KR20170101754A - Apparatus for motion estimation of object using gripper and method thereof - Google Patents

Abstract

The present invention relates to an apparatus to estimate motions of an object using a gripper, and a method thereof. According to the present invention, the apparatus to estimate motions of the object using the gripper comprises: an image collection unit which collects an image which films the object gripped by the gripper, and a beam outputted by a laser sensor using a camera; a coordinate value setting unit which estimates an outline of the object using the collected image to extract a plurality of corner points for the estimated outline and a plurality of intersecting points where the outline and the beam intersect, and to set a coordinate value of each of the extracted plurality of corner points and the plurality of intersecting points using a defined camera coordinate system, an image coordinate system on a camera film, and an object coordinate system with a corner of the object as a reference; a calculation unit which calculates a relative position between the camera and the object using the camera coordinate system and the object coordinate system to calculate a coordinate value of the object using a set coordinate value; and a motion estimation unit which traces a presence or an absence of a change in the coordinate value of the object in each frame of the image in accordance with changes in the gripping force to estimate that the object has moved when a change in the coordinate value is detected. According to the present invention, the present invention is able to prevent the object gripped by the gripper from slipping.

Description

[0001] APPARATUS FOR MOTION ESTIMATION OF OBJECT USING GRIPPER AND METHOD THEREOF [0002]

The present invention relates to an apparatus and method for estimating a motion of an object using a gripper, and more particularly to an apparatus and method for estimating motion of an object using a gripper that catches a slip of an object gripped by a gripper using a sensor ≪ / RTI >

In addition to industrial development, automation systems using robots on the spot are spreading due to the demand for increased wages and shorter working hours. These robots can be roughly divided into manufacturing robots and non-manufacturing robots, and manufacturing robots such as welding robots and automobile assembly robots belong to the same category. Agriculture robots, fisheries robots, and construction robot robots can be categorized as robots. The key technology and parts that can not be excluded from such robots are grippers.

Here, the gripper GRIPPER refers to an end device using a mechanical tongue driven by a mechanism to catch an object. These grippers are the most active and diverse in the field of manufacturing robots, and it is no exaggeration to say that the ability of the gripper determines the specification of the manufacturing robot.

In general, the gripper's gripper is an attachment to the gripper that actually touches the object, a form that can be attached to the gripper, and a modular form integrated with the gripper.

The function of these grippers is to convert the electrical energy input in various forms into a motion capable of catching objects. Therefore, the gripper must have the ability to open and close the gripper and have enough force to hold the gripper without falling.

There are two main methods of holding and holding an object using a gripper. The first is to use physical constraints to place the object between the pliers. Such a method requires the forceps to surround the workpiece to some extent, which generally can be designed according to the geometric shape of the workpiece part of the contact surface of the forceps.

The second method is to use the friction force between the gripper and the workpiece. Such an approach would have to supply the forceps with enough force to hold the object firmly against external pressure, such as gravity, acceleration, etc., that can occur when the gripper is holding the object during a work cycle.

Such a gripper is required to grasp a specific object to be worked and grasp it with a proper grasping force and grasp it within a grasping force range that does not cause plastic deformation of the object. Therefore, the slip of the object gripped by the gripper is estimated, It is necessary to develop a device that can stably maintain proper gripping force during a period of time.

BACKGROUND ART [0002] The technology that provides the background of the present invention is disclosed in Korean Patent Registration No. 10-1294250 (published on Mar. 08, 2007).

An object of the present invention is to provide an apparatus and method for estimating a motion of an object using a gripper that catches a slip of an object gripped by a gripper using a sensor.

According to an aspect of the present invention, there is provided an apparatus for estimating a motion of an object using a gripper, the apparatus including a gripper fixed to a set position using a camera fixed at a set position, An image collecting unit that collects photographed images including light rays output from the sensor; Estimating an outline of the object using the collected image, extracting a plurality of corner points of the estimated outline and a plurality of intersections where the outline intersects with the ray, A coordinate value setting unit for setting coordinate values of the extracted corner points and the intersection points using an object coordinate system based on a coordinate system and an edge of any one of the objects; An arithmetic unit for calculating a relative position between the camera and the object using the camera coordinate system and the object coordinate system and calculating coordinate values of the object using the set coordinate value; And a motion estimator for tracking whether a coordinate value of the object changes according to a frame of the image according to the change of the gripping force and estimating that motion of the object occurs when a change of the coordinate value is detected.

