Robot vision using target holes, corners and other object features
First Claim
1. A method for object position determination, said object having natural features and artificial targets, said method comprising the steps of:
- providing a data base of said natural features and artificial targets of said object,selecting at least one of said features and at least one of said targets,providing an electro-optical system to acquire data from said selected features and targets, andanalyzing data from said system to find said selected features and targets and determine their locations.
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Abstract
A method and apparatus uses naturally occurring object features as targets in a machine vision based robot (or other) guidance system. In one embodiment, a special high speed processor finds at least 3 pre-selected feature points on an object, which when considered with the data base for the object, allows a rapid 6 degree of freedom solution for the object location relative to the camera and thence connected automation. While primarily envisioned for industrial robots, the invention is useful for all sorts of machines including vehicles, construction machinery and the like--anywhere the target object has a known data base relative to the features in question.
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Citations
52 Claims
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1. A method for object position determination, said object having natural features and artificial targets, said method comprising the steps of:
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providing a data base of said natural features and artificial targets of said object, selecting at least one of said features and at least one of said targets, providing an electro-optical system to acquire data from said selected features and targets, and analyzing data from said system to find said selected features and targets and determine their locations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49)
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50. A method for determining the position of a 3D object, said object having natural features and artificial targets, said method comprising the steps of:
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providing a data base of natural features of said 3D object, selecting at least one of said features and at least one of said targets, providing an electro-optical system to acquire data from said at least one selected feature and target, analyzing the data from said system to find and determine the location of said at least one selected object feature and target, and from the locations of said at least one selected feature and target, determining the 3D position of said object.
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51. Apparatus for determining the position of a 3D object, said object having natural features and artificial targets, said apparatus comprising;
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means for storing design data concerning natural features of said object, means for selecting at least one of said features and at least one of said targets, electro-optical means to obtain data from said at least one selected feature and target, means to analyze said data to find said at least one selected feature and target on said object, means to analyze said data to determine the location of said at least one selected feature and target, and means for determining the 3D position of said object.
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52. A method for determination of object position or orientation, said object having natural features and artificial targets, said method comprising the steps of:
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providing a data base of said natural features and artificial targets of said object, selecting a plurality of at least one of said features and at least one of said targets, providing an electro-optical system to acquire data from said selected features and targets, analyzing data from said system to find said selected features and targets and determine their locations, and from said determined locations, determining the position or orientation of said object.
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Specification