专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

EP2026589B1 Online calibration of stereo camera systems including fine vergence movements 有权
标题翻译：在线校准立体相机系统的Feinvergenzbewegungen
公开(公告)号：EP2026589B1
公开(公告)日：2011-02-23
申请号：EP07114176.6
申请日：2007-08-10
申请人： Honda Research Institute Europe GmbH
发明人： Rodemann, Tobias , Joublin, Frank , Dunn, Mark
IPC分类号： H04N13/00 , B25J9/16 , G05B19/401
CPC分类号： G05B19/401 , B25J9/163 , B25J9/1697 , G05B2219/39367 , G05B2219/40003 , G05B2219/40617 , H04N13/239 , H04N13/246 , H04N13/296
摘要： The invention relates to the control of a stereo camera system, the stereo camera system comprising a stereo camera (1) and actuator means (41, 42, 43) for controlling an orienting and a vergence action of the stereo camera (1), the control method comprising the following steps: - (S1) Evaluating pre-action output information of the stereo camera (1) in order to detect the position of a pattern in the input space of the stereo camera (1); - (S2) Deciding on a targeted post-action position of said pattern (2) in the input space of the stereo camera (1); - (S3) Defining a command for the actuator means (41, 42, 43) by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the stereo camera (1) to actuator control coordinates using a predefined mapping function; - (S4) Orienting the stereo camera (1) by the actuator means (41, 42, 43) according to the defined command in order to carry out an orienting action; and - (S5) Detecting the real post-action position of the pattern (2) in the input space of said sensor means (1); - (S6) Controlling the actuator means to perform a vergence movement of the stereo camera in order to focus both cameras on the same target, - (S7) Calculating a correction signal on the basis of the pre-action position which has actually been moved to the targeted post-action position when carrying out the action, and - (S8) adapting the mapping function taking into account the correction signal and the added executed actuator commands for the orienting and the vergence movement.

2. 发明授权

EP1739594B1 Peripersonal space and object recognition for humanoid robots 有权
标题翻译：空间的方法和对象检测在人形机器人
公开(公告)号：EP1739594B1
公开(公告)日：2009-10-28
申请号：EP05013851.0
申请日：2005-06-27
申请人： Honda Research Institute Europe GmbH
发明人： Goerick, Christian , Wersing, Heiko , Eggert, Julian , Dunn, Mark
IPC分类号： G06K9/68
CPC分类号： G06K9/629 , G06K9/00664 , G06K9/3233 , G06K9/4628

3. 发明公开

EP1739594A1 Peripersonal space and object recognition for humanoid robots 有权
标题翻译：人造革机器人RäumlicheAnnäherungund Objekterkennungfürhumanoiden Roboter
公开(公告)号：EP1739594A1
公开(公告)日：2007-01-03
申请号：EP05013851.0
申请日：2005-06-27
申请人： Honda Research Institute Europe GmbH
发明人： Goerick, Christian , Wersing, Heiko , Eggert, Julian , Dunn, Mark
IPC分类号： G06K9/68
CPC分类号： G06K9/629 , G06K9/00664 , G06K9/3233 , G06K9/4628
摘要： A method for generating a saliency map for a robot device having sensor means, the saliency map indicating to the robot device patterns in the input space of the sensor means which are important for carrying out a task;
wherein the saliency map comprises a weighted contribution from a disparity saliency selection carried out on the basis of depth information gathered from the sensor means,
such that a weighted priority is allocated to patterns being within a defined peripersonal space in the environment of the sensor means.
摘要翻译：一种用于生成具有传感器装置的机器人装置的显着图的方法，所述显着图向机器人装置指示传感器装置的输入空间中对于执行任务很重要的图案; 其中显着图包括基于从传感器装置收集的深度信息执行的视差显着性选择的加权贡献，使得加权优先级被分配给在传感器装置的环境中的限定的外围空间内的图案。

4. 发明公开

EP2026589A1 Online calibration of stereo camera systems including fine vergence movements 有权
标题翻译：在线 - Kalibrierung von Stereokamerasystemen mit Feinvergenzbewegungen
公开(公告)号：EP2026589A1
公开(公告)日：2009-02-18
申请号：EP07114176.6
申请日：2007-08-10
申请人： Honda Research Institute Europe GmbH
发明人： Rodemann, Tobias , Joublin, Frank , Dunn, Mark
IPC分类号： H04N13/00 , B25J9/16 , G05B19/401
CPC分类号： G05B19/401 , B25J9/163 , B25J9/1697 , G05B2219/39367 , G05B2219/40003 , G05B2219/40617 , H04N13/239 , H04N13/246 , H04N13/296
摘要： The invention relates to the control of a stereo camera system, the stereo camera system comprising a stereo camera (1) and actuator means (41, 42, 43) for controlling an orienting and a vergence action of the stereo camera (1),
the control method comprising the following steps:
- (S1) Evaluating pre-action output information of the stereo camera (1) in order to detect the position of a pattern in the input space of the stereo camera (1);
- (S2) Deciding on a targeted post-action position of said pattern (2) in the input space of the stereo camera (1);
- (S3) Defining a command for the actuator means (41, 42, 43) by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the stereo camera (1) to actuator control coordinates using a predefined mapping function;
- (S4) Orienting the stereo camera (1) by the actuator means (41, 42, 43) according to the defined command in order to carry out an orienting action; and
- (S5) Detecting the real post-action position of the pattern (2) in the input space of said sensor means (1);
- (S6) Controlling the actuator means to perform a vergence movement of the stereo camera in order to focus both cameras on the same target,
- (S7) Calculating a correction signal on the basis of the pre-action position which has actually been moved to the targeted post-action position when carrying out the action, and
- (S8) adapting the mapping function taking into account the correction signal and the added executed actuator commands for the orienting and the vergence movement.
摘要翻译：本发明涉及立体相机系统的控制，该立体相机系统包括立体相机（1）和用于控制立体照相机（1）的定向和聚光动作的致动器装置（41,42,43），其中，控制方法包括以下步骤： - （S1）评估立体照相机（1）的预动作输出信息，以便检测立体照相机（1）的输入空间中的图案的位置; - （S2）在立体照相机（1）的输入空间中确定所述图案（2）的目标后动作位置; - （S3）通过将立体照相机（1）的输入空间坐标中的预动作位置和目标后动作位置的任何偏差映射到致动器控制来定义致动器装置（41,42,43）的命令使用预定映射函数进行坐标; - （S4）根据所定义的命令，通过致动器装置（41,42,43）定向立体摄像机（1），以执行定向动作; 和 - （S5）检测所述传感器装置（1）的输入空间中的图案（2）的真实的后动作位置; - （S6）控制致动器装置执行立体摄像机的聚光运动，以便将两个摄像机对准在相同的目标上， - （S7）基于实际移动的动作前位置来计算校正信号在执行动作时到达目标后动作位置，以及 - （S8）考虑校正信号和附加的执行致动器命令来适应映射功能以进行定向和聚合运动。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式