System and method for object localization
First Claim
Patent Images
1. A computer-assisted method for localizing a rack, comprising:
- sensing an image of the rack;
detecting line segments in the sensed image;
recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack;
generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack; and
estimating a position and orientation of the rack based on the matrix of correspondence.
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Abstract
A computer-assisted method for localizing a rack, including sensing an image of the rack, detecting line segments in the sensed image, recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack, generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack, and estimating a position and orientation of the rack based on the matrix of correspondence.
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Citations
41 Claims
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1. A computer-assisted method for localizing a rack, comprising:
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sensing an image of the rack;
detecting line segments in the sensed image;
recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack;
generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack; and
estimating a position and orientation of the rack based on the matrix of correspondence. - View Dependent Claims (2, 3, 4)
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5. A system for localizing a rack, comprising:
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a sensor;
a preprocessing module in communication with the sensor for detecting line segments in an image of the rack sensed by the sensor;
a recognition module in communication with the preprocessing module for recognizing a candidate arrangement of line segments in the sensed image of the rack indicative of a predetermined feature of the rack;
a set-up module in communication with the recognition module for generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack; and
a pose refinement module in communication with the set-up module for estimating a position of orientation of the rack based on the matrix of correspondence. - View Dependent Claims (6, 7, 8, 9, 10)
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11. A system for localizing a rack, comprising:
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a sensor;
a first circuit in communication with the sensor for detecting line segments in an image of the rack sensed by the sensor;
a second circuit in communication with the first circuit for recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack;
a third circuit in communication with the second circuit for generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack; and
a fourth circuit in communication with the third circuit for estimating a position and orientation of the rack based on the matrix of correspondence. - View Dependent Claims (12, 13, 14)
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15. A system for localizing an rack, comprising:
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means for sensing an image of the rack;
means for detecting line segments in the image;
means for recognizing a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack;
means for generating a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack; and
means for estimating a position and orientation of the rack based on the matrix of correspondence. - View Dependent Claims (16, 17)
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18. A computer-readable medium having stored thereon instructions which, when executed by a processor, cause the processor to:
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detect line segments in an sensed image of a rack;
recognize a candidate arrangement of line segments in the sensed image indicative of a predetermined feature of the rack;
generate a matrix of correspondence between the candidate arrangement of line segments and an expected position and orientation of the predetermined feature of the rack; and
estimate a position and orientation of the object based on the matrix of correspondence. - View Dependent Claims (19, 20, 21)
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22. A method of stacking an upper rack on a lower rack, the upper rack having first and second legs a fixed distance apart and the lower rack having first and second receptacles a fixed distance apart, comprising:
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sensing a first image including the first leg of the upper rack and the first receptacle of the lower rack;
sensing a second image including the second leg of the upper rack and the second receptacle of the lower rack;
detecting line segments in the first image;
detecting line segments in the second image;
recognizing a candidate arrangement of line segments in the first image indicative of a predetermined feature of the first leg and a predetermined feature of the first receptacle;
recognizing a candidate arrangement of line segments in the second image indicative of a predetermined feature of the second leg and a predetermined feature of the second receptacle;
generating a first matrix of correspondence between the candidate arrangement of line segments indicative of the first leg and the first receptacle and an expected position and orientation of the first leg and first receptacle;
generating a second matrix of correspondence between the candidate arrangement of line segments indicative of the second leg and the second receptacle and an expected position and orientation of the second leg and second receptacle;
determining a relative distance between the first leg and the first receptacle based on the first matrix of correspondence; and
determining a relative distance between the second leg and the second receptacle based on the second matrix of correspondence. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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29. A system for stacking an upper rack on a lower rack, the upper rack having first and second legs a fixed distance apart and the lower rack having first and second receptacles a fixed distance apart, comprising:
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a first sensor;
a second sensor, wherein the first and second sensors are oriented at a non-zero angle relative to each other;
a preprocessing module in communication with the first and second sensors for detecting line segments in images of the upper and lower racks sensed by the first and second sensors;