A gripping force selecting unit for selecting a gripping force corresponding to an image frame immediately before the change in the coordinate value is sensed as an appropriate gripping force for the object; And a gripping force control unit for controlling the gripper based on the predetermined appropriate gripping force.

Further, the operation unit can calculate the coordinate value of the object by the following expression.

는 상기 카메라 좌표계 시점의 상기 물체의 좌표이고,

은 상기 카메라 좌표계 시점의 상기 물체의 각 모서리점 및 교차점의 좌표 값이며,

은 상기 물체 좌표계에서의 각 모서리점 및 교차점의 좌표 값이다.here,

Is the coordinate of the object at the viewpoint of the camera coordinate system,

Is a coordinate value of each corner point and an intersection point of the object at the viewpoint of the camera coordinate system,

Is a coordinate value of each corner point and an intersection point in the object coordinate system.

The motion estimating unit may calculate the center point coordinates of the camera coordinate system using the following equation and estimate the motion of the object using the calculated center point coordinates of the camera coordinate system.

,

,

는 상기 카메라 좌표계의 중심점 좌표이고,

는 i에 대한 상기 카메라 X, Y, Z축 성분 값 좌표 값이고, 상기 i는 상기 물체의 각 모서리점에 대한 인덱스이고,

은 상기 카메라에서 본 상기 물체의 슬립이고, K는 현재 이미지의 프레임이며, K-1은 이전의 이미지 프레임이다.here,

Is the center point coordinate of the camera coordinate system,

Is the coordinate value of the camera X, Y, Z axis component values for i, i is an index for each corner point of the object,

K is the current image frame, and K-1 is the previous image frame.

According to another aspect of the present invention, there is provided a method of estimating motion of an object performed by an apparatus for estimating motion of an object using a gripper, the motion estimation apparatus comprising a gripper fixed at a setting position using a camera fixed at a setting position Collecting a photographed image including a light beam output from a laser sensor fixed at a set position and a held object; Estimating an outline of the object using the collected image, extracting a plurality of corner points for the estimated outline and a plurality of intersections where the outline and the ray intersect; Setting respective coordinate values for the extracted corner points and a plurality of intersection points using a predefined camera coordinate system, a camera film image coordinate system, and an object coordinate system based on one of the corners of the object ; Calculating a relative position between the camera and the object using the camera coordinate system and the object coordinate system, and calculating a coordinate value of the object using the set coordinate value; And tracking whether the coordinate value of the object changes according to the frame of the image according to the change of the gripping force and estimating that the movement of the object occurs when a change in the coordinate value is detected.

As described above, according to the present invention, by using a vision camera and a laser sensor, it is possible to control the gripping force of the gripper with the gripping force calculated by catching the object immediately before the slipping of the gripped object occurs, Can be prevented.

Further, according to the present invention, there is an effect of estimating a range in which slippage occurs even when an object gripped by the gripper is changed, and improving the working efficiency by quickly calculating and controlling the gripping force just before slippage occurs.

1 is a block diagram illustrating an apparatus for estimating a motion of an object using a gripper according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a process of extracting a plurality of corner points and a plurality of intersection points using an image collected by an object motion estimation apparatus using a gripper according to an embodiment of the present invention.
FIG. 3 is a diagram showing positions and coordinate values of an object measured by a camera and a laser sensor in an apparatus for estimating motion of an object using a gripper according to an embodiment of the present invention.
FIG. 4 is a flowchart illustrating an operation of a method of estimating a motion of an object using a gripper according to an embodiment of the present invention.

Hereinafter, an apparatus and method for estimating a motion of an object using a gripper according to an embodiment of the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation.

Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

First, an apparatus for estimating a motion of an object using a gripper according to an embodiment of the present invention will be described with reference to FIG.

1 is a block diagram illustrating an apparatus for estimating a motion of an object using a gripper according to an embodiment of the present invention.

