DE102014000982A1 - Positions- und Orientierungsmessvorrichtung, Informationsverarbeitungsvorrichtung und Informationsverarbeitungsverfahren - Google Patents

Positions- und Orientierungsmessvorrichtung, Informationsverarbeitungsvorrichtung und Informationsverarbeitungsverfahren Download PDF

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Publication number
DE102014000982A1
DE102014000982A1 DE102014000982.3A DE102014000982A DE102014000982A1 DE 102014000982 A1 DE102014000982 A1 DE 102014000982A1 DE 102014000982 A DE102014000982 A DE 102014000982A DE 102014000982 A1 DE102014000982 A1 DE 102014000982A1
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Germany
Prior art keywords
orientation
target object
image
distribution
coarse
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DE102014000982.3A
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German (de)
English (en)
Inventor
Yuichiro Hirota
Keisuke Tateno
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Canon Inc
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Canon Inc
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Application filed by Canon Inc filed Critical Canon Inc
Publication of DE102014000982A1 publication Critical patent/DE102014000982A1/de
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • 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
    • 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
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G06V20/647—Three-dimensional [3D] objects by matching two-dimensional images to three-dimensional objects
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
DE102014000982.3A 2013-02-07 2014-01-24 Positions- und Orientierungsmessvorrichtung, Informationsverarbeitungsvorrichtung und Informationsverarbeitungsverfahren Withdrawn DE102014000982A1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2013022372 2013-02-07
JP2013-022372 2013-02-07
JP2013222526A JP6370038B2 (ja) 2013-02-07 2013-10-25 位置姿勢計測装置及び方法
JP2013-222526 2013-10-25

Publications (1)

Publication Number Publication Date
DE102014000982A1 true DE102014000982A1 (de) 2014-08-07

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DE102014000982.3A Withdrawn DE102014000982A1 (de) 2013-02-07 2014-01-24 Positions- und Orientierungsmessvorrichtung, Informationsverarbeitungsvorrichtung und Informationsverarbeitungsverfahren

Country Status (5)

Country Link
US (3) US9704248B2 (enExample)
JP (1) JP6370038B2 (enExample)
CN (1) CN103984362B (enExample)
DE (1) DE102014000982A1 (enExample)
GB (1) GB2512460B (enExample)

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JP6573354B2 (ja) * 2014-11-28 2019-09-11 キヤノン株式会社 画像処理装置、画像処理方法、及びプログラム
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
US10260862B2 (en) * 2015-11-02 2019-04-16 Mitsubishi Electric Research Laboratories, Inc. Pose estimation using sensors
US11187805B2 (en) * 2015-12-21 2021-11-30 Koito Manufacturing Co., Ltd. Image acquiring apparatus for vehicle, control device, vehicle having image acquiring apparatus for vehicle or control device, and image acquiring method for vehicle
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
JP6523196B2 (ja) * 2016-03-17 2019-05-29 株式会社東芝 推定装置、方法及びプログラム
JP6377295B2 (ja) * 2016-03-22 2018-08-22 三菱電機株式会社 距離計測装置及び距離計測方法
JP6905087B2 (ja) * 2017-05-11 2021-07-21 達闥机器人有限公司 物品探索方法、装置及びロボット
EP3847617A4 (en) * 2018-09-04 2022-06-01 Fastbrick IP Pty Ltd VISION SYSTEM FOR A ROBOTIC MACHINE
JP7275759B2 (ja) * 2019-03-28 2023-05-18 セイコーエプソン株式会社 物体検出方法、物体検出装置およびロボットシステム
JP7188612B2 (ja) * 2019-10-02 2022-12-13 富士通株式会社 生成方法、生成プログラムおよび情報処理装置
US10855303B1 (en) 2020-03-16 2020-12-01 Semiconductor Components Industries, Llc Propagation delay compensation and interpolation filter
CN111666876B (zh) * 2020-06-05 2023-06-09 阿波罗智联(北京)科技有限公司 用于检测障碍物的方法、装置、电子设备和路侧设备
US11906294B2 (en) * 2020-07-28 2024-02-20 Ricoh Company, Ltd. Alignment apparatus, alignment system, alignment method, and recording medium
CN112066879B (zh) * 2020-09-11 2021-11-19 哈尔滨工业大学 基于计算机视觉的气浮运动模拟器位姿测量装置及方法
CN120229282B (zh) * 2023-12-29 2026-01-27 北京新联铁集团股份有限公司 列车车底的位置定位方法、装置、计算机设备和存储介质
CN118990483B (zh) * 2024-08-21 2025-07-22 南京南瑞继保电气有限公司 机器人巡检点位的标定方法、装置、电子设备及存储介质

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Also Published As

Publication number Publication date
GB2512460A (en) 2014-10-01
US20140219502A1 (en) 2014-08-07
GB2512460B (en) 2015-07-29
CN103984362A (zh) 2014-08-13
US9704248B2 (en) 2017-07-11
GB201402011D0 (en) 2014-03-26
CN103984362B (zh) 2018-02-02
JP6370038B2 (ja) 2018-08-08
US10684116B2 (en) 2020-06-16
US20170307354A1 (en) 2017-10-26
US20200284573A1 (en) 2020-09-10
JP2014169990A (ja) 2014-09-18

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