DE102004015111A1 - Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems - Google Patents
Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems Download PDFInfo
- Publication number
- DE102004015111A1 DE102004015111A1 DE200410015111 DE102004015111A DE102004015111A1 DE 102004015111 A1 DE102004015111 A1 DE 102004015111A1 DE 200410015111 DE200410015111 DE 200410015111 DE 102004015111 A DE102004015111 A DE 102004015111A DE 102004015111 A1 DE102004015111 A1 DE 102004015111A1
- Authority
- DE
- Germany
- Prior art keywords
- translation
- distance measurement
- robot
- orientation
- measurement curve
- 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.)
- Ceased
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
Abstract
Bei dem Verfahren zur Ermittlung der Position und Orientierung eines autonom navigierenden Systems, beispielsweise eines Roboters, in einer Umgebung werden die Entfernung des in Fahrtrichtung vor dem navigierenden System liegenden Bereichs der Umgebung bei Bewegung des navigierenden Systems abgetastet und die abgetasteten Entfernungspunkte mindestens zweier aufeinander folgender Abtastvorgänge als Entfernungsmesskurven in der Polardarstellung abgespeichert. Anschließend werden die Entfernungsmesskurven der beiden aufeinander folgenden Abtastvorgänge auf charakteristische Merkmale wie z. B. Extremwerte untersucht. Danach werden die Parameter von voneinander getrennt durchführbaren Translations- und Rotationstransformationen der einen Entfernungsmesskurve zur Ermittlung der Zuordnung der charakteristischen Merkmale der transformierten Entfernungsmesskurve zu solchen der anderen Entfernungsmesskurve und die Position und die Orientierung des navigierenden Systems anhand von dessen Position und dessen Orientierung zum Zeitpunkt der zeitlich ersten von zwei aufeinander folgenden Abtastungen sowie der ermittelten Parameter der Translations- und Rotationstransformationen bestimmt.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200410015111 DE102004015111A1 (de) | 2004-03-27 | 2004-03-27 | Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200410015111 DE102004015111A1 (de) | 2004-03-27 | 2004-03-27 | Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102004015111A1 true DE102004015111A1 (de) | 2005-10-20 |
Family
ID=35033928
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200410015111 Ceased DE102004015111A1 (de) | 2004-03-27 | 2004-03-27 | Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102004015111A1 (de) |
Cited By (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8625106B2 (en) | 2009-07-22 | 2014-01-07 | Faro Technologies, Inc. | Method for optically scanning and measuring an object |
US8699007B2 (en) | 2010-07-26 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8699036B2 (en) | 2010-07-29 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8705012B2 (en) | 2010-07-26 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8705016B2 (en) | 2009-11-20 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8719474B2 (en) | 2009-02-13 | 2014-05-06 | Faro Technologies, Inc. | Interface for communication between internal and external devices |
US8730477B2 (en) | 2010-07-26 | 2014-05-20 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8830485B2 (en) | 2012-08-17 | 2014-09-09 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8896819B2 (en) | 2009-11-20 | 2014-11-25 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8997362B2 (en) | 2012-07-17 | 2015-04-07 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with optical communications bus |
US9009000B2 (en) | 2010-01-20 | 2015-04-14 | Faro Technologies, Inc. | Method for evaluating mounting stability of articulated arm coordinate measurement machine using inclinometers |
US9074883B2 (en) | 2009-03-25 | 2015-07-07 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
US9163922B2 (en) | 2010-01-20 | 2015-10-20 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter and camera to determine dimensions within camera images |
US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
US9329271B2 (en) | 2010-05-10 | 2016-05-03 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
US9372265B2 (en) | 2012-10-05 | 2016-06-21 | Faro Technologies, Inc. | Intermediate two-dimensional scanning with a three-dimensional scanner to speed registration |
US9417056B2 (en) | 2012-01-25 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9417316B2 (en) | 2009-11-20 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
US10175037B2 (en) | 2015-12-27 | 2019-01-08 | Faro Technologies, Inc. | 3-D measuring device with battery pack |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000034803A2 (en) * | 1998-11-20 | 2000-06-15 | Geometrix, Inc. | Vision-assisted camera pose determination |
-
2004
- 2004-03-27 DE DE200410015111 patent/DE102004015111A1/de not_active Ceased
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000034803A2 (en) * | 1998-11-20 | 2000-06-15 | Geometrix, Inc. | Vision-assisted camera pose determination |
Non-Patent Citations (1)
Title |
---|
PAYEUR, P. et al.: "Registration of Range Measure-ments With Compact Surface Representation". In: IEEE Transactions on Instrumentation and Measure- ment, Vol. 52, No. 5, Oktober 2003, S. 1627-1634 * |
Cited By (36)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
US8719474B2 (en) | 2009-02-13 | 2014-05-06 | Faro Technologies, Inc. | Interface for communication between internal and external devices |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