1, an apparatus 100 for estimating a motion of an object using a gripper according to an embodiment of the present invention includes an image collecting unit 110, a coordinate value setting unit 120, a calculating unit 130, a motion estimating unit 140, A gripping force selecting unit 150 and a gripping force controlling unit 160. [

First, the image collecting unit 110 collects images photographed by an object held by the gripper 400 and light beams output from the laser sensor 300 using the camera 200.

In this case, the camera 200 photographs an object held by the gripper 400 at a fixed position, more specifically, a CCD camera is used for determining whether the object moves or slides according to the gripping force of the gripper 400 have.

In addition, the laser sensor 300 may be a line laser sensor 300 for measuring the distance to an object at a fixed position and outputting a light beam.

Finally, the gripper 400 is provided with a gripper 410 for gripping an object at a fixed position. The gripper 400 calculates an optimal gripping force range that can be held without deformation of the external appearance, It is possible to perform drive control such that the tongue 410 is opened or closed according to the gripping force range.

The coordinate value setting unit 120 estimates the contour of the object using the image collected from the image collecting unit 110, extracts a plurality of corner points for the estimated contour, and a plurality of intersections where the contour and the ray intersect with each other And sets coordinate values for a plurality of corner points and a plurality of intersection points extracted using the previously defined camera coordinate system, the camera film image coordinate system, and the object coordinate system based on one of the corners of the object.

FIG. 2 is a diagram illustrating a process of extracting a plurality of corner points and a plurality of intersection points using an image collected by an object motion estimation apparatus using a gripper according to an embodiment of the present invention.

2 (a) shows an object 500 to be gripped through the gripper 400, and a rectangular display sheet 510 may be attached to facilitate the estimation of the contour line. 2 (b) shows the original image collected from the image collecting unit 110, and FIG. 2 (c) shows the coordinate value setting unit 120, (4 points) for the estimated contour, and a plurality of intersections (2 points) at which the contour and the ray intersect with each other.

FIG. 3 is a diagram showing positions and coordinate values of an object measured by a camera and a laser sensor in an apparatus for estimating motion of an object using a gripper according to an embodiment of the present invention.

Since the camera 200, the laser sensor 300 and the gripper 400 are fixed at the set positions, the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) based on the origin ^cam 0, a camera film which is based on the home ^IP O (image Plane, ^IP) image coordinate system ^{(IP X, IP Y, 1} ) and the origin laser sensor coordinate system relative to the ^{laser O (laser X, laser Y} , laser Z) and the origin It is preferable that the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z) based on ^Tg O is predefined as shown in FIG.

At this time, IP represents a contour and a ray of an object 500 formed on a camera film, and Tg represents an actual object 500 contour and a ray.

The calculating unit 130 calculates the coordinates of the camera using the camera coordinate system ( ^cam X, ^cam Y, ^cam Z), the laser sensor coordinate system ( ^Laser X, ^Laser Y, ^Laser Z), and the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z) 200 and the object 500, and calculates the coordinate value of the object 500 using the set coordinate value.

Will be described in detail with reference to the following equations (1) to (13).

First, the relationship between the camera film image coordinate system ( ^IP X, ^IP Y, 1) and the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) is expressed as Equation 1 below.

Where S is the position vector in the camera film image coordinate system ( ^IP X, ^IP Y, 1) and w is the scale parameter on the camera film.

At this time, one point in the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) can be expressed as follows.

The relationship between the camera film image coordinate system ( ^IP X, ^IP Y, 1) and the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z) is expressed by the following equation (2).

으로 물체 면(object palne)을 선택하여 다음과 같이 표현할 수도 있다.At this time, as shown in FIG. 3

The object palette can be selected as follows.

Here, r is an individual column vector of the rotation matrix between coordinates and t is a movement vector between coordinates.

과,

를 찾아야 하는데, 여기서,

과

는 물체 좌표계(^TgX, ^TgY, ^TgZ)와 카메라 좌표계(^camX, ^camY, ^camZ) 사이의 물리적 변환으로, 각각 회전 행렬과 이동 벡터이다.At this time, in order to determine the relative position between the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) and the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z)

and,

Lt; / RTI >

and

Is a physical transformation between the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z) and the camera coordinate system ( ^cam X, ^cam Y, ^cam Z).

