WO2018230864A3 - 외부광을 반영하여 객체의 뎁스를 센싱하는 방법 및 이를 구현하는 장치 - Google Patents

외부광을 반영하여 객체의 뎁스를 센싱하는 방법 및 이를 구현하는 장치 Download PDF

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Publication number
WO2018230864A3
WO2018230864A3 PCT/KR2018/006113 KR2018006113W WO2018230864A3 WO 2018230864 A3 WO2018230864 A3 WO 2018230864A3 KR 2018006113 W KR2018006113 W KR 2018006113W WO 2018230864 A3 WO2018230864 A3 WO 2018230864A3
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WO
WIPO (PCT)
Prior art keywords
depth
external light
sensing
device implementing
considering external
Prior art date
Application number
PCT/KR2018/006113
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English (en)
French (fr)
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WO2018230864A2 (ko
Inventor
이창현
김동성
손병곤
신승인
심정민
정재훈
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엘지전자 주식회사
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from KR1020170075055A external-priority patent/KR20180136294A/ko
Priority claimed from KR1020170095412A external-priority patent/KR102444568B1/ko
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to US16/622,202 priority Critical patent/US11498228B2/en
Publication of WO2018230864A2 publication Critical patent/WO2018230864A2/ko
Publication of WO2018230864A3 publication Critical patent/WO2018230864A3/ko

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    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • 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
    • B25J19/026—Acoustical sensing 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
    • B25J9/1694—Programme 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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/128—Adjusting depth or disparity
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • 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
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N2213/00—Details of stereoscopic systems
    • H04N2213/003—Aspects relating to the "2D+depth" image format

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

본 발명은 외부광을 반영하여 객체의 뎁스를 센싱하는 방법 및 이를 구현하는 장치에 관한 것으로, 본 발명의 일 실시예에 의한 외부광을 반영하여 객체의 뎁스를 센싱하는 방법은 뎁스 센싱 모듈의 뎁스 카메라부가 제1시점에서 센싱한 객체의 제1뎁스 정보를 저장부에 저장하는 단계, 뎁스 카메라부가 제2시점에서 센싱한 객체의 제2뎁스 정보를 저장부에 저장하는 단계, 뎁스 센싱 모듈의 센싱 데이터 필터링부가 생성된 제1뎁스 정보 및 제2뎁스 정보를 비교하여 제2뎁스 정보에서 필터링할 영역을 식별하는 단계, 및 뎁스 센싱 모듈의 제어부가 제2뎁스 정보에서 필터링 영역의 뎁스 값을 조정하는 단계를 포함한다.
PCT/KR2018/006113 2017-06-14 2018-05-29 외부광을 반영하여 객체의 뎁스를 센싱하는 방법 및 이를 구현하는 장치 WO2018230864A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/622,202 US11498228B2 (en) 2017-06-14 2018-05-29 Method for sensing depth of object by considering external light and device implementing same

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2017-0075055 2017-06-14
KR1020170075055A KR20180136294A (ko) 2017-06-14 2017-06-14 외부광을 반영하여 객체의 뎁스를 센싱하는 방법 및 이를 구현하는 장치
KR1020170095412A KR102444568B1 (ko) 2017-07-27 2017-07-27 조도 센싱에 기반하여 센싱된 영상을 제어하는 방법 및 이를 구현하는 로봇
KR10-2017-0095412 2017-07-27

Publications (2)

Publication Number Publication Date
WO2018230864A2 WO2018230864A2 (ko) 2018-12-20
WO2018230864A3 true WO2018230864A3 (ko) 2019-02-07

Family

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PCT/KR2018/006113 WO2018230864A2 (ko) 2017-06-14 2018-05-29 외부광을 반영하여 객체의 뎁스를 센싱하는 방법 및 이를 구현하는 장치

Country Status (2)

Country Link
US (1) US11498228B2 (ko)
WO (1) WO2018230864A2 (ko)

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CN110044334B (zh) * 2018-01-16 2020-04-21 京东方科技集团股份有限公司 基于维诺图的室内空间定位
JP7117969B2 (ja) * 2018-10-15 2022-08-15 東芝テック株式会社 読取装置およびプログラム
KR20220019930A (ko) * 2020-08-11 2022-02-18 삼성전자주식회사 로봇 및 그 제어 방법
KR102218120B1 (ko) * 2020-09-21 2021-02-22 주식회사 폴라리스쓰리디 자율 주행 모듈, 이를 포함하는 이동 로봇 및 이의 위치 추정 방법
CA3196537A1 (en) * 2020-10-24 2022-04-28 Ajay VISHNU Spatial blind spot monitoring systems and related methods of use
US20230041343A1 (en) * 2021-08-09 2023-02-09 Mujin, Inc. Robotic system with image-based sizing mechanism and methods for operating the same

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US20080205748A1 (en) * 2007-02-28 2008-08-28 Sungkyunkwan University Structural light based depth imaging method and system using signal separation coding, and error correction thereof
KR100903786B1 (ko) * 2009-03-16 2009-06-19 국방과학연구소 자율 이동체용 스테레오 센싱 장치, 스테레오 센싱 가능한 자율 이동체 및 스테레오 센싱 장치의 이미지 처리 방법
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US20200122344A1 (en) 2020-04-23
WO2018230864A2 (ko) 2018-12-20
US11498228B2 (en) 2022-11-15

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