Wherein, the plane after selecting robot to jack shelf where bottom shelf is reference planes,For in reference planes Certain puts the pixel coordinate in camera imaging plane,For certain coordinate of point under robot coordinate system in reference planes.Its InFor homogeneous coordinates.
The scaling method of H are as follows: obtain in reference planes four or more pixel coordinates of the point in camera imaging plane and Then coordinate under robot coordinate system calls the homography matrix in open source vision library opencv to calculate function and obtains H.
Wherein the calibration process of homography matrix H is, under robot off working state, there are four bottom shelf patch tools The figure of characteristic point can directly extract the pixel of characteristic point by program after robot jacks shelf from the figure of camera Coordinate, coordinate of the characteristic point under robot coordinate system can direct labor's measurements.By the pixel coordinate of the characteristic point measured and The homography matrix that coordinate under robot coordinate system substitutes into open source vision library opencv calculates in function, and homography can be obtained Matrix H, calibration are completed.
Step 3 has the figure of characteristic information in bottom shelf setting, and measurement pattern characteristic point is under shelf coordinate system Coordinate,
Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point;
By the data access program of camera, then program is examined the figure in image according to the camera image of acquisition It surveys, obtains the pixel coordinate of characteristic point in figure.
Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in machine Coordinate in people's coordinate system;
Step 6, according to coordinate of multiple graphic feature points under shelf coordinate system and the seat in robot coordinate system Mark calculates pose deviation of the shelf relative to robot.Wherein shelf pass through following formula relative to the pose deviation of robot Be calculated: the pose in the present invention refers to position and orientation, because being two-dimensional space, specifically refers to x, y-coordinate and side To angle (directions of shelf).
Some characteristic point in the two-dimensional space measured according to above-mentioned steps, the coordinate under robot coordinate system areIts coordinate under shelf coordinate system isPose of the shelf coordinate system under robot coordinate system is expressed asThat is pose deviation of the shelf relative to robot.Then obtained by theorem in Euclid space coordinate transform (formula 3)
Above formula can be write as
Allow x1=dx, x2=dy, x3=cosd θ, x4=sind θ, then have
Coordinate of the multiple characteristic points that will test under shelf coordinate system and the coordinate in robot coordinate system substitute into In formula 5, x is calculated by linear least square1, x2, x3, x4, so that dx is obtained, and dy, the value of sind θ and cosd θ.
After calculating, because of x3 2+x4 2=cos2dθ+sin2θ=1 d, then to x3, x4It normalizes, normalizing equation is
D θ is gone out according to anti-triangulation calculation after normalization.
To obtainPose deviation of the shelf relative to robot is obtained.
Robot can in real time estimate itself pose, after it detects that shelf are relative to itself pose, Robot can calculate accurate pose of the shelf in warehouse map, can put shelf by adjusting the pose of itself It is put into preset pose up.
The invention also discloses a kind of shelf pose offset detection system based on characteristic information figure, including robot, What is be installed on it is upper depending on camera, shelf and the figure for having characteristic information for being set to bottom shelf.As shown in Figure 1, at one In embodiment, the figure for having characteristic information includes two dimensional code, and four angle points of two dimensional code are as graphic feature point.Implement at one In example, the quantity of two dimensional code is 9, and 9 two dimensional codes press certain regular distribution, and theoretically camera only needs to scan to a two dimension Code can calculate the pose deviation of shelf.Because camera fields of view is limited, in order to obtain sufficiently large separate-blas estimation range, the implementation Example has pasted 9 two dimensional codes, if range is not enough, can paste more two dimensional codes.In one embodiment, it is pasted in bottom shelf Full two dimensional code, then camera only needs to detect that any one two dimensional code of bottom shelf can calculate the pose deviation of shelf.
The above, it is to the above embodiments according to the technical essence of the invention not to limit invention Any trickle amendment, equivalent replacement and improvement, all should be included in the scope of protection of the technical solution of the present invention.

Claims (5)

