logo

For the Inventor, By the Inventor

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.:

US 12347132 B1

PDFFull Text
Date of Patent:
Jul. 01, 2025

Filed:

Nov. 13, 2020

6d pose measurement method for mechanical parts based on virtual contour feature points

Applicant:

Zhejiang University, Hangzhou, CN;

Inventors:

Zaixing He, Hangzhou, CN;

Wuxi Feng, Hangzhou, CN;

Xinyue Zhao, Hangzhou, CN;

Assignee:

ZHEJIANG UNIVERSITY, Hangzhou, CN;

Attorneys:

Jiwen Chen

Joywin IP Law PLLC

Primary Examiner:

Amandeep Saini

Assistant Examiner:

Emma Rose Goebel

Int. Cl.
CPC ...
G06T 7/73 (2017.01); G06F 30/00 (2020.01); G06T 7/60 (2017.01); G06V 10/141 (2022.01); G06V 10/46 (2022.01); G06V 10/74 (2022.01); G06V 10/75 (2022.01); G06V 10/80 (2022.01);
U.S. Cl.
CPC ...
G06T 7/73 (2017.01); G06F 30/00 (2020.01); G06T 7/60 (2013.01); G06V 10/141 (2022.01); G06V 10/46 (2022.01); G06V 10/751 (2022.01); G06V 10/761 (2022.01); G06V 10/806 (2022.01);
Abstract

A 6D (six degree of freedom) pose measurement method for mechanical parts based on virtual contour feature points, wherein multiple lights are used for lighting in different times for photographing, so that the success rate of recognition of geometric features in images is increased. On the basis of successful matching of lines in a real image and a template image, whether an intersection point exists between spatial lines corresponding to matching lines is calculated; when an intersection point exits between the lines, coordinates of the intersection point of planar lines in the real image and the template image are resolved and are saved as a matching point pair; and then, ellipse features in the real image and the template image are detected, and two centers are matched according to the distances between the centers and the matching lines and are saved as a center pair if successfully matched; and finally, a 2D-3D relationship of the real image is established according to a 2D-3D coordinate relationship of the template image, and the pose of a part is resolved by a PnP algorithm.

Find Patent Forward Citations

Loading…