a recognition module in communication with the preprocessing module for recognizing a first candidate arrangement of line segments in a first image sensed by the first sensor indicative of a predetermined feature of the first receptacle of the lower rack and a predetermined feature of the first leg of the upper rack, and for recognizing a second candidate arrangement of line segments in a second image sensed by the second sensor indicative of predetermined feature of the second receptacle of the lower rack and a predetermined feature of the second leg of the upper rack;
a set-up module in communication with the recognition module for generating a first matrix of correspondence between the first candidate arrangement of line segments and an expected position and orientation of the first receptacle of the lower rack and the first leg of the upper rack, and for generating a second matrix of correspondence between the second candidate arrangement of line segments and an expected position and orientation of the second receptacle of the lower rack and the second leg of the upper rack; and
a stacking module in communication with the set-up module for determining a relative position between the first leg of the upper rack and the first receptacle of the lower rack based on the first matrix of correspondence, and for determining a relative position between the second leg of the upper rack and the second receptacle of the lower rack based on the second matrix of correspondence. - View Dependent Claims (30, 31, 32, 33)
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34. A system for stacking an upper rack on a lower rack, the upper rack having first and second legs a fixed distance apart and the lower rack having first and second receptacles a fixed distance apart, comprising:
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a first sensor;
a second sensor, wherein the first and second sensors are oriented at a non-zero angle relative to each other;
a first circuit in communication with the first and second sensors for detecting line segments in a first image sensed by the first sensor including the first leg of the upper rack and the first receptacle of the lower rack, and for detecting a second image sensed by the second sensor including the second leg of the upper rack and the second receptacle of the lower rack;
a second circuit in communication with the first circuit for recognizing a first candidate arrangement of line segments in the first image indicative of predetermined features of the first leg and the first receptacle, and for recognizing a second candidate arrangement of line segments in the second image indicative of predetermined features of the second leg and the second receptacle;
a third circuit in communication with the second circuit for generating a first matrix of correspondence between the first candidate arrangement of line segments and an expected position and orientation of the first leg and first receptacle, and for generating a second matrix of correspondence between the second candidate arrangement of line segments and an expected position and orientation of the second leg and second receptacle; and
a fourth circuit in communication with the third circuit for determining a relative distance between the first leg and the first receptacle based on the first matrix of correspondence, and for determining a relative distance between the second leg and the second receptacle based on the second matrix of correspondence. - View Dependent Claims (35, 36, 37)
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38. A system for stacking an upper rack on a lower rack, the upper rack having first and second legs a fixed distance apart and the lower rack having first and second receptacles a fixed distance apart, comprising:
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means for sensing a first image including the first leg of the upper rack and the first receptacle of the lower rack;
means for sensing a second image including the second leg of the upper rack and the second receptacle of the lower rack;
means for detecting line segments in the first image and in the second image;
means for recognizing a first candidate arrangement of line segments in the first image indicative of a predetermined feature of the first leg and indicative of a predetermined feature of the first receptacle;
means for recognizing a second candidate arrangement of line segments in the second image indicative of a predetermined feature of the second leg and indicative of a predetermined feature of the second receptacle;
means for generating a first matrix of correspondence between the first candidate of line segments and an expected position and orientation of the first leg and first receptacle;
means for generating a second matrix of correspondence between the second candidate of line segments and an expected position and orientation of the second leg and second receptacle;
means for determining a relative distance between the first leg and the first receptacle; and
means for determining a relative distance between the second leg and the second receptacle. - View Dependent Claims (39)
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40. A computer-readable medium having stored thereon instructions which, when executed by a processor, cause the processor to:
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detect line segments in a first image of a first leg of an upper rack and a first receptacle of a lower rack;
detect line segments in a second image of a second leg of the upper rack and a second receptacle of the lower rack;
recognize a first candidate arrangement of line segments in the first image indicative of a predetermined feature of the first leg and indicative of a predetermined feature of the first receptacle;
recognize a second candidate arrangement of line segments in the second image indicative of a predetermined feature of the second leg and indicative of a predetermined feature of the second receptacle;
generate a first matrix of correspondence between the first candidate arrangement of line segments and an expected position and orientation of the first leg and first receptacle;
generate a second matrix of correspondence between the second candidate arrangement of line segments and an expected position and orientation of the second leg and second receptacle;
determine a relative distance between the first leg and the first receptacle based on the first matrix of correspondence; and
determine a relative distance between the second leg and the second receptacle based on the second matrix of correspondence. - View Dependent Claims (41)
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Specification