The following are the coordinates of the four corner points of the actual object 500 after the image processing, when the width of the object 500 is rh, the height is h, and the object 500 is placed on the ^Tg Z plane, The four corner points of the object 500 in the homogeneous geographic coordinate system can be expressed as:

Here, ^Tg P _i is a coordinate component that is, coordinate values of X, Y, Z corner point of the object (500), T is the symbol to create a transposed matrix.

The camera film-based image coordinate system ^IP P _i and the camera coordinate system ^Cam P _i are as follows.

Where i is the index for each edge.

The operation unit 130 can calculate coordinate values for the corners in the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) as shown in the following Equation (3).

The operation unit 130 can calculate coordinate values for the edges in the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z) as shown in the following Equation (4).

은 같은 직선상에 있지 않게 때문에 매트릭스

는 벡터 공간에서 그 자신에 1대 1로 대응하는 사상인 비특이 사상(寫像)이다. At this time,

Are not on the same straight line,

Is a nonspecific map that is a one-to-one correspondence of the vector space to itself.

)를 이용하여 다음의 수학식 6과 같이 연산할 수 있다.The arithmetic operation unit 130 calculates an image coordinate system

) Using the following equation (6).

The coordinate of P _{6 in} the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) and the laser coordinate system ( ^Laser X, ^Laser Y, and ^Laser Z) can be expressed as follows.

The calculation unit 130 can calculate the coordinates of P ₆ in the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) using Equation (7).

The calculation unit 130 can calculate the equation 8 using the coordinates of P ₆ and the equation 7 in the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) and the laser coordinate system ( ^Laser X, ^Laser Y, and ^Laser Z) .

Equation (8) can also be expressed as Equation (9).

Then, the object plane in the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) is determined as follows.

Here, m, n, and p are general constants representing object planes.

The calculation unit 130 can calculate the coordinate values in the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) according to Equation (10).

(10) can be combined with the object plane in the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) to obtain the following equation (11).

를 연산할 수 있다.Here, when the calculating unit 130 calculates Equation 6 and Equation 11 together

Can be calculated.

with

을 연산할 수 있고 윤곽선의 모서리점은 수학식 10에 의해 연산할 수 있다. That is, by substituting Equation 6 into Equation 12

And the corner point of the contour line can be calculated by the following equation (10).

Thus, the actual size of the object 500 can be expressed as:

Further, the operating section 130 may calculate a relationship between the equation (13) from the camera coordinate system (X ^{cam, cam} Y, Z ^cam) and the object coordinate system (X ^{Tg, Tg} Y, Z ^Tg).

는 카메라 좌표계 시점의 물체(500)의 좌표이고,

은 카메라 좌표계(^camX, ^camY, ^camZ) 시점의 물체(500)의 각 모서리점 및 교차점의 좌표 값이며,

은 물체 좌표계(^TgX, ^TgY, ^TgZ)에서의 각 모서리점 및 교차점의 좌표 값이다.here,

Is the coordinate of the object 500 at the viewpoint of the camera coordinate system,

Is a coordinate value of each corner point and an intersection point of the object 500 at the time of the camera coordinate system ( ^cam X, ^cam Y, ^cam Z)

Is the coordinate value of each corner point and the intersection point in the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z).

The motion estimation unit 140 tracks whether the coordinate value of the object 500 changes according to the change of the gripping force applied to the gripper 400. When the movement of the object 500 is detected, Is estimated to have occurred.

)를 산출하고, 산출된 중심점 좌표(

)를 이용하여 물체(500)의 움직임을 추정한다.More specifically, the motion estimation unit 140 calculates the center point coordinate (x, y) of the camera coordinate system ( ^cam X, ^cam Y, ^cam Z)

), And calculates the calculated center point coordinates (

The motion of the object 500 is estimated.

In addition, the motion estimation unit 140 using a previous image frame (K-1) and the current frame of the image (K), the camera coordinate system ^(cam X, ^cam Y, ^cam Z) each direction as shown in equation (15) It is possible to determine whether or not slip has occurred.

