Target pose recognition and positioning method

Target pose recognition and positioning method

The invention discloses a target pose recognition and positioning method, which comprises the following steps of: preparing a checkerboard type calibration plate, shooting calibration plate images in various pose states by using a multi-view camera, accurately recording pixel coordinates of checkerb...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: ZHAO RANRAN, HU MINGLIANG, GUAN SHIYAN, CHEN YUHUA, WANG YIWEN, LIU QIAO, FENG CHONGQING
Format: Patent
Sprache:chi ; eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page
container_issue
container_start_page
container_title
container_volume
creator ZHAO RANRAN
HU MINGLIANG
GUAN SHIYAN
CHEN YUHUA
WANG YIWEN
LIU QIAO
FENG CHONGQING
description The invention discloses a target pose recognition and positioning method, which comprises the following steps of: preparing a checkerboard type calibration plate, shooting calibration plate images in various pose states by using a multi-view camera, accurately recording pixel coordinates of checkerboard angular points in each image, grabbing the calibration plate by using a robot, and carrying out target pose recognition and positioning on the calibration plate. Recording the actual position and posture of an end effector of the robot under each posture, carrying out joint calibration on the camera and the robot, taking parameters of the camera and the robot as optimization variables, determining an optimized objective function, preparing data for optimization, and taking the data as the input of an optimization problem for joint optimization; according to the method, the reprojection error and the robot calibration error can be minimized by jointly optimizing the parameters of the camera and the robot, so th
format Patent
fullrecord <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_CN117934634A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>CN117934634A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_CN117934634A3</originalsourceid><addsrcrecordid>eNrjZNALSSxKTy1RKMgvTlUoSk3OT8_LLMnMz1NIzEsBCYI5mXnpCrmpJRn5KTwMrGmJOcWpvFCam0HRzTXE2UM3tSA_PrW4IDE5NS-1JN7Zz9DQ3NLYxMzYxNGYGDUAG-Iq5w</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>Target pose recognition and positioning method</title><source>esp@cenet</source><creator>ZHAO RANRAN ; HU MINGLIANG ; GUAN SHIYAN ; CHEN YUHUA ; WANG YIWEN ; LIU QIAO ; FENG CHONGQING</creator><creatorcontrib>ZHAO RANRAN ; HU MINGLIANG ; GUAN SHIYAN ; CHEN YUHUA ; WANG YIWEN ; LIU QIAO ; FENG CHONGQING</creatorcontrib><description>The invention discloses a target pose recognition and positioning method, which comprises the following steps of: preparing a checkerboard type calibration plate, shooting calibration plate images in various pose states by using a multi-view camera, accurately recording pixel coordinates of checkerboard angular points in each image, grabbing the calibration plate by using a robot, and carrying out target pose recognition and positioning on the calibration plate. Recording the actual position and posture of an end effector of the robot under each posture, carrying out joint calibration on the camera and the robot, taking parameters of the camera and the robot as optimization variables, determining an optimized objective function, preparing data for optimization, and taking the data as the input of an optimization problem for joint optimization; according to the method, the reprojection error and the robot calibration error can be minimized by jointly optimizing the parameters of the camera and the robot, so th</description><language>chi ; eng</language><subject>CALCULATING ; COMPUTING ; COUNTING ; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ; PHYSICS</subject><creationdate>2024</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20240426&amp;DB=EPODOC&amp;CC=CN&amp;NR=117934634A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,777,882,25545,76296</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20240426&amp;DB=EPODOC&amp;CC=CN&amp;NR=117934634A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>ZHAO RANRAN</creatorcontrib><creatorcontrib>HU MINGLIANG</creatorcontrib><creatorcontrib>GUAN SHIYAN</creatorcontrib><creatorcontrib>CHEN YUHUA</creatorcontrib><creatorcontrib>WANG YIWEN</creatorcontrib><creatorcontrib>LIU QIAO</creatorcontrib><creatorcontrib>FENG CHONGQING</creatorcontrib><title>Target pose recognition and positioning method</title><description>The invention discloses a target pose recognition and positioning method, which comprises the following steps of: preparing a checkerboard type calibration plate, shooting calibration plate images in various pose states by using a multi-view camera, accurately recording pixel coordinates of checkerboard angular points in each image, grabbing the calibration plate by using a robot, and carrying out target pose recognition and positioning on the calibration plate. Recording the actual position and posture of an end effector of the robot under each posture, carrying out joint calibration on the camera and the robot, taking parameters of the camera and the robot as optimization variables, determining an optimized objective function, preparing data for optimization, and taking the data as the input of an optimization problem for joint optimization; according to the method, the reprojection error and the robot calibration error can be minimized by jointly optimizing the parameters of the camera and the robot, so th</description><subject>CALCULATING</subject><subject>COMPUTING</subject><subject>COUNTING</subject><subject>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</subject><subject>PHYSICS</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2024</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZNALSSxKTy1RKMgvTlUoSk3OT8_LLMnMz1NIzEsBCYI5mXnpCrmpJRn5KTwMrGmJOcWpvFCam0HRzTXE2UM3tSA_PrW4IDE5NS-1JN7Zz9DQ3NLYxMzYxNGYGDUAG-Iq5w</recordid><startdate>20240426</startdate><enddate>20240426</enddate><creator>ZHAO RANRAN</creator><creator>HU MINGLIANG</creator><creator>GUAN SHIYAN</creator><creator>CHEN YUHUA</creator><creator>WANG YIWEN</creator><creator>LIU QIAO</creator><creator>FENG CHONGQING</creator><scope>EVB</scope></search><sort><creationdate>20240426</creationdate><title>Target pose recognition and positioning method</title><author>ZHAO RANRAN ; HU MINGLIANG ; GUAN SHIYAN ; CHEN YUHUA ; WANG YIWEN ; LIU QIAO ; FENG CHONGQING</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN117934634A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2024</creationdate><topic>CALCULATING</topic><topic>COMPUTING</topic><topic>COUNTING</topic><topic>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</topic><topic>PHYSICS</topic><toplevel>online_resources</toplevel><creatorcontrib>ZHAO RANRAