The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 07, 2025
Filed:
Jun. 21, 2023
Seiko Epson Corporation, Tokyo, JP;
Akinobu Sato, Matsumoto, JP;
SEIKO EPSON CORPORATION, , JP;
Abstract
A method according to the present disclosure includes (a) estimating pixel coordinate values of a plurality of characteristic points set in advance in a robot arm from an image of the robot arm taken by a camera using a first machine learning model, (b) estimating first coordinate values of the plurality of characteristic points in a 3D camera coordinate system from the pixel coordinate values of the plurality of characteristic points using a second machine learning model, (c) calculating second coordinate values of the plurality of characteristic points in a 3D robot coordinate system using an encoder value of the robot arm, and (d) executing the steps (a) through (c) with respect to a plurality of postures of the robot arm to estimate calibration parameters including an external parameter of the camera using the first coordinate values and the second coordinate values of the plurality of characteristic points in the plurality of postures.