A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
VISION SYSTEM FOR A ROBOTIC MACHINE
The present disclosure relates to a method for determining a pose of an object in a local coordinate system of a robotic machine, the method including: capturing at least one image of a first face of the object and at least one image of at least a portion of a second face of the object; generating a point cloud representation of at least part of the object using image data obtained from the captured images of the first and second faces; fitting a first plane to the first face of the object and fitting a second plane to the second face of the object using the point cloud representation; determining a pose of the first plane and a pose of the second plane; retrieving a shape model of at least the first face of the object; locating the shape model in the local coordinate system using at least in part the at least one image of the first face; and, determining the pose of the object in the local coordinate system. A vision system and robotic machine are also disclosed.
本发明涉及用于确定物体在机器人机械的局部坐标系中的姿态的方法，该方法包括：采集物体的第一面的至少一个图像和物体的第二面的至少一部分的至少一个图像；使用从第一面和第二面的采集图像中获得的图像数据来生成物体的至少一部分的点云表示；使用该点云表示将第一平面拟合到物体的第一面并且将第二平面拟合到物体的第二面；确定第一平面的姿态和第二平面的姿态；获取物体的至少第一面的形状模型；通过至少部分地使用第一面的至少一个图像，将形状模型在局部坐标系中定位；以及确定物体在局部坐标系中的姿态。本发明也公开了视觉系统和机器人机械。
VISION SYSTEM FOR A ROBOTIC MACHINE
The present disclosure relates to a method for determining a pose of an object in a local coordinate system of a robotic machine, the method including: capturing at least one image of a first face of the object and at least one image of at least a portion of a second face of the object; generating a point cloud representation of at least part of the object using image data obtained from the captured images of the first and second faces; fitting a first plane to the first face of the object and fitting a second plane to the second face of the object using the point cloud representation; determining a pose of the first plane and a pose of the second plane; retrieving a shape model of at least the first face of the object; locating the shape model in the local coordinate system using at least in part the at least one image of the first face; and, determining the pose of the object in the local coordinate system. A vision system and robotic machine are also disclosed.
本发明涉及用于确定物体在机器人机械的局部坐标系中的姿态的方法，该方法包括：采集物体的第一面的至少一个图像和物体的第二面的至少一部分的至少一个图像；使用从第一面和第二面的采集图像中获得的图像数据来生成物体的至少一部分的点云表示；使用该点云表示将第一平面拟合到物体的第一面并且将第二平面拟合到物体的第二面；确定第一平面的姿态和第二平面的姿态；获取物体的至少第一面的形状模型；通过至少部分地使用第一面的至少一个图像，将形状模型在局部坐标系中定位；以及确定物体在局部坐标系中的姿态。本发明也公开了视觉系统和机器人机械。
VISION SYSTEM FOR A ROBOTIC MACHINE
用于机器人机械的视觉系统
TAYLOR JOHN FRANCIS (author)
2021-10-15
Patent
Electronic Resource
Chinese
Vision-aided inertial navigation system for robotic mobile mapping
| British Library Online Contents | 2008