DE102013216902A1 - Informationsverarbeitungsvorrichtung, Informationsverarbeitungsverfahren und Programm - Google Patents

Informationsverarbeitungsvorrichtung, Informationsverarbeitungsverfahren und Programm Download PDF

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Publication number
DE102013216902A1
DE102013216902A1 DE102013216902.7A DE102013216902A DE102013216902A1 DE 102013216902 A1 DE102013216902 A1 DE 102013216902A1 DE 102013216902 A DE102013216902 A DE 102013216902A DE 102013216902 A1 DE102013216902 A1 DE 102013216902A1
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Germany
Prior art keywords
model
orientation
target object
geometric feature
distance
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Ceased
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DE102013216902.7A
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German (de)
English (en)
Inventor
Daisuke Watanabe
Kazuhiko Kobayashi
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Canon Inc
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Canon Inc
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Publication of DE102013216902A1 publication Critical patent/DE102013216902A1/de
Ceased legal-status Critical Current

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    • 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
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme 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
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
    • 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
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Processing Or Creating Images (AREA)
  • Image Generation (AREA)
DE102013216902.7A 2012-08-28 2013-08-26 Informationsverarbeitungsvorrichtung, Informationsverarbeitungsverfahren und Programm Ceased DE102013216902A1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2012-188074 2012-08-28
JP2012188074 2012-08-28
JP2013-118301 2013-06-04
JP2013118301A JP6323993B2 (ja) 2012-08-28 2013-06-04 情報処理装置、情報処理方法、及びコンピュータプログラム

Publications (1)

Publication Number Publication Date
DE102013216902A1 true DE102013216902A1 (de) 2014-03-06

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DE102013216902.7A Ceased DE102013216902A1 (de) 2012-08-28 2013-08-26 Informationsverarbeitungsvorrichtung, Informationsverarbeitungsverfahren und Programm

Country Status (4)

Country Link
US (1) US9275461B2 (enExample)
JP (1) JP6323993B2 (enExample)
CN (1) CN103678754B (enExample)
DE (1) DE102013216902A1 (enExample)

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DE102017118276B4 (de) * 2016-08-17 2020-10-08 Fanuc Corporation Robotersteuerungsvorrichtung

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JP6323993B2 (ja) * 2012-08-28 2018-05-16 キヤノン株式会社 情報処理装置、情報処理方法、及びコンピュータプログラム
JP6429450B2 (ja) 2013-10-31 2018-11-28 キヤノン株式会社 情報処理装置、情報処理方法
JP5905549B1 (ja) * 2014-09-16 2016-04-20 ファナック株式会社 バラ積みされた物品を取出す物品取出装置
JP6256702B2 (ja) * 2014-12-25 2018-01-10 株式会社ダイフク 物品搬送用容器昇降搬送装置
EP3040941B1 (en) * 2014-12-29 2017-08-02 Dassault Systèmes Method for calibrating a depth camera
JP6635690B2 (ja) * 2015-06-23 2020-01-29 キヤノン株式会社 情報処理装置、情報処理方法及びプログラム
US10335951B2 (en) * 2015-07-29 2019-07-02 Canon Kabushiki Kaisha Information processing apparatus, information processing method, robot control apparatus, and robot system
JP6711591B2 (ja) 2015-11-06 2020-06-17 キヤノン株式会社 ロボット制御装置およびロボット制御方法
JP6677522B2 (ja) * 2016-02-15 2020-04-08 キヤノン株式会社 情報処理装置、情報処理装置の制御方法およびプログラム
JP6846661B2 (ja) * 2016-04-13 2021-03-24 パナソニックＩｐマネジメント株式会社 ３次元的な投影対象のための投影方法及び装置
US10380767B2 (en) * 2016-08-01 2019-08-13 Cognex Corporation System and method for automatic selection of 3D alignment algorithms in a vision system
JP2018034242A (ja) * 2016-08-31 2018-03-08 セイコーエプソン株式会社 ロボット制御装置、ロボット、及びロボットシステム
WO2018229812A1 (ja) * 2017-06-12 2018-12-20 株式会社日立製作所 三次元計測装置、および方法
WO2019061334A1 (en) * 2017-09-29 2019-04-04 SZ DJI Technology Co., Ltd. SYSTEMS AND METHODS FOR PROCESSING AND DISPLAYING IMAGE DATA BASED ON ATTITUDE INFORMATION
JP6886906B2 (ja) * 2017-10-10 2021-06-16 東芝テック株式会社 読取装置およびプログラム
US11453123B2 (en) * 2017-12-27 2022-09-27 Stmicroelectronics, Inc. Robotic device with time-of-flight proximity sensing system
JP6879238B2 (ja) * 2018-03-13 2021-06-02 オムロン株式会社 ワークピッキング装置及びワークピッキング方法
JP7237496B2 (ja) * 2018-09-10 2023-03-13 株式会社東芝 ピッキングシステム、情報処理装置及び情報処理プログラム
JP7006810B2 (ja) * 2018-12-11 2022-01-24 三菱電機株式会社 ３次元計測装置、移動ロボット、手押し車型移動装置および３次元計測処理方法
CN110160528B (zh) * 2019-05-30 2021-06-11 华中科技大学 一种基于角度特征识别的移动装置位姿定位方法
EP4256271A4 (en) * 2020-12-01 2024-11-20 Clearedge3d, Inc. CONSTRUCTION VERIFICATION SYSTEM, METHOD AND COMPUTER PROGRAM PRODUCT
CN116432373A (zh) * 2022-01-13 2023-07-14 株式会社理光 三维形状创建装置、系统、方法以及存储介质和计算机装置
CN114800535B (zh) * 2022-06-29 2022-10-25 深圳鹏行智能研究有限公司 机器人的控制方法、机械臂控制方法、机器人及控制终端
JP2024111683A (ja) * 2023-02-06 2024-08-19 株式会社日立製作所 ロボットの制御方法及びシステム

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JP2009020671A (ja) 2007-07-11 2009-01-29 Saitama Univ 曲面形状と視線との交差座標導出方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017118276B4 (de) * 2016-08-17 2020-10-08 Fanuc Corporation Robotersteuerungsvorrichtung

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US9275461B2 (en) 2016-03-01
US20140067126A1 (en) 2014-03-06
JP2014063475A (ja) 2014-04-10
JP6323993B2 (ja) 2018-05-16
CN103678754B (zh) 2017-06-06
CN103678754A (zh) 2014-03-26

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