DE102020213566A1 - Verfahren und Computersystem zur Objekterkennung oder Objektregistrierung basierend auf einer Bildklassifizierung - Google Patents

Verfahren und Computersystem zur Objekterkennung oder Objektregistrierung basierend auf einer Bildklassifizierung Download PDF

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Publication number
DE102020213566A1
DE102020213566A1 DE102020213566.5A DE102020213566A DE102020213566A1 DE 102020213566 A1 DE102020213566 A1 DE 102020213566A1 DE 102020213566 A DE102020213566 A DE 102020213566A DE 102020213566 A1 DE102020213566 A1 DE 102020213566A1
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Prior art keywords
template
target image
storage location
template storage
computer system
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Pending
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DE102020213566.5A
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German (de)
English (en)
Inventor
Jinze Yu
Jose Jeronimo Moreira Rodrigues
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Mujin Inc
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Mujin Inc
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Priority claimed from US16/991,466 external-priority patent/US11772271B2/en
Application filed by Mujin Inc filed Critical Mujin Inc
Publication of DE102020213566A1 publication Critical patent/DE102020213566A1/de
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/28—Determining representative reference patterns, e.g. by averaging or distorting; Generating dictionaries
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • G06V10/443—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by matching or filtering
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35074—Display object, recognition of geometric forms
    • 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
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Medical Informatics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Databases & Information Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)
DE102020213566.5A 2020-01-10 2020-10-28 Verfahren und Computersystem zur Objekterkennung oder Objektregistrierung basierend auf einer Bildklassifizierung Pending DE102020213566A1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US202062959182P 2020-01-10 2020-01-10
US62/959,182 2020-01-10
US16/991,466 US11772271B2 (en) 2020-01-10 2020-08-12 Method and computing system for object recognition or object registration based on image classification
US16/991,466 2020-08-12

Publications (1)

Publication Number Publication Date
DE102020213566A1 true DE102020213566A1 (de) 2021-07-15

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DE102020213566.5A Pending DE102020213566A1 (de) 2020-01-10 2020-10-28 Verfahren und Computersystem zur Objekterkennung oder Objektregistrierung basierend auf einer Bildklassifizierung

Country Status (4)

Country Link
US (1) US20230381971A1 (https=)
JP (2) JP6844803B1 (https=)
CN (1) CN113111899A (https=)
DE (1) DE102020213566A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7418762B2 (ja) * 2021-08-09 2024-01-22 株式会社Mujin 計算システム、方法及び非一時的コンピュータ可読媒体
US20230044420A1 (en) * 2021-08-09 2023-02-09 Mujin, Inc. Systems and methods for object detection

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US770011A (en) 1904-01-21 1904-09-13 Bucyrus Co Lower tumbler and ladder end for elevator-dredges.

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JP3426002B2 (ja) * 1993-09-20 2003-07-14 三菱電機株式会社 物体認識装置
US5835634A (en) * 1996-05-31 1998-11-10 Adobe Systems Incorporated Bitmap comparison apparatus and method using an outline mask and differently weighted bits
JPH11333770A (ja) * 1998-03-20 1999-12-07 Kobe Steel Ltd 積荷位置姿勢認識装置
JP4740003B2 (ja) * 2006-03-20 2011-08-03 クラリオン株式会社 移動体監視装置
JP5866728B2 (ja) * 2011-10-14 2016-02-17 サイバーアイ・エンタテインメント株式会社 画像認識システムを備えた知識情報処理サーバシステム
JP5939775B2 (ja) * 2011-11-30 2016-06-22 キヤノン株式会社 画像処理装置、画像処理プログラム、ロボット装置及び画像処理方法
JP2014029664A (ja) * 2012-06-28 2014-02-13 Seiko Epson Corp 比較画像範囲生成方法、位置姿勢検出方法、比較画像範囲生成装置、位置姿勢検出装置、ロボット、ロボットシステム、比較画像範囲生成プログラム及び位置姿勢検出プログラム
JP2014127186A (ja) * 2012-12-27 2014-07-07 Ricoh Co Ltd 画像処理装置、画像処理方法およびプログラム
US9120622B1 (en) * 2015-04-16 2015-09-01 inVia Robotics, LLC Autonomous order fulfillment and inventory control robots
KR20180018211A (ko) * 2016-08-12 2018-02-21 엘지전자 주식회사 자가 학습 로봇
CN106488164B (zh) * 2016-09-30 2019-09-13 合肥杰发科技有限公司 视频信号处理方法及装置
CN106552772B (zh) * 2016-10-25 2019-01-22 北京京东尚科信息技术有限公司 视觉识别系统和使用所述视觉识别系统的分类分拣系统
JP2019063984A (ja) * 2017-10-02 2019-04-25 キヤノン株式会社 情報処理装置、方法及びロボットシステム
JP7420134B2 (ja) * 2019-03-28 2024-01-23 ソニーグループ株式会社 情報処理装置、情報処理方法及びプログラム

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US770011A (en) 1904-01-21 1904-09-13 Bucyrus Co Lower tumbler and ladder end for elevator-dredges.

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Publication number Publication date
JP2021111423A (ja) 2021-08-02
US20230381971A1 (en) 2023-11-30
CN113111899A (zh) 2021-07-13
JP2021111354A (ja) 2021-08-02
JP6844803B1 (ja) 2021-03-17

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