发明名称 |
Hand/eye calibration method using projective invariant shape descriptor of 2-dimensional image |
摘要 |
Provided is a hand/eye calibration method by using a projective invariant shape descriptor of a two-dimensional image. The method includes calculating a projective invariant shape descriptor of a two-dimensional image from at least two images obtained by a camera mounted on a robot hand, at a predetermined time interval, extracting corresponding points between the images by using the projective invariant shape descriptor, calculating a rotation matrix for the corresponding points from translation of the robot hand, calculating translation vector for the corresponding points from translation and rotation of the robot hand, and finding a relation between the robot hand and the camera based on the rotation matrix and the translation vector.
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申请公布号 |
US2006095226(A1) |
申请公布日期 |
2006.05.04 |
申请号 |
US20050300435 |
申请日期 |
2005.12.15 |
申请人 |
SAMSUNG ELECTRONICS CO., LTD. |
发明人 |
ROH KYOUNG-SIG;SON YOUNG;KWAK JOO-YOUNG |
分类号 |
G01C17/00;G06T1/00;B25J9/16;G01C1/06;G02B27/40;G06F15/00;G06K9/64;G06T7/00 |
主分类号 |
G01C17/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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