CN110930442B - 基于标定块的机器人手眼标定中关键点位置确定方法与装置 - Google Patents
基于标定块的机器人手眼标定中关键点位置确定方法与装置 Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
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- 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
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- 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
- G06T2207/10028—Range image; Depth image; 3D point clouds
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CN201911175295.5A CN110930442B (zh) | 2019-11-26 | 2019-11-26 | 基于标定块的机器人手眼标定中关键点位置确定方法与装置 |
PCT/CN2020/120103 WO2021103824A1 (zh) | 2019-11-26 | 2020-10-10 | 基于标定块的机器人手眼标定中关键点位置确定方法与装置 |
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CN110930442B (zh) * | 2019-11-26 | 2020-07-31 | 广东技术师范大学 | 基于标定块的机器人手眼标定中关键点位置确定方法与装置 |
CN111797808B (zh) * | 2020-07-17 | 2023-07-21 | 广东技术师范大学 | 一种基于视频特征点追踪的逆向方法及系统 |
CN112790786A (zh) * | 2020-12-30 | 2021-05-14 | 无锡祥生医疗科技股份有限公司 | 点云数据配准方法、装置、超声设备及存储介质 |
CN114043087B (zh) * | 2021-12-03 | 2022-10-04 | 厦门大学 | 一种三维轨迹激光焊接焊缝跟踪姿态规划方法 |
CN114862930A (zh) * | 2022-04-25 | 2022-08-05 | 南方科技大学 | 一种三维测量方法、装置、电子设备及存储介质 |
CN117140535B (zh) * | 2023-10-27 | 2024-02-02 | 南湖实验室 | 一种基于单笔测量的机器人运动学参数标定方法及系统 |
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CN108648272A (zh) * | 2018-04-28 | 2018-10-12 | 上海激点信息科技有限公司 | 三维实景采集建模方法、可读存储介质及装置 |
CN108994844A (zh) * | 2018-09-26 | 2018-12-14 | 广东工业大学 | 一种打磨操作臂手眼关系的标定方法和装置 |
CN110335296A (zh) * | 2019-06-21 | 2019-10-15 | 华中科技大学 | 一种基于手眼标定的点云配准方法 |
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CN101908230B (zh) * | 2010-07-23 | 2011-11-23 | 东南大学 | 一种基于区域深度边缘检测和双目立体匹配的三维重建方法 |
CN104142157B (zh) * | 2013-05-06 | 2017-08-25 | 北京四维图新科技股份有限公司 | 一种标定方法、装置及设备 |
US10482621B2 (en) * | 2016-08-01 | 2019-11-19 | Cognex Corporation | System and method for improved scoring of 3D poses and spurious point removal in 3D image data |
US10076842B2 (en) * | 2016-09-28 | 2018-09-18 | Cognex Corporation | Simultaneous kinematic and hand-eye calibration |
US10661442B2 (en) * | 2017-02-03 | 2020-05-26 | Abb Schweiz Ag | Calibration article for a 3D vision robotic system |
CN108828606B (zh) * | 2018-03-22 | 2019-04-30 | 中国科学院西安光学精密机械研究所 | 一种基于激光雷达和双目可见光相机联合测量方法 |
CN108627178B (zh) * | 2018-05-10 | 2020-10-13 | 广东拓斯达科技股份有限公司 | 机器人手眼标定方法和系统 |
CN109102547A (zh) * | 2018-07-20 | 2018-12-28 | 上海节卡机器人科技有限公司 | 基于物体识别深度学习模型的机器人抓取位姿估计方法 |
CN109702738B (zh) * | 2018-11-06 | 2021-12-07 | 深圳大学 | 一种基于三维物体识别的机械臂手眼标定方法及装置 |
CN110355755B (zh) * | 2018-12-15 | 2023-05-16 | 深圳铭杰医疗科技有限公司 | 机器人手眼系统标定方法、装置、设备及存储介质 |
CN110930442B (zh) * | 2019-11-26 | 2020-07-31 | 广东技术师范大学 | 基于标定块的机器人手眼标定中关键点位置确定方法与装置 |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN108648272A (zh) * | 2018-04-28 | 2018-10-12 | 上海激点信息科技有限公司 | 三维实景采集建模方法、可读存储介质及装置 |
CN108994844A (zh) * | 2018-09-26 | 2018-12-14 | 广东工业大学 | 一种打磨操作臂手眼关系的标定方法和装置 |
CN110335296A (zh) * | 2019-06-21 | 2019-10-15 | 华中科技大学 | 一种基于手眼标定的点云配准方法 |
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Application publication date: 20200327 Assignee: Guangzhou Naiwei Robot Technology Co.,Ltd. Assignor: GUANGDONG POLYTECHNIC NORMAL University Contract record no.: X2022440000047 Denomination of invention: Method and device for determining the position of key points in robot hand eye calibration based on calibration block Granted publication date: 20200731 License type: Common License Record date: 20220708 Application publication date: 20200327 Assignee: Guangdong Huibo Robot Technology Co.,Ltd. Assignor: GUANGDONG POLYTECHNIC NORMAL University Contract record no.: X2022440000048 Denomination of invention: Method and device for determining the position of key points in robot hand eye calibration based on calibration block Granted publication date: 20200731 License type: Common License Record date: 20220708 |
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Application publication date: 20200327 Assignee: HEYUAN YYD TECHNOLOGY Co.,Ltd. Assignor: GUANGDONG POLYTECHNIC NORMAL University Contract record no.: X2024980044894 Denomination of invention: Method and device for determining key point positions in robot hand eye calibration based on calibration blocks Granted publication date: 20200731 License type: Common License Record date: 20250102 |
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