FR3093215B1 - Procédé et dispositif de surveillance de l’environnement d’un robot - Google Patents
Procédé et dispositif de surveillance de l’environnement d’un robot Download PDFInfo
- Publication number
- FR3093215B1 FR3093215B1 FR1901828A FR1901828A FR3093215B1 FR 3093215 B1 FR3093215 B1 FR 3093215B1 FR 1901828 A FR1901828 A FR 1901828A FR 1901828 A FR1901828 A FR 1901828A FR 3093215 B1 FR3093215 B1 FR 3093215B1
- Authority
- FR
- France
- Prior art keywords
- environment
- robot
- monitoring
- measurement
- relates
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract 3
- 238000012544 monitoring process Methods 0.000 title abstract 2
- 238000005259 measurement Methods 0.000 abstract 4
- 238000001514 detection method Methods 0.000 abstract 2
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/254—Analysis of motion involving subtraction of images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- 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—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/38—Registration of image sequences
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
-
- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- 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
- G06T2207/30232—Surveillance
-
- 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
Abstract
L’invention concerne un procédé (200) de surveillance de l’environnement d’un robot comprenant au moins une itération d’une phase de détection (220) comprenant les étapes suivantes : acquisition (222), à un instant de mesure, d’une image de profondeur dudit environnement, dite image de mesure, par ladite au moins une caméra 3D, recalage (228) desdites images de référence et de mesure, et détection (230) d’un changement relatif à un objet dans l’environnement dudit robot par comparaison desdites images de référence et de mesure. Elle concerne également un dispositif mettant en œuvre un tel procédé et un robot équipé d’un tel dispositif. Figure d’abrégé : Fig. 2.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1901828A FR3093215B1 (fr) | 2019-02-22 | 2019-02-22 | Procédé et dispositif de surveillance de l’environnement d’un robot |
PCT/EP2020/053273 WO2020169380A1 (fr) | 2019-02-22 | 2020-02-10 | Procede et dispositif de surveillance de l'environnement d'un robot |
CN202080030497.5A CN113767421A (zh) | 2019-02-22 | 2020-02-10 | 用于监控机器人的环境的方法和设备 |
US17/310,704 US20220130147A1 (en) | 2019-02-22 | 2020-02-10 | Method and device for monitoring the environment of a robot |
EP20705316.6A EP3928292A1 (fr) | 2019-02-22 | 2020-02-10 | Procede et dispositif de surveillance de l'environnement d'un robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1901828 | 2019-02-22 | ||
FR1901828A FR3093215B1 (fr) | 2019-02-22 | 2019-02-22 | Procédé et dispositif de surveillance de l’environnement d’un robot |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3093215A1 FR3093215A1 (fr) | 2020-08-28 |
FR3093215B1 true FR3093215B1 (fr) | 2021-08-27 |
Family
ID=66867531
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1901828A Active FR3093215B1 (fr) | 2019-02-22 | 2019-02-22 | Procédé et dispositif de surveillance de l’environnement d’un robot |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220130147A1 (fr) |
EP (1) | EP3928292A1 (fr) |
CN (1) | CN113767421A (fr) |
FR (1) | FR3093215B1 (fr) |
WO (1) | WO2020169380A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114049563B (zh) * | 2022-01-12 | 2022-05-03 | 国网瑞嘉(天津)智能机器人有限公司 | 带电作业环境的评估方法、作业环境评估系统及电子设备 |
CN114782438B (zh) * | 2022-06-20 | 2022-09-16 | 深圳市信润富联数字科技有限公司 | 物体点云修正方法、装置、电子设备和存储介质 |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20010023201A1 (en) * | 2000-03-08 | 2001-09-20 | Susumu Takatsuka | Method of replaying game, recording medium, program, and entertainment system |
