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:
Apr. 01, 1997
Filed:
Jan. 18, 1996
Masayoshi Hashima, Kawasaki, JP;
Fumi Hasegawa, Kawasaki, JP;
Keiju Okabayashi, Kawasaki, JP;
Ichiro Watanabe, Kawasaki, JP;
Shinji Kanda, Kawasaki, JP;
Naoyuki Sawasaki, Kawasaki, JP;
Yuichi Murase, Kawasaki, JP;
Fujitsu Limited, Kawasaki, JP;
Abstract
A system for and a method of recognizing and tracking a target mark with a video camera is disclosed. The system includes a target mark (10) disposed on an object (1) and composed of a black circle and a white triangle mounted centrally on the black circle and three-dimensionally shifted from the black circle, a video camera (20) for imaging the target mark (10), a robot (30) supporting the video camera (20) and movable in directions with six degrees of freedom, an image processor (40) for processing image data of the target mark which is produced by the video camera (20), a shift calculating unit (50) for detecting a shift of the target mark (10) from projected histogram information of the target mark (10) which is produced by the image processor (40), and a robot controller (60) for controlling movement of the robot depending on the shift to enable the video camera (20) to track the target mark (10). The system is capable of tracking the target mark (20) attached to the object (1) on a real-time basis. Mark recognizing apparatus capable of accurately recognizing target marks of other shapes is also disclosed.