US9074883B2 (en) | 2009-03-25 | 2015-07-07 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8625106B2 (en) | 2009-07-22 | 2014-01-07 | Faro Technologies, Inc. | Method for optically scanning and measuring an object |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
US8705016B2 (en) | 2009-11-20 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
US8896819B2 (en) | 2009-11-20 | 2014-11-25 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9417316B2 (en) | 2009-11-20 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
US10060722B2 (en) | 2010-01-20 | 2018-08-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9163922B2 (en) | 2010-01-20 | 2015-10-20 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter and camera to determine dimensions within camera images |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9009000B2 (en) | 2010-01-20 | 2015-04-14 | Faro Technologies, Inc. | Method for evaluating mounting stability of articulated arm coordinate measurement machine using inclinometers |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9684078B2 (en) | 2010-05-10 | 2017-06-20 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
US9329271B2 (en) | 2010-05-10 | 2016-05-03 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
US8730477B2 (en) | 2010-07-26 | 2014-05-20 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8699007B2 (en) | 2010-07-26 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8705012B2 (en) | 2010-07-26 | 2014-04-22 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8699036B2 (en) | 2010-07-29 | 2014-04-15 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
US9417056B2 (en) | 2012-01-25 | 2016-08-16 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US8997362B2 (en) | 2012-07-17 | 2015-04-07 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with optical communications bus |
US8830485B2 (en) | 2012-08-17 | 2014-09-09 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9372265B2 (en) | 2012-10-05 | 2016-06-21 | Faro Technologies, Inc. | Intermediate two-dimensional scanning with a three-dimensional scanner to speed registration |
US9739886B2 (en) | 2012-10-05 | 2017-08-22 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US9746559B2 (en) | 2012-10-05 | 2017-08-29 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
US10203413B2 (en) | 2012-10-05 | 2019-02-12 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US10739458B2 (en) | 2012-10-05 | 2020-08-11 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
US11112501B2 (en) | 2012-10-05 | 2021-09-07 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US11815600B2 (en) | 2012-10-05 | 2023-11-14 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
US10175037B2 (en) | 2015-12-27 | 2019-01-08 | Faro Technologies, Inc. | 3-D measuring device with battery pack |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102004015111A1 (de) | Verfahren zur Ermittlung der Position und Orientierung eines navigierenden Systems | |
WO2005088242A3 (de) | Verfahren und abtastanordnung zum berührungslosen abtasten dreidimensionaler objekte und haltervorrichtung für objekte | |
WO2006115923A3 (en) | Method for scanning the surface of a workpiece | |
DE502006001150D1 (de) | Verfahren zum Bördeln mit vor- und nachlaufender Bördelform | |
EP1640840A3 (de) | System zur Erzeugung eines Robotersprogrammes | |
WO2007035276A3 (en) | Adaptive motion search range | |
WO2007144213A3 (de) | Bildaufnahmesystem und verfahren für die entfernungsbestimmung mit einem bildaufnahmesystem | |
WO2006089887A3 (en) | A system for calibration of an industrial robot and a method thereof | |
WO2009028489A1 (ja) | 物体検出方法と物体検出装置およびロボットシステム | |
EP1517210A3 (de) | Verfahren und Vorrichtung zur Bestimmung der Position und der Orientierung eines mobilen Roboters | |
EP1912104A3 (de) | Blockadebestimmungsvorrichtung zur Verhinderung der Blockierung eines mobilen Roboters sowie Randeinschätzungsverfahren und -mittel unter Verwendung der Blockadebestimmungsvorrichtung | |
WO2007047059A3 (en) | Image processing method for boundary extraction between at least two tissues, the boundary being found as the cost minimum path connecting a start point and an end point using the fast marching algorithm with the cost function decreases the more likely a pixel is not on the boudary | |
WO2009117108A3 (en) | Method and system for measuring wear in the lining of a vessel | |
NL1022352A1 (nl) | Werkwijze voor adaptief vaststellen van een bewegingsvector-zoekgebied. | |
MY118673A (en) | A wafer table for die bonding apparatus | |
EP1818283A3 (de) | Verfahren zum Einlagern von Stückgütern in ein automatisiertes Stückgut-Lager | |
WO2007007004A3 (fr) | Dispositif de va-et-vient a bras oscillant | |
AU2001242969A1 (en) | Apparatus and method for determining spatial orientation | |
CA2442900A1 (en) | Ajustable drilling apparatus and associated method | |
AU2002328316A1 (en) | Method for measuring an object by means of a co-ordinate measuring device with an image processing sensor | |
EP1755014A3 (de) | Verfahren und Vorrichtung zur Annäherung einer Punktefolge | |
DE502007003799D1 (de) | Anordnung zur erkennung einer radbewegung | |
WO2009078077A1 (ja) | レーザ溶接方法及びレーザ溶接装置 | |
ATE356378T1 (de) | Positionsbestimmungsverfahren | |
EP1471401A3 (de) | Verfahren zur Einmessung des Koordinatensystems einer Kamera eines Roboters gegenüber dem Koordinatensystem des Roboters oder umgekehrt |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
OP8 | Request for examination as to paragraph 44 patent law | ||
8131 | Rejection |