Contact state estimating apparatus
First Claim
1. A contact state estimating apparatus configured to estimate a contact state between a surface of an actual object and a virtual face which is a surface of a virtual object having a designated shape, by using a pair of image sensors configured to acquire each of a pair of images composed of a plurality of pixels having a designated physical quantity as a pixel value by imaging the actual object, and a range image sensor configured to measure distance up to the actual object and to allocate the measured distance with respect to each of a plurality of pixels composing a target region of one of the images obtained by one of the image sensors among the pair of image sensors, comprising:
- a first processing element configured to calculate a sum of a value of a first cost function having a first deviation allocated to each pixel in the target region as a main variable, as a first cost;
a second processing element configured to calculate a sum of a value of a second cost function having a second deviation allocated to each pixel in the target region or both of the first deviation and the second deviation as a main variable, as a second cost; and
a third processing element configured to search for a position and a posture of the virtual face in a case of contacting the surface of the actual object so as to approximate a total cost of the first cost and the second cost to a smallest value or a minimum value,wherein the first deviation is defined as a variable such that a magnitude of an absolute value is determined according to a length of an interval between an actual point whose position is determined by a distance to the actual object obtained by the range image sensor and a virtual point which is a result of projecting the actual point to the virtual face in a line of sight direction of the one of the image sensors, and being a positive value in a case where the virtual point is positioned farther than the actual point with reference to the one of the image sensors, while being a negative value in a case where the virtual point is positioned nearer than the actual point with reference to the one of the image sensors,wherein the second deviation is defined as a variable such that a magnitude is determined according to a magnitude of a difference between the designated physical quantity possessed by the pixels of the one of the images obtained by the one of the image sensors among the pair of image sensors and the designated physical quantity possessed by the pixels of the other image obtained by the other image sensor among the pair of image sensors corresponding to the pixels of the one of the images in a form according to the position and the posture of the virtual face,wherein each of the first cost function and the second cost function is defined as a function which shows a smallest value or a minimum value in a case where a value of the main variable is 0 and which is an increasing function in a positive definition domain, andwherein the first cost function is defined by a product between a positive exponentiation of an absolute value of the first deviation, and a first coefficient function being a function having the first deviation as the main variable and a range of value being 0 or more and a value in the positive definition domain being larger than a value in a negative definition domain even in a case where absolute values thereof are same.
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Accused Products
Abstract
A position and a posture of a virtual face is searched so that a total cost E of a first cost E1 and a second cost E2 is approximated to a smallest value or a minimum value. A first cost E1(e1) corresponds to a sum of elastic energy with a first deviation e1(s) as a deformation amount, of a virtual spring group having a value of a first coefficient function w1(e1(s)) in a target region of a standard image as a spring coefficient. A second cost E2(e1, e2) corresponds to a sum of elastic energy with a second deviation e2 as a deformation amount, of a virtual spring group having a value of a second coefficient function w2(e2(s) of each pixel s included in the target region of the standard image as a spring coefficient.
18 Citations
9 Claims
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1. A contact state estimating apparatus configured to estimate a contact state between a surface of an actual object and a virtual face which is a surface of a virtual object having a designated shape, by using a pair of image sensors configured to acquire each of a pair of images composed of a plurality of pixels having a designated physical quantity as a pixel value by imaging the actual object, and a range image sensor configured to measure distance up to the actual object and to allocate the measured distance with respect to each of a plurality of pixels composing a target region of one of the images obtained by one of the image sensors among the pair of image sensors, comprising:
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a first processing element configured to calculate a sum of a value of a first cost function having a first deviation allocated to each pixel in the target region as a main variable, as a first cost; a second processing element configured to calculate a sum of a value of a second cost function having a second deviation allocated to each pixel in the target region or both of the first deviation and the second deviation as a main variable, as a second cost; and a third processing element configured to search for a position and a posture of the virtual face in a case of contacting the surface of the actual object so as to approximate a total cost of the first cost and the second cost to a smallest value or a minimum value, wherein the first deviation is defined as a variable such that a magnitude of an absolute value is determined according to a length of an interval between an actual point whose position is determined by a distance to the actual object obtained by the range image sensor and a virtual point which is a result of projecting the actual point to the virtual face in a line of sight direction of the one of the image sensors, and being a positive value in a case where the virtual point is positioned farther than the actual point with reference to the one of the image sensors, while being a negative value in a case where the virtual point is positioned nearer than the actual point with reference to the one of the image sensors, wherein the second deviation is defined as a variable such that a magnitude is determined according to a magnitude of a difference between the designated physical quantity possessed by the pixels of the one of the images obtained by the one of the image sensors among the pair of image sensors and the designated physical quantity possessed by the pixels of the other image obtained by the other image sensor among the pair of image sensors corresponding to the pixels of the one of the images in a form according to the position and the posture of the virtual face, wherein each of the first cost function and the second cost function is defined as a function which shows a smallest value or a minimum value in a case where a value of the main variable is 0 and which is an increasing function in a positive definition domain, and wherein the first cost function is defined by a product between a positive exponentiation of an absolute value of the first deviation, and a first coefficient function being a function having the first deviation as the main variable and a range of value being 0 or more and a value in the positive definition domain being larger than a value in a negative definition domain even in a case where absolute values thereof are same. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A contact state estimating method for estimating a contact state between a surface of an actual object and a virtual face which is a surface of a virtual object having a designated shape, comprising:
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a step for acquiring each of a pair of images composed of a plurality of pixels having a designated physical quantity as a pixel value by imaging the actual object using a pair of image sensors; a step for measuring a distance up to the actual object allocated with respect to each of a plurality of pixels composing a target region of one of the images acquired by one of the image sensors among the pair of image sensors using a range image sensor; a first step for calculating a sum of a first cost function having a first deviation allocated to each pixel in the target region as a main variable, as a first cost; a second step for calculating a sum of a second cost function having a second deviation allocated to each pixel in the target region or both of the first deviation and the second deviation as a main variable, as a second cost; and a third step for searching a position and a posture of the virtual face in a case of contacting the surface of the actual object so as to approximate a total cost of the first cost and the second cost to a smallest value or a minimum value, wherein the first deviation is defined as a variable such that a magnitude of an absolute value is determined according to a length of an interval between an actual point whose position is determined by a distance to the actual object obtained by the range image sensor and a virtual point which is a result of projecting the actual point to the virtual face in a line of sight direction of the one of the image sensors, and being a positive value in a case where the virtual point is positioned farther than the actual point with reference to the one of the image sensors, while being a negative value in a case where the virtual point is positioned nearer than the actual point with reference to the one of the image sensors, wherein the second deviation is defined as a variable such that a magnitude is determined according to a magnitude of a difference between the designated physical quantity possessed by the pixels of the one of the images obtained by the one of the image sensors among the pair of image sensors and the designated physical quantity possessed by the pixels of the other image obtained by the other image sensor among the pair of image sensors corresponding to the pixels of the one of the images in a form according to the position and the posture of the virtual face, and wherein each of the first cost function and the second cost function is defined as a function which shows a smallest value or a minimum value in a case where a value of the main variable is 0 and which is an increasing function in a positive definition domain, wherein the first cost function is defined by a product between a positive exponentiation of an absolute value of the first deviation, and a first coefficient function being a function having the first deviation as the main variable and a ranqe of value being 0 or more and a value in the positive definition domain being larger than a value in a negative definition domain even in a case where absolute values thereof are same.
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Specification