WO2009018538A3 - System and method of three-dimensional pose estimation - Google Patents

System and method of three-dimensional pose estimation Download PDF

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Publication number
WO2009018538A3
WO2009018538A3 PCT/US2008/071983 US2008071983W WO2009018538A3 WO 2009018538 A3 WO2009018538 A3 WO 2009018538A3 US 2008071983 W US2008071983 W US 2008071983W WO 2009018538 A3 WO2009018538 A3 WO 2009018538A3
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WO
WIPO (PCT)
Prior art keywords
dimensional
image
pose estimation
object region
runtime
Prior art date
Application number
PCT/US2008/071983
Other languages
French (fr)
Other versions
WO2009018538A2 (en
Inventor
Remus F W Boca
Jeffrey Scott Beis
Simona Liliana Pescaru
Original Assignee
Braintech Canada Inc
Remus F W Boca
Jeffrey Scott Beis
Simona Liliana Pescaru
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Braintech Canada Inc, Remus F W Boca, Jeffrey Scott Beis, Simona Liliana Pescaru filed Critical Braintech Canada Inc
Publication of WO2009018538A2 publication Critical patent/WO2009018538A2/en
Publication of WO2009018538A3 publication Critical patent/WO2009018538A3/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35315—Projection, two, three section views
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40543—Identification and location, position of components, objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Abstract

A system and method for identifying objects using a machine-vision based system are disclosed. Briefly described, one embodiment is a method that captures a first image of at least one object with an image capture device, processes the first captured image to find an object region based on a reference two-dimensional model and determines a three-dimensional pose estimation based on a reference three-dimensional model that corresponds to the reference two-dimensional model and a runtime three-dimensional representation of the object region where a point-to-point relationship between the reference three-dimensional models of the object and the runtime three-dimensional representation of the object region is not necessarily previously known. Thus, two-dimensional information or data is used to segment an image and three-dimensional information or data used to perform three-dimensional pose estimation on a segment of the image.
PCT/US2008/071983 2007-08-02 2008-08-01 System and method of three-dimensional pose estimation WO2009018538A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/833,187 2007-08-02
US11/833,187 US7957583B2 (en) 2007-08-02 2007-08-02 System and method of three-dimensional pose estimation

Publications (2)

Publication Number Publication Date
WO2009018538A2 WO2009018538A2 (en) 2009-02-05
WO2009018538A3 true WO2009018538A3 (en) 2009-04-09

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PCT/US2008/071983 WO2009018538A2 (en) 2007-08-02 2008-08-01 System and method of three-dimensional pose estimation

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US (1) US7957583B2 (en)
WO (1) WO2009018538A2 (en)

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