US6724385B2 (en) * | 2000-03-08 | 2004-04-20 | Sony Computer Entertainment Inc. | Method of replaying game, recording medium, program, and entertainment system |
US7697748B2 (en) * | 2004-07-06 | 2010-04-13 | Dimsdale Engineering, Llc | Method and apparatus for high resolution 3D imaging as a function of camera position, camera trajectory and range |
KR100731979B1 (ko) * | 2005-10-18 | 2007-06-25 | 전자부품연구원 | 다시점 정방향 카메라 구조 기반의 메쉬를 이용한 중간영상 합성 방법 및 장치와 이를 구현하는 기능을실현시키기 위한 프로그램을 기록한 컴퓨터로 읽을 수 있는기록 매체 |
KR20080066408A (ko) * | 2007-01-12 | 2008-07-16 | 삼성전자주식회사 | 3차원 영상 처리 장치 및 방법 |
EP2600316A1 (fr) * | 2011-11-29 | 2013-06-05 | Inria Institut National de Recherche en Informatique et en Automatique | Procédé, système et programme logiciel pour enregistrer et éditer un film comprenant au moins une image d'une animation 3D générée par ordinateur |
FR2984057B1 (fr) * | 2011-12-13 | 2014-01-03 | Solidanim | Systeme de tournage de film video |
US9177224B1 (en) * | 2013-03-14 | 2015-11-03 | Amazon Technologies, Inc. | Object recognition and tracking |
US10203762B2 (en) * | 2014-03-11 | 2019-02-12 | Magic Leap, Inc. | Methods and systems for creating virtual and augmented reality |
US9299013B1 (en) * | 2014-03-27 | 2016-03-29 | Amazon Technologies, Inc. | Visual task feedback for workstations in materials handling facilities |
US10852838B2 (en) * | 2014-06-14 | 2020-12-01 | Magic Leap, Inc. | Methods and systems for creating virtual and augmented reality |
US20160048966A1 (en) * | 2014-08-13 | 2016-02-18 | Bendix Commercial Vehicle Systems Llc | Learning the distance between cameras for articulated vehicles |
MA41117A (fr) * | 2014-12-05 | 2017-10-10 | Myfiziq Ltd | Imagerie d'un corps |
US20160188977A1 (en) * | 2014-12-24 | 2016-06-30 | Irobot Corporation | Mobile Security Robot |
US10458990B1 (en) * | 2015-03-06 | 2019-10-29 | Scanit Technologies, Inc. | Spore state discrimination |
WO2016141984A1 (fr) * | 2015-03-11 | 2016-09-15 | Huawei Technologies Co., Ltd. | Dispositif et procédé de traitement d'images pour étalonnage géométrique d'images |
EP3086283B1 (fr) * | 2015-04-21 | 2019-01-16 | Hexagon Technology Center GmbH | Fourniture d'un nuage de points à l'aide d'un instrument de surveillance et un dispositif de caméra |
WO2019089432A1 (fr) * | 2017-10-30 | 2019-05-09 | The Research Foundation For The State University Of New York | Système et procédé associés à une authentification utilisateur basée sur une écho-signature à base acoustique |
JP6936974B2 (ja) * | 2017-12-19 | 2021-09-22 | オムロン株式会社 | 位置姿勢推定装置、位置姿勢推定方法及びプログラム |
JP7291708B2 (ja) * | 2018-01-17 | 2023-06-15 | マジック リープ, インコーポレイテッド | ディスプレイとユーザの眼との間の位置合わせを決定するためのディスプレイシステムおよび方法 |
MX2022004163A (es) * | 2019-10-07 | 2022-07-19 | Boston Polarimetrics Inc | Sistemas y metodos para la deteccion de estandares de superficie con polarizacion. |
US11583345B2 (en) * | 2020-04-24 | 2023-02-21 | Smith & Nephew, Inc. | Optical tracking device with built-in structured light module |
-
2019
- 2019-02-22 FR FR1901828A patent/FR3093215B1/fr active Active
-
2020
- 2020-02-10 US US17/310,704 patent/US20220130147A1/en not_active Abandoned
- 2020-02-10 WO PCT/EP2020/053273 patent/WO2020169380A1/fr unknown
- 2020-02-10 EP EP20705316.6A patent/EP3928292A1/fr not_active Withdrawn
- 2020-02-10 CN CN202080030497.5A patent/CN113767421A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
CN113767421A (zh) | 2021-12-07 |
FR3093215A1 (fr) | 2020-08-28 |
EP3928292A1 (fr) | 2021-12-29 |
WO2020169380A1 (fr) | 2020-08-27 |
US20220130147A1 (en) | 2022-04-28 |
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Owner name: FOGALE SENSORS, FR Effective date: 20220908 |
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