CN115070755A - 执行自动相机校准以进行机器人控制的方法和系统 - Google Patents

执行自动相机校准以进行机器人控制的方法和系统 Download PDF

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Publication number
CN115070755A
CN115070755A CN202210560896.3A CN202210560896A CN115070755A CN 115070755 A CN115070755 A CN 115070755A CN 202210560896 A CN202210560896 A CN 202210560896A CN 115070755 A CN115070755 A CN 115070755A
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Prior art keywords
camera
calibration
estimate
image
pattern
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Chinese (zh)
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R·伊斯兰
叶旭涛
出杏光鲁仙
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Mu Jinkeji
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Mu Jinkeji
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/80—Geometric correction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37015—Adaptive online camera, vision calibration
    • 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
    • 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
    • G05B2219/39016—Simultaneous calibration of manipulator and camera
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Geometry (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
  • Studio Devices (AREA)
  • Numerical Control (AREA)
CN202210560896.3A 2019-03-07 2019-05-14 执行自动相机校准以进行机器人控制的方法和系统 Pending CN115070755A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/295,940 2019-03-07
US16/295,940 US10369698B1 (en) 2019-03-07 2019-03-07 Method and system for performing automatic camera calibration for robot control
US16/362,471 US10373336B1 (en) 2019-03-07 2019-03-22 Method and system for performing automatic camera calibration for robot control
US16/362,471 2019-03-22
CN201910396865.7A CN110103219B (zh) 2019-03-07 2019-05-14 执行自动相机校准以进行机器人控制的方法和系统

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CN201910396865.7A Active CN110103219B (zh) 2019-03-07 2019-05-14 执行自动相机校准以进行机器人控制的方法和系统
CN201911372095.9A Active CN111015665B (zh) 2019-03-07 2019-05-14 执行自动相机校准以进行机器人控制的方法和系统

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JP (3) JP6675722B1 (https=)
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DE (1) DE102020105655B4 (https=)
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US10636172B1 (en) 2020-04-28
CN110103219B (zh) 2022-06-14
JP7414222B2 (ja) 2024-01-16
US10369698B1 (en) 2019-08-06
CN110103219A (zh) 2019-08-09
JP6675722B1 (ja) 2020-04-01
JP6688523B1 (ja) 2020-04-28
JP2020144829A (ja) 2020-09-10
DE102020105655A1 (de) 2020-09-10
WO2020180342A1 (en) 2020-09-10
US12367612B2 (en) 2025-07-22
US10628966B1 (en) 2020-04-21
CN111015665A (zh) 2020-04-17
CN111015665B (zh) 2020-12-04
DE102020105655B4 (de) 2021-04-22
US10373336B1 (en) 2019-08-06
US20220172399A1 (en) 2022-06-02
JP2020142367A (ja) 2020-09-10
JP2020142361A (ja) 2020-09-10

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