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:
Mar. 12, 1996
Filed:
Mar. 07, 1994
Mikio Sasaki, Kariya, JP;
Yukihiro Kanayama, Kariya, JP;
Hideki Saitou, Kariya, JP;
Tetsuya Kominami, Oobu, JP;
Nippondenso Co., Ltd., Kariya, JP;
Abstract
A positional relationship between an autonomous mobile robot and a workpiece to be handled by the robot is calculated promptly and accurately on the basis of the image information obtained from a monocular vision camera mounted on the robot. Extracting the image feature points of the workpiece taken by the camera, a search region with a plurality of discrete space points is set on the basis of the estimated position and attitude of the camera. Then, the estimated image feature points of the workpiece, to be obtained when the workpiece is taken a view from these space points, are obtained. Then an error between the image feature point and the estimated feature point is calculated, and the position and attitude of the camera can be determined by finding the space point where the error is minimized.