CN112752091A - 用于确定相机校准的姿态的方法和系统 - Google Patents

用于确定相机校准的姿态的方法和系统 Download PDF

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Publication number
CN112752091A
CN112752091A CN202010073324.3A CN202010073324A CN112752091A CN 112752091 A CN112752091 A CN 112752091A CN 202010073324 A CN202010073324 A CN 202010073324A CN 112752091 A CN112752091 A CN 112752091A
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CN
China
Prior art keywords
poses
robot
pose
camera
calibration
Prior art date
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Pending
Application number
CN202010073324.3A
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English (en)
Chinese (zh)
Inventor
R·伊斯兰
P·勒尔特库尔塔农
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Mu Jinkeji
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Mu Jinkeji
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Filing date
Publication date
Application filed by Mu Jinkeji filed Critical Mu Jinkeji
Priority to CN202010126677.5A priority Critical patent/CN111131813B/zh
Publication of CN112752091A publication Critical patent/CN112752091A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
CN202010073324.3A 2019-10-29 2020-01-22 用于确定相机校准的姿态的方法和系统 Pending CN112752091A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010126677.5A CN111131813B (zh) 2019-10-29 2020-01-22 用于确定相机校准的姿态的方法、系统和介质

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/667,170 US11370121B2 (en) 2019-10-29 2019-10-29 Method and system for determining poses for camera calibration
US16/667,170 2019-10-29

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202010126677.5A Division CN111131813B (zh) 2019-10-29 2020-01-22 用于确定相机校准的姿态的方法、系统和介质

Publications (1)

Publication Number Publication Date
CN112752091A true CN112752091A (zh) 2021-05-04

Family

ID=70166401

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010073324.3A Pending CN112752091A (zh) 2019-10-29 2020-01-22 用于确定相机校准的姿态的方法和系统

Country Status (4)

Country Link
US (2) US11370121B2 (https=)
JP (2) JP6678984B1 (https=)
CN (1) CN112752091A (https=)
DE (2) DE102020106968A1 (https=)

Cited By (1)

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CN113997295A (zh) * 2021-12-30 2022-02-01 湖南视比特机器人有限公司 机械臂的手眼标定方法、装置、电子设备及存储介质

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WO2021158773A1 (en) 2020-02-06 2021-08-12 Berkshire Grey, Inc. Systems and methods for camera calibration with a fiducial of unknown position on an articulated arm of a programmable motion device
US12363273B2 (en) 2021-05-17 2025-07-15 Carl Zeiss Meditec Ag Method for creating a camera model for a camera of a surgical microscope, and arrangement having a surgical microscope
CN114523471B (zh) * 2022-01-07 2023-04-25 中国人民解放军海军军医大学第一附属医院 基于关联标识的误差检测方法及机器人系统
CN115444566B (zh) * 2022-08-25 2026-01-20 杭州键嘉医疗科技股份有限公司 一种提高髋关节置换手术中机械臂注册精度的方法
WO2025166545A1 (en) * 2024-02-06 2025-08-14 Abb Schweiz Ag Method for generating an operating path of a robot system and method for calibrating a robot system

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US6437823B1 (en) * 1999-04-30 2002-08-20 Microsoft Corporation Method and system for calibrating digital cameras
WO2009059323A1 (en) 2007-11-01 2009-05-07 Rimrock Automation, Inc. Dba Wolf Robotics A method and system for finding a tool center point for a robot using an external camera
US9393694B2 (en) 2010-05-14 2016-07-19 Cognex Corporation System and method for robust calibration between a machine vision system and a robot
US9188973B2 (en) * 2011-07-08 2015-11-17 Restoration Robotics, Inc. Calibration and transformation of a camera system's coordinate system
JP5928114B2 (ja) 2012-04-12 2016-06-01 セイコーエプソン株式会社 ロボットシステム、ロボットシステムのキャリブレーション方法、ロボット
JP5962394B2 (ja) 2012-09-28 2016-08-03 株式会社デンソーウェーブ キャリブレーション装置、および撮像装置のキャリブレーション方法
JP2014238687A (ja) 2013-06-07 2014-12-18 セイコーエプソン株式会社 画像処理装置、ロボット制御システム、ロボット、画像処理方法及び画像処理プログラム
JP6468741B2 (ja) * 2013-07-22 2019-02-13 キヤノン株式会社 ロボットシステム及びロボットシステムの校正方法
US9626566B2 (en) 2014-03-19 2017-04-18 Neurala, Inc. Methods and apparatus for autonomous robotic control
US9965870B2 (en) * 2016-03-29 2018-05-08 Institut National D'optique Camera calibration method using a calibration target
US10076842B2 (en) * 2016-09-28 2018-09-18 Cognex Corporation Simultaneous kinematic and hand-eye calibration
JP7003463B2 (ja) * 2017-07-11 2022-01-20 セイコーエプソン株式会社 ロボットの制御装置、ロボットシステム、並びに、カメラの校正方法
CN108645392B (zh) 2018-07-16 2024-02-06 西安微普光电技术有限公司 一种相机安装姿态校准方法及装置
US11254019B2 (en) * 2019-03-05 2022-02-22 The Boeing Company Automatic calibration for a robot optical sensor
US10369698B1 (en) * 2019-03-07 2019-08-06 Mujin, Inc. Method and system for performing automatic camera calibration for robot control

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113997295A (zh) * 2021-12-30 2022-02-01 湖南视比特机器人有限公司 机械臂的手眼标定方法、装置、电子设备及存储介质
CN113997295B (zh) * 2021-12-30 2022-04-12 湖南视比特机器人有限公司 机械臂的手眼标定方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
JP2021070148A (ja) 2021-05-06
JP7457981B2 (ja) 2024-03-29
US11370121B2 (en) 2022-06-28
US20210122050A1 (en) 2021-04-29
DE102020106968A1 (de) 2021-04-29
DE102020127340A1 (de) 2021-04-29
US20220314452A1 (en) 2022-10-06
JP6678984B1 (ja) 2020-04-15
JP2021070146A (ja) 2021-05-06

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