,

,

,

,

Taken together, this is expressed as: " (16) "

는 상기 카메라 좌표계의 중심점 좌표이고,

는 i에 대한 상기 카메라 X, Y, Z축 성분 값 좌표 값이고, 상기 i는 상기 물체의 각 모서리점에 대한 인덱스이고,

은 상기 카메라 시점에서의 상기 물체의 슬립이고, K는 현재 이미지의 프레임이며, K-1은 이전의 이미지 프레임이다.here,

Is the center point coordinate of the camera coordinate system,

Is the coordinate value of the camera X, Y, Z axis component values for i, i is an index for each corner point of the object,

K is the current image frame, and K-1 is the previous image frame.

The gripping force selecting unit 150 selects the gripping force corresponding to the image frame immediately before the change of the coordinate value is detected by the motion estimating unit 140 as an appropriate gripping force for the object 500.

Finally, the gripping force control unit 160 controls the gripper 400 with the appropriate gripping force selected by the gripping force selecting unit 150. [

Hereinafter, a method for estimating a motion of an object using a gripper according to an embodiment of the present invention will be described with reference to FIG.

FIG. 4 is a flowchart illustrating an operation flow of a method of estimating a motion of an object using a gripper according to an embodiment of the present invention, and a specific operation of the present invention will be described with reference to FIG.

According to the embodiment of the present invention, the image capturing unit 110 of the object motion estimation apparatus 100 using the gripper is constructed by a gripper 400 fixed at a setting position using a camera 200 fixed at a setting position The photographed object and the light beam output from the laser sensor 300 fixed at the set position are included and the photographed image is collected (S410).

Then, the coordinate value setting unit 120 estimates the contour of the object 500 using the image collected in step S410, and extracts a plurality of corner points for the estimated contour line and a plurality of intersection points where the contour line and the light ray intersect with each other (S420).

The arithmetic operation unit 130 calculates the angles of the object 500 based on the predefined camera coordinate system ( ^cam X, ^cam Y, ^cam Z), camera film image coordinate system ( ^IP X, ^IP Y, 1) The coordinate values of the plurality of corner points and the plurality of intersection points extracted in step S420 are set using the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z) (S430).

The operation unit 130 calculates a relative position between the camera 200 and the object 500 using the camera coordinate system ( ^cam X, ^cam Y, ^cam Z) and the object coordinate system ( ^Tg X, ^Tg Y, ^Tg Z) , The coordinate value of the object 500 is calculated using the coordinate value set in step S430 (S440).

The calculation of the relative position between the camera 200 and the object 500 and the coordinate value of the object 500 can be performed using Equations 1 to 13 described above. It will not be repeatedly mentioned above.

Then, the motion estimation unit 140 tracks whether the coordinate value of the object 500 of the image changes according to the change of the gripping force applied to the gripper 400 (S450). If a change in the coordinate value of the tracking result is detected, It is estimated that the motion of the moving object 500 has occurred (S460).

At this time, regarding the motion occurrence estimation of the object 500, motion estimation can be performed using Equations (14) to (16) above, and the detailed description will not be repeated.

Then, the gripping force selecting unit 150 selects the gripping force corresponding to the image frame immediately before the change in the coordinate value calculated in step S440 is sensed as an appropriate gripping force for the object 500 (S470).

Finally, the gripping force controller 160 controls the gripper 400 according to the predetermined gripping force determined in operation S470 (S480).

As described above, an apparatus and method for estimating a motion of an object using a gripper according to an embodiment of the present invention can detect motion of an object gripped by a gripper using a vision camera and a laser sensor, The gripping force of the gripper can be controlled by the gripping force, thereby preventing slipping (slipping) of the object gripped by the gripper.

According to the embodiment of the present invention, even when an object gripped by the gripper changes, a range in which slippage occurs can be estimated, and the gripping force immediately before slippage can be quickly calculated and controlled to improve the working efficiency .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined by the appended claims. will be. Accordingly, the true scope of the present invention should be determined by the following claims.

