DE112021008230T5 - Bildverarbeitungsvorrichtung, Komponentengreifsystem, Bildverarbeitungsverfahren und Komponentengreifverfahren - Google Patents

Bildverarbeitungsvorrichtung, Komponentengreifsystem, Bildverarbeitungsverfahren und Komponentengreifverfahren Download PDF

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Publication number
DE112021008230T5
DE112021008230T5 DE112021008230.2T DE112021008230T DE112021008230T5 DE 112021008230 T5 DE112021008230 T5 DE 112021008230T5 DE 112021008230 T DE112021008230 T DE 112021008230T DE 112021008230 T5 DE112021008230 T5 DE 112021008230T5
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DE
Germany
Prior art keywords
image
component
insertion image
gripping
corrected
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.)
Pending
Application number
DE112021008230.2T
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German (de)
English (en)
Inventor
Atsushi Yamamoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yamaha Motor Co Ltd
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Yamaha Motor Co Ltd
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Filing date
Publication date
Application filed by Yamaha Motor Co Ltd filed Critical Yamaha Motor Co Ltd
Publication of DE112021008230T5 publication Critical patent/DE112021008230T5/de
Pending 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • 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
    • 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
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • 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
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/7715—Feature extraction, e.g. by transforming the feature space, e.g. multi-dimensional scaling [MDS]; Mappings, e.g. subspace methods
    • 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
    • G06V10/82—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
    • 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
    • G06T2207/20076—Probabilistic image processing
    • 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
    • G06T2207/20081—Training; Learning
    • 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
    • G06T2207/20084—Artificial neural networks [ANN]
    • 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
    • G06T2207/20112—Image segmentation details
    • G06T2207/20132—Image cropping
    • 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
    • G06T2207/20212—Image combination
    • 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

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
DE112021008230.2T 2021-09-15 2021-09-15 Bildverarbeitungsvorrichtung, Komponentengreifsystem, Bildverarbeitungsverfahren und Komponentengreifverfahren Pending DE112021008230T5 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/033962 WO2023042306A1 (ja) 2021-09-15 2021-09-15 画像処理装置、部品把持システム、画像処理方法および部品把持方法

Publications (1)

Publication Number Publication Date
DE112021008230T5 true DE112021008230T5 (de) 2024-09-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
DE112021008230.2T Pending DE112021008230T5 (de) 2021-09-15 2021-09-15 Bildverarbeitungsvorrichtung, Komponentengreifsystem, Bildverarbeitungsverfahren und Komponentengreifverfahren

Country Status (5)

Country Link
US (1) US20240386606A1 (https=)
JP (1) JP7551940B2 (https=)
CN (1) CN117999153A (https=)
DE (1) DE112021008230T5 (https=)
WO (1) WO2023042306A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025192221A1 (ja) * 2024-03-12 2025-09-18 ソニーグループ株式会社 画像処理装置、画像処理方法、およびプログラム
CN119188772B (zh) * 2024-11-11 2025-12-02 天津博诺智创机器人技术有限公司 一种像素级抓取检测方法、装置和存储介质

Family Cites Families (19)

* Cited by examiner, † Cited by third party
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US11288472B2 (en) * 2011-08-30 2022-03-29 Digimarc Corporation Cart-based shopping arrangements employing probabilistic item identification
LU92074B1 (en) 2012-09-18 2014-03-19 Iee Sarl Depth image enhancement method
JP6522488B2 (ja) 2015-07-31 2019-05-29 ファナック株式会社 ワークの取り出し動作を学習する機械学習装置、ロボットシステムおよび機械学習方法
JP6457421B2 (ja) 2016-04-04 2019-01-23 ファナック株式会社 シミュレーション結果を利用して学習を行う機械学習装置，機械システム，製造システムおよび機械学習方法
JP6724499B2 (ja) 2016-04-05 2020-07-15 株式会社リコー 物体把持装置及び把持制御プログラム
CN109843749A (zh) * 2016-08-04 2019-06-04 欧佩克斯公司 具有用于检测物品超出尺寸阈值的检测器的自动存储和取回系统
US10121262B2 (en) * 2016-12-20 2018-11-06 Canon Kabushiki Kaisha Method, system and apparatus for determining alignment data
US10373369B2 (en) * 2017-03-16 2019-08-06 Qualcomm Technologies, Inc. Three-dimensional pose estimation of symmetrical objects
JP6977337B2 (ja) * 2017-07-03 2021-12-08 富士通株式会社 部位認識方法、装置、プログラム、及び撮像制御システム
AU2018326171A1 (en) * 2017-09-01 2020-04-23 The Regents Of The University Of California Robotic systems and methods for robustly grasping and targeting objects
KR102476758B1 (ko) * 2018-05-09 2022-12-09 삼성전자주식회사 영상 정규화 장치 및 방법
JP7191569B2 (ja) 2018-07-26 2022-12-19 Ntn株式会社 把持装置
US20230245319A1 (en) * 2020-05-21 2023-08-03 Sony Group Corporation Image processing apparatus, image processing method, learning device, learning method, and program
US11273552B2 (en) * 2020-07-14 2022-03-15 Vicarious Fpc, Inc. Method and system for object grasping
US20220084238A1 (en) * 2020-09-11 2022-03-17 Fanuc Corporation Multiple transparent objects 3d detection
US11568625B2 (en) * 2021-01-07 2023-01-31 Nvidia Corporation Targeted object detection in image processing applications
US12223710B2 (en) * 2021-06-29 2025-02-11 7-Eleven, Inc. Image cropping using depth information
US20240346798A1 (en) * 2021-09-15 2024-10-17 Yamaha Hatsudoki Kabushiki Kaisha Image processing device, component gripping system, image processing method and component gripping method
EP4401049B1 (en) * 2023-01-12 2026-03-04 Siemens Aktiengesellschaft Runtime assessment of suction grasp feasibility

Also Published As

Publication number Publication date
JP7551940B2 (ja) 2024-09-17
US20240386606A1 (en) 2024-11-21
CN117999153A (zh) 2024-05-07
WO2023042306A1 (ja) 2023-03-23
JPWO2023042306A1 (https=) 2023-03-23

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