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:
May. 20, 2025
Filed:
Aug. 30, 2022
Shanghai University, Shanghai, CN;
Shaorong Xie, Shanghai, CN;
Hengyu Li, Shanghai, CN;
Jingyi Liu, Shanghai, CN;
Yueying Wang, Shanghai, CN;
Shuang Han, Shanghai, CN;
Jun Luo, Shanghai, CN;
SHANGHAI UNIVERSITY, Shanghai, CN;
Abstract
The present disclosure discloses an electro-hydraulic varifocal lens-based method for tracking a three-dimensional (3D) trajectory of an object by using a mobile robot. By modeling an optical imaging system, a functional relation between a focusing control current of an electro-hydraulic varifocal lens and an optimal imaging object distance is obtained. Based on this functional relation, depth information of the object in focus with respect to a mobile robot camera and an average velocity of the objective within a time interval with respect to a previous moment can be obtained. With this information, 3D coordinates and motion trajectory of the object in a camera coordinate system can be calculated. At the same time, the mobile robot locates positions and attitudes in a world coordinate system in real time, and transforms the 3D coordinates of the tracked object from the camera coordinate system to the world coordinate system.