Robot apparatus, method for controlling the same, and computer program

• US 10,384,348 B2
• Filed: 03/28/2018
• Issued: 08/20/2019
• Est. Priority Date: 03/08/2012
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Kondo, Genta, Miyamoto, Atsushi, Shimizu, Satoru
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/938,466
• Publication Number:
  US 20180215045A1
• Time in Patent Office: 510 Days
• Field of Search: 700245, 700257-259, 348169, 901 1- 4, 901 47, 901 30, 901 31, 901 46, 382103, 382153-155, 382159, 382173, 382174, 382190
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/39449 Pendant, pda displaying camera images overlayed with graphics, augmented reality
• CPC Class Codes: G05B 2219/40099 Graphical user interface for robotics, visual robot user interface
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/45108 Aid, robot for aid to, assist human disabled

Abstract

A robot apparatus includes an output unit that displays an image including an object on a screen, an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image, an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit, and a position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour.

Claims

1. A movable apparatus comprising:

circuitry configured to;

transfer, to a user device, an image captured by a camera attached to the movable apparatus;

receive specification information input based on the image;

extract two-dimensional feature information regarding an object in the image based on the specification information; and

estimate a three-dimensional position of the object using the two-dimensional feature information.

2. The movable apparatus of claim 1, wherein the circuitry is configured to:

execute a holding process based on the three-dimensional position of the object.

3. The movable apparatus of claim 1, wherein the specification information indicates region information including the object.

4. The movable apparatus of claim 1, wherein the two-dimensional feature information includes a contour of the object.

5. The movable apparatus of claim 4, wherein the circuitry is configured to:

transfer the two-dimensional feature information to the user device.

6. The movable apparatus of claim 5, wherein the circuitry is configured to:

receive the specification information indicating a boundary of objects based on the two-dimensional feature information.

7. The movable apparatus of claim 6, wherein the circuitry is configured to:

extract the two-dimensional feature information based on the specification information indicating the boundary of the objects.

8. The movable apparatus of claim 7, wherein the circuitry is configured to:

estimate the three-dimensional position of the object based on the two-dimensional feature information based on the specification information indicating the boundary of the objects.

9. The movable apparatus of claim 8, wherein the circuitry is configured to:

execute a holding process based on the three-dimensional position of the object based on the two-dimensional feature information based on the specification information indicating the boundary of the objects.

10. The movable apparatus of claim 1, wherein the specification information is input by a user.

11. A method for controlling a movable apparatus, the method comprising:

transferring, to a user device, an image captured by a camera attached to the movable apparatus;

receiving specification information input based on the image;

extracting two-dimensional feature information regarding an object in the image based on the specification information; and

estimating a three-dimensional position of the object using the two-dimensional feature information.

12. The method of claim 11, further comprising:

executing a holding process based on the three-dimensional position of the object.

13. The method of claim 11, wherein the specification information indicates region information including the object.

14. The method of claim 11, wherein the two-dimensional feature information includes a contour of the object.

15. The method of claim 14, further comprising:

transferring the two-dimensional feature information to the user device.

16. The method of claim 15, further comprising:

receiving the specification information indicating a boundary of objects based on the two-dimensional feature information.

17. The method of claim 16, further comprising:

extracting the two-dimensional feature information based on the specification information indicating the boundary of the objects.

18. The method of claim 17, further comprising:

estimating the three-dimensional position of the object based on the two-dimensional feature information based on the specification information indicating the boundary of the objects.

19. The method of claim 18, further comprising:

executing a holding process based on the three-dimensional position of the object based on the two-dimensional feature information based on the specification information indicating the boundary of the objects.

20. The method of claim 11, wherein the specification information is input by a user.