EP4153940A4 - Systeme und verfahren zur haltungsbestimmung - Google Patents
Systeme und verfahren zur haltungsbestimmung Download PDFInfo
- Publication number
- EP4153940A4 EP4153940A4 EP20944546.9A EP20944546A EP4153940A4 EP 4153940 A4 EP4153940 A4 EP 4153940A4 EP 20944546 A EP20944546 A EP 20944546A EP 4153940 A4 EP4153940 A4 EP 4153940A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- systems
- methods
- pose determination
- pose
- determination
- 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
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06V10/761—Proximity, similarity or dissimilarity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/19—Recognition using electronic means
- G06V30/19007—Matching; Proximity measures
- G06V30/19013—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
- G06V30/1902—Shifting or otherwise transforming the patterns to accommodate for positional errors
- G06V30/19067—Matching configurations of points or features, e.g. constellation matching
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06T2207/30244—Camera pose
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computing Systems (AREA)
- Databases & Information Systems (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010655087.1A CN111536964B (zh) | 2020-07-09 | 2020-07-09 | 机器人定位方法及装置、存储介质 |
CN202010963179.6A CN112179330B (zh) | 2020-09-14 | 2020-09-14 | 移动设备的位姿确定方法及装置 |
PCT/CN2020/141652 WO2022007367A1 (en) | 2020-07-09 | 2020-12-30 | Systems and methods for pose determination |
Publications (2)
Publication Number | Publication Date |
---|---|
EP4153940A1 EP4153940A1 (de) | 2023-03-29 |
EP4153940A4 true EP4153940A4 (de) | 2024-01-17 |
Family
ID=79552251
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20944546.9A Pending EP4153940A4 (de) | 2020-07-09 | 2020-12-30 | Systeme und verfahren zur haltungsbestimmung |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4153940A4 (de) |
KR (1) | KR20230029981A (de) |
WO (1) | WO2022007367A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114523477B (zh) * | 2022-03-30 | 2023-06-27 | 伯朗特机器人股份有限公司 | 关节位姿的校准方法、系统及存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109141437A (zh) * | 2018-09-30 | 2019-01-04 | 中国科学院合肥物质科学研究院 | 一种机器人全局重定位方法 |
WO2019219077A1 (zh) * | 2018-05-18 | 2019-11-21 | 京东方科技集团股份有限公司 | 定位方法、定位装置、定位系统、存储介质及离线地图数据库的构建方法 |
CN111060135A (zh) * | 2019-12-10 | 2020-04-24 | 亿嘉和科技股份有限公司 | 一种基于局部地图的地图修正方法及系统 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180374237A1 (en) * | 2017-06-23 | 2018-12-27 | Canon Kabushiki Kaisha | Method, system and apparatus for determining a pose for an object |
CN108458715B (zh) * | 2018-01-18 | 2020-05-15 | 亿嘉和科技股份有限公司 | 一种基于激光地图的机器人定位初始化方法 |
CN110736456B (zh) * | 2019-08-26 | 2023-05-05 | 广东亿嘉和科技有限公司 | 稀疏环境下基于特征提取的二维激光实时定位方法 |
CN111536964B (zh) * | 2020-07-09 | 2020-11-06 | 浙江大华技术股份有限公司 | 机器人定位方法及装置、存储介质 |
-
2020
- 2020-12-30 WO PCT/CN2020/141652 patent/WO2022007367A1/en active Application Filing
- 2020-12-30 EP EP20944546.9A patent/EP4153940A4/de active Pending
- 2020-12-30 KR KR1020237003646A patent/KR20230029981A/ko unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019219077A1 (zh) * | 2018-05-18 | 2019-11-21 | 京东方科技集团股份有限公司 | 定位方法、定位装置、定位系统、存储介质及离线地图数据库的构建方法 |
US20200226782A1 (en) * | 2018-05-18 | 2020-07-16 | Boe Technology Group Co., Ltd. | Positioning method, positioning apparatus, positioning system, storage medium, and method for constructing offline map database |
CN109141437A (zh) * | 2018-09-30 | 2019-01-04 | 中国科学院合肥物质科学研究院 | 一种机器人全局重定位方法 |
CN111060135A (zh) * | 2019-12-10 | 2020-04-24 | 亿嘉和科技股份有限公司 | 一种基于局部地图的地图修正方法及系统 |
Non-Patent Citations (4)
Title |
---|
"CN109141437A -ROBOT GLOBAL REPOSITIONING METHOD", 30 November 2023, article YANG JIZHOU: "CN109141437A -ROBOT GLOBAL REPOSITIONING METHOD", pages: 1 - 5, XP093107839 * |
"CN111060135A -MAP CORRECTION METHOD AND SYSTEM BASED ON LOCAL MAP", 30 November 2023, article HUAN LIN: "CN111060135A -MAP CORRECTION METHOD AND SYSTEM BASED ON LOCAL MAP", pages: 1 - 8, XP093107836 * |
CHAN SHAO-HUNG ET AL: "Robust 2D Indoor Localization Through Laser SLAM and Visual SLAM Fusion", 2018 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), IEEE, 7 October 2018 (2018-10-07), pages 1263 - 1268, XP033502825, DOI: 10.1109/SMC.2018.00221 * |
See also references of WO2022007367A1 * |
Also Published As
Publication number | Publication date |
---|---|
KR20230029981A (ko) | 2023-03-03 |
WO2022007367A1 (en) | 2022-01-13 |
EP4153940A1 (de) | 2023-03-29 |
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Effective date: 20231215 |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: B25J 13/08 20060101ALI20231211BHEP Ipc: G06V 30/19 20220101ALI20231211BHEP Ipc: G06F 16/29 20190101ALI20231211BHEP Ipc: G01C 21/00 20060101ALI20231211BHEP Ipc: G06T 7/73 20170101AFI20231211BHEP |