发明名称 |
METHOD AND SYSTEM FOR AUTOMATICALLY DETERMINING THE POSITION AND ORIENTATION OF AN OBJECT IN 3-D SPACE |
摘要 |
A method and system for automatically determining the position and orientation of an object by utilizing as few as a single digital image generated by as few as a single camera without the use of a structured light. The digital image contains at least three non-colinear geometric features of the object. The three features may be either coplanar or non-coplanar. The features or targets are viewed such that perspective information is present in the digital image. In a single camera system the geometric features are points, and in a multi-camera system, the features are typically combinations of points and lines. The location of the features are determined and processed within a programmed computer together with reference data and camera calibration data to provide at least three non-parallel 3-D lines. The 3-D lines are utilized by an iterative algorithm to obtain data relating to the position and orientation of the object in 3-D space. The resultant data is subsequently utilized to calculate an offset of the object from the camera. The offset is then transformed into the coordinate system or frame of a peripheral device such as a robot, programmable controller, numerically controlled machine, etc. Finally, the programmed computer transfers the transformed offset to the peripheral device which utilizes the transformed offset to modify its preprogrammed path. |
申请公布号 |
EP0452398(B1) |
申请公布日期 |
1996.04.10 |
申请号 |
EP19900901978 |
申请日期 |
1989.12.19 |
申请人 |
FANUC ROBOTICS NORTH AMERICA, INC. |
发明人 |
MCGEE, H., DEAN;KRAUSE, KENNETH, W.;COLDREN, BRUCE, E. |
分类号 |
G01B11/00;B25J9/16;G01B11/03;G01B11/26;G01S5/16;G06T1/00;G06T7/00 |
主分类号 |
G01B11/00 |
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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