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. 01, 1991
Filed:
Sep. 01, 1989
Applicant:
Inventors:
Yoshiaki Usami, Hitachi, JP;
Kenichi Anjyo, Hitachi, JP;
Misato Nio, Hitachi, JP;
Nobuhiro Hamada, Hitachiota, JP;
Masao Yanaka, Hitachi, JP;
Assignee:
Hitachi, Ltd., Tokyo, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G06K / ;
U.S. Cl.
CPC ...
382 25 ; 382 22 ; 250558 ; 356-2 ; 364518 ;
Abstract
A three-dimensional shape of an object is recognized by developing enveloping surfaces of the object by a cone-silhouetting method, wherein the object is picked up by a binocular three-dimensional vision method by making use of geometrical restraint conditions derived by the cone-silhouetting method. The binocular parallax is increased to thereby ensure the recognition of the three-dimensional shape with improved accuracy. Local concave portions which can not be recognized by the cone-silhouetting method by itself are recognized with higher accuracy.