CN113255415A - 用于确定相机视场内的遮挡的方法和系统 - Google Patents

用于确定相机视场内的遮挡的方法和系统 Download PDF

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Publication number
CN113255415A
CN113255415A CN202010277345.7A CN202010277345A CN113255415A CN 113255415 A CN113255415 A CN 113255415A CN 202010277345 A CN202010277345 A CN 202010277345A CN 113255415 A CN113255415 A CN 113255415A
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CN
China
Prior art keywords
camera
region
target feature
computing system
determining
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Pending
Application number
CN202010277345.7A
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English (en)
Chinese (zh)
Inventor
余锦泽
何塞·赫罗尼莫·莫雷拉·罗德里格斯
叶旭涛
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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 CN202010395771.0A priority Critical patent/CN111582196B/zh
Publication of CN113255415A publication Critical patent/CN113255415A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Studio Devices (AREA)
CN202010277345.7A 2020-02-13 2020-04-10 用于确定相机视场内的遮挡的方法和系统 Pending CN113255415A (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010395771.0A CN111582196B (zh) 2020-02-13 2020-04-10 用于确定相机视场内的遮挡的方法和系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/789,570 2020-02-13
US16/789,570 US11006039B1 (en) 2020-02-13 2020-02-13 Method and system for determining occlusion within a camera field of view

Related Child Applications (1)

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CN202010395771.0A Division CN111582196B (zh) 2020-02-13 2020-04-10 用于确定相机视场内的遮挡的方法和系统

Publications (1)

Publication Number Publication Date
CN113255415A true CN113255415A (zh) 2021-08-13

Family

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Family Applications (1)

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CN202010277345.7A Pending CN113255415A (zh) 2020-02-13 2020-04-10 用于确定相机视场内的遮挡的方法和系统

Country Status (4)

Country Link
US (3) US11006039B1 (https=)
JP (2) JP6723628B1 (https=)
CN (1) CN113255415A (https=)
DE (2) DE102020205896A1 (https=)

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US10614340B1 (en) * 2019-09-23 2020-04-07 Mujin, Inc. Method and computing system for object identification
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
US11006039B1 (en) * 2020-02-13 2021-05-11 Mujin, Inc. Method and system for determining occlusion within a camera field of view
CN116619386A (zh) * 2021-05-18 2023-08-22 牧今科技 用于物体大小测量的机器人系统
CN115564703A (zh) * 2021-07-02 2023-01-03 浙江宇视科技有限公司 图像采集器可视范围检测方法、装置、电子设备及介质
US20230044420A1 (en) * 2021-08-09 2023-02-09 Mujin, Inc. Systems and methods for object detection
CN119629468B (zh) * 2025-02-06 2025-04-22 浙江大华技术股份有限公司 目标遮挡方法、目标遮挡装置、监控系统和存储介质
CN121074869A (zh) * 2025-11-05 2025-12-05 浙江科聪控制技术有限公司 堆叠物体的识别系统及方法

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JP4649559B2 (ja) 2009-03-05 2011-03-09 株式会社三次元メディア ３次元物体認識装置、並びに３次元物体認識プログラム及びこれが記録されたコンピュータ読み取り可能な記録媒体
JP2013101045A (ja) 2011-11-08 2013-05-23 Fanuc Ltd 物品の３次元位置姿勢の認識装置及び認識方法
KR102111181B1 (ko) 2012-08-21 2020-05-15 포토내이션 리미티드 어레이 카메라를 사용하여 포착된 영상에서의 시차 검출 및 보정을 위한 시스템 및 방법
US9154697B2 (en) 2013-12-06 2015-10-06 Google Inc. Camera selection based on occlusion of field of view
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118781346A (zh) * 2024-07-09 2024-10-15 浪潮数字粮储科技有限公司 一种粮仓图像遮挡判定方法及设备

Also Published As

Publication number Publication date
US12219269B2 (en) 2025-02-04
JP2021126762A (ja) 2021-09-02
JP2021126761A (ja) 2021-09-02
US11006039B1 (en) 2021-05-11
US20240276106A1 (en) 2024-08-15
US20210258478A1 (en) 2021-08-19
DE102021201369A1 (de) 2021-08-19
DE102020205896A1 (de) 2021-08-19
JP6723628B1 (ja) 2020-07-15
US11924559B2 (en) 2024-03-05

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