100: object motion estimation apparatus 110:
120: Coordinate value setting unit 130:
140: motion estimation unit 150: gripping power selection unit
160: gripping force control unit 200: camera
300: laser sensor 400: gripper
410: tongs 500: object
510: display area

Claims (8)

An apparatus for estimating a motion of an object using a gripper, a camera, and a laser sensor fixed at a set position,
An image collecting unit for collecting a photographed image including an object held by the gripper using the camera and a light beam output from the laser sensor;
Estimating an outline of the object using the collected image, extracting a plurality of corner points of the estimated outline and a plurality of intersections where the outline intersects with the ray, A coordinate value setting unit for setting coordinate values of the extracted corner points and the intersection points using an object coordinate system based on a coordinate system and an edge of any one of the objects;
An operation unit for calculating a relative position between the camera and the object using the camera coordinate system and the object coordinate system and calculating coordinate values of the object using the set coordinate value; And
And a motion estimator for tracking whether a coordinate value of the object changes according to a frame of the image in accordance with a change of the gripping force and estimating that movement of the object occurs when a change in the coordinate value is detected. The method according to claim 1,
A gripping force selecting unit for selecting a gripping force corresponding to an image frame immediately before a change in the coordinate value is sensed as an appropriate gripping force for the object; And
And a gripping force control unit for controlling the gripper based on the predetermined appropriate gripping force. The method according to claim 1,
The operation unit,
An object motion estimation apparatus for calculating a coordinate value of an object by the following expression:

here,

Is the coordinate of the object at the viewpoint of the camera coordinate system,

Is a coordinate value of each corner point and an intersection point of the object at the viewpoint of the camera coordinate system,

Is a coordinate value of each corner point and an intersection point in the object coordinate system. The method of claim 3,
Wherein the motion estimator comprises:
An object motion estimation apparatus for calculating a center point coordinate of the camera coordinate system by the following expression and estimating the motion of the object using the calculated center point coordinates of the camera coordinate system:

,

here,

Is the center point coordinate of the camera coordinate system,

Is the coordinate value of the camera X, Y, Z axis component values for i, i is an index for each corner point of the object,

K is the current image frame, and K-1 is the previous image frame. A method for estimating a motion of an object performed by an apparatus for estimating motion of an object using a gripper,
The motion estimation apparatus includes a camera fixed to a setting position, and collecting a photographed image including a light beam output from an object held by a gripper fixed at a setting position and a laser sensor fixed at a setting position;
Estimating an outline of the object using the collected image, extracting a plurality of corner points for the estimated outline and a plurality of intersections where the outline and the ray intersect;
Setting respective coordinate values for the extracted corner points and a plurality of intersection points using a predefined camera coordinate system, a camera film image coordinate system, and an object coordinate system based on one of the corners of the object ;
Calculating a relative position between the camera and the object using the camera coordinate system and the object coordinate system, and calculating a coordinate value of the object using the set coordinate value; And
And tracking whether the coordinate value of the object changes according to the frame of the image according to the change of the gripping force and estimating that movement of the object occurs when a change of the coordinate value is detected. 6. The method of claim 5,
Selecting a gripping force corresponding to an image frame immediately before a change in the coordinate value is sensed as an appropriate gripping force for the object; And
And controlling the gripper with the predetermined appropriate gripping force. 6. The method of claim 5,
Wherein the calculating comprises:
An object motion estimation method for calculating a coordinate value of an object by the following formula:

here,

Is a coordinate value of the object at the viewpoint of the camera coordinate system,

Is a coordinate value of each corner point and an intersection point of the object at the viewpoint of the camera coordinate system,

Is a coordinate value of each corner point and an intersection point in the object coordinate system. 8. The method of claim 7,
The step of estimating that the motion of the object has occurred,
Calculating a center point coordinate of the camera coordinate system using the following equation and estimating whether or not the motion of the object is generated using the calculated center point coordinates of the camera coordinate system:

,

here,

Is the center point coordinate of the camera coordinate system,

Is the coordinate value of the camera X, Y, Z axis component values for i, i is an index for each corner point of the object,

K is the current image frame, and K-1 is the previous image frame.

Images