1. a kind of shelf pose deviation detecting method based on characteristic information figure, which comprises the steps of:
Step 1 installs view camera in robot, makes the optical axis of view camera upward;
Step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system;
Step 3 has the figure of characteristic information, seat of the measurement pattern characteristic point under shelf coordinate system in bottom shelf setting Mark;
Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point;
Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in robot seat Coordinate in mark system;
Step 6 is led to according to coordinate of multiple graphic feature points under shelf coordinate system and the coordinate in robot coordinate system It crosses theorem in Euclid space coordinate transform and least square method calculates pose deviation of the shelf relative to robot;
In step 2, mapping relations refer to the homography matrix H of camera, and the mathematical meaning of homography matrix H is:
Wherein, the plane after selecting robot to jack shelf where bottom shelf is reference planes,For in the reference planes Certain puts the pixel coordinate in camera imaging plane,For certain coordinate of point under robot coordinate system in the reference planes;For homogeneous coordinates;
The scaling method of H are as follows: obtain in reference planes four or more pixel coordinates of the point in camera imaging plane and in machine Then coordinate under people's coordinate system calls the homography matrix in open source vision library opencv to calculate function and obtains H;
In step 6, shelf are calculated relative to the pose deviation of robot by following formula:
Coordinate of the multiple characteristic points that will test under shelf coordinate system and the coordinate in robot coordinate system substitute into formula 3 In, x is calculated by linear least square1, x2, x3, x4, then to x3, x4It normalizes, is gone out after normalization according to anti-triangulation calculation D θ, to obtain
The formula 3 is theorem in Euclid space coordinate transform formula:
Further write as formula 4:
In formula, x1=dx, x2=dy, x3=cosd θ, x4=sind θ,It is characterized the coordinate a little under shelf coordinate system,It is characterized the coordinate a little under robot coordinate system,Pose deviation for shelf relative to robot.
2. a kind of shelf pose offset detection system based on characteristic information figure, which is characterized in that using such as claim 1 institute The shelf pose deviation detecting method based on characteristic information figure stated, including robot, the upper view camera, the shelf that are installed on it And it is set to the figure for having characteristic information of bottom shelf;The figure for having characteristic information includes two dimensional code, two dimensional code Four angle points are as graphic feature point;The robot in real time estimates itself pose, detects shelf relative to certainly After the pose of body, the robot calculates accurate pose of the shelf in warehouse map, will by adjusting the pose of itself It is gone on shelf presence to preset pose.
3. detection system as claimed in claim 2, which is characterized in that the quantity of the two dimensional code is 9.
4. detection system as claimed in claim 2, which is characterized in that the bottom shelf sticks two dimensional code.
5. detection system as claimed in claim 2, which is characterized in that the bottom shelf pastes any number of two dimensional code.
CN201610876629.1A 2016-10-08 2016-10-08 A kind of shelf pose deviation detecting method and system based on characteristic information figure Active CN106556341B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610876629.1A CN106556341B (en) 2016-10-08 2016-10-08 A kind of shelf pose deviation detecting method and system based on characteristic information figure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610876629.1A CN106556341B (en) 2016-10-08 2016-10-08 A kind of shelf pose deviation detecting method and system based on characteristic information figure

Publications (2)

Publication Number Publication Date
CN106556341A CN106556341A (en) 2017-04-05
CN106556341B true CN106556341B (en) 2019-12-03

Family

ID=58418408

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610876629.1A Active CN106556341B (en) 2016-10-08 2016-10-08 A kind of shelf pose deviation detecting method and system based on characteristic information figure

Country Status (1)

Country Link
CN (1) CN106556341B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7507964B2 (en) 2021-01-29 2024-06-28 ベイジン・ジンドン・チアンシ・テクノロジー・カンパニー・リミテッド Method and apparatus for adjusting shelf position and orientation by a mobile robot

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018064820A1 (en) * 2016-10-08 2018-04-12 浙江国自机器人技术有限公司 Characteristic information graphics based shelf pose deviation detection method and system
CN109250377B (en) * 2017-07-11 2021-05-18 浙江国自机器人技术股份有限公司 Replenishment method, execution end and control end
CN107670997B (en) * 2017-08-28 2020-03-03 广东美的智能机器人有限公司 Material rack direction control method and robot
CN108492482B (en) * 2017-12-18 2020-11-03 上海云拿智能科技有限公司 Goods monitoring system and monitoring method
CN108775864B (en) * 2018-04-10 2019-12-31 深圳普智联科机器人技术有限公司 Laser calibration system and calibration method based on reflector
CN108858197B (en) * 2018-07-23 2020-12-29 北京极智嘉科技有限公司 Method and device for monitoring precision of shelf movement, robot, server and medium
CN109410176B (en) * 2018-09-28 2022-03-04 中民筑友科技投资有限公司 Method and device for monitoring assembly state of goods shelf and storage medium
CN109397249B (en) * 2019-01-07 2020-11-06 重庆大学 Method for positioning and grabbing robot system by two-dimensional code based on visual identification
CN110002367B (en) * 2019-03-28 2023-05-05 上海快仓智能科技有限公司 AGV attitude adjustment system and method in AGV carrier transporting process
CN110148175B (en) * 2019-05-29 2021-06-29 山东大学 Fermentation pit automatic positioning and boundary detection system and method based on two-dimensional label
CN110509297A (en) * 2019-09-16 2019-11-29 苏州牧星智能科技有限公司 A kind of two dimensional code detection robot, detection system and detection method
CN110738273B (en) * 2019-10-23 2023-07-21 成都极米科技股份有限公司 Image feature point matching method, device, equipment and storage medium
CN111169894B (en) * 2019-11-08 2021-03-30 成都图灵时代科技有限公司 Shelf alignment method based on latent transfer robot
CN112364766B (en) * 2020-11-11 2023-10-24 南京音飞储存设备(集团)股份有限公司 Pose recognition method and system based on structured light and april tag
CN112698652A (en) * 2020-12-24 2021-04-23 浙江知音纺织科技有限公司 Production line butt-joint carrying metering system and method based on intelligent robot
CN113213054B (en) * 2021-05-12 2023-05-30 深圳市海柔创新科技有限公司 Method, device, equipment, robot and warehousing system for adjusting pick-and-place device
CN113403942B (en) * 2021-07-07 2022-11-15 西北工业大学 Label-assisted bridge detection unmanned aerial vehicle visual navigation method
CN113526125B (en) * 2021-07-28 2022-11-22 齐鲁工业大学 Cell specimen sample carrying system and method based on multi-label positioning
CN115797446A (en) * 2021-09-10 2023-03-14 灵动科技(北京)有限公司 Shelf positioning method, shelf docking method, device, equipment, and medium
CN114326739B (en) * 2021-12-30 2023-10-31 杭州蓝芯科技有限公司 High-precision AMR blanking method and AMR vehicle
WO2024120172A1 (en) * 2022-12-09 2024-06-13 北京极智嘉科技股份有限公司 Target object positioning method and apparatus, device and storage medium

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102944236A (en) * 2012-11-20 2013-02-27 无锡普智联科高新技术有限公司 Mobile robot positioning system and method based on a plurality of two-dimensional code readers
CN203345544U (en) * 2013-07-26 2013-12-18 天津晋原顺商贸有限公司 Intelligent storage shelf
CN103895042A (en) * 2014-02-28 2014-07-02 华南理工大学 Industrial robot workpiece positioning grabbing method and system based on visual guidance
CN104777835A (en) * 2015-03-11 2015-07-15 武汉汉迪机器人科技有限公司 Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method
CN105752888A (en) * 2016-05-11 2016-07-13 深圳普智联科机器人技术有限公司 Robot forklift with simple and convenient positioning function

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007090448A (en) * 2005-09-27 2007-04-12 Honda Motor Co Ltd Two-dimensional code detecting device, program for it, and robot control information generating device and robot
JP5842510B2 (en) * 2011-09-28 2016-01-13 株式会社デンソーウェーブ Data structure, computer program, and data acquisition apparatus
US8997241B2 (en) * 2012-10-18 2015-03-31 Dell Products L.P. Secure information handling system matrix bar code

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102944236A (en) * 2012-11-20 2013-02-27 无锡普智联科高新技术有限公司 Mobile robot positioning system and method based on a plurality of two-dimensional code readers
CN203345544U (en) * 2013-07-26 2013-12-18 天津晋原顺商贸有限公司 Intelligent storage shelf
CN103895042A (en) * 2014-02-28 2014-07-02 华南理工大学 Industrial robot workpiece positioning grabbing method and system based on visual guidance
CN104777835A (en) * 2015-03-11 2015-07-15 武汉汉迪机器人科技有限公司 Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method
CN105752888A (en) * 2016-05-11 2016-07-13 深圳普智联科机器人技术有限公司 Robot forklift with simple and convenient positioning function

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7507964B2 (en) 2021-01-29 2024-06-28 ベイジン・ジンドン・チアンシ・テクノロジー・カンパニー・リミテッド Method and apparatus for adjusting shelf position and orientation by a mobile robot

Also Published As

Publication number Publication date
CN106556341A (en) 2017-04-05

Similar Documents

Publication Publication Date Title
CN106556341B (en) A kind of shelf pose deviation detecting method and system based on characteristic information figure
WO2018064820A1 (en) Characteristic information graphics based shelf pose deviation detection method and system
CN106546263B (en) A kind of laser leveler shoot laser line detecting method based on machine vision
CN106780623B (en) Rapid calibration method for robot vision system
US20170132807A1 (en) System and method for tying together machine vision coordinate spaces in a guided assembly environment
US8922647B2 (en) Projection aided feature measurement using uncalibrated camera
CN112906127B (en) Vehicle modeling method, system, medium and equipment based on holder and scanner
CN110695520B (en) Vision-based full-automatic galvanometer field calibration system and calibration method thereof
US20210147150A1 (en) Position and orientation deviation detection method and system for shelf based on graphic with feature information
US10708479B2 (en) Optical measurement of object location in three dimensions
US12073582B2 (en) Method and apparatus for determining a three-dimensional position and pose of a fiducial marker
CN112880562A (en) Method and system for measuring pose error of tail end of mechanical arm
CN105844670B (en) Horizontal machine people moves camera Multipoint movable scaling method
Byun et al. Real-time positioning and orienting of pallets based on monocular vision
CN117664022A (en) Wafer shape measurement method and device, readable storage medium and electronic equipment
CN116902467A (en) Container positioning method, device, equipment and storage medium
CN113983951B (en) Three-dimensional target measuring method, device, imager and storage medium
CN114608458B (en) Device and method for detecting thickness of die attach adhesive
CN113465531B (en) Method and device for installing and debugging 3D profile measuring instrument
Zhou et al. Box Detection and Positioning based on Mask R-CNN [1] for Container Unloading
CN112254655A (en) Super large-size high accuracy two-dimensional plane measuring equipment
CN104197832A (en) Product measuring method based on image recognizing technology
CN116385535A (en) Pose detection method and system based on depth camera and feature pattern
CN116309878A (en) Three-dimensional calibration device for point cloud splicing and point cloud splicing method
CN118365828A (en) Construction engineering quality detection method based on augmented reality equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant