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. 13, 2004
Filed:
Jul. 13, 2000
Haisong Gu, Suita, JP;
Tomoharu Nakahara, Nishinomiya, JP;
Hidekazu Araki, Moriguchi, JP;
Hiroyuki Fujii, Shijonwate, JP;
Matsushita Electric Works, Ltd., Kadoma, JP;
Abstract
A 3-dimensional object recognition method, by use of which three-dimensional position and posture of an object can be accurately recognized at high speed, comprises the steps of (A) taking a pair of first and second images for making a stereo image of the object; (B) detecting a two-dimensional feature of the object on each of the first and second images; (C) evaluating a degree of reliability of the result of the step (B) by comparing with a model data of the object; (D) making a correspondence of the two-dimensional feature between the first and second images according to a stereoscopic measurement principle; (E) evaluating a degree of reliability of the result of the step (D) by comparing the two-dimensional feature detected on the first image with the corresponding two-dimensional feature detected on the second image; (F) recognizing the three-dimensional position and posture of the object according to information in three dimensions of the two-dimensional feature obtained by the correspondence; and (G) evaluating a degree of reliability of the recognized three-dimensional position and posture. It is preferred to use the 3-dimensional object recognition method to a bin-picking system for picking up an article from a bin, in which a plurality of articles are heaped up in confusion, and carrying the picked-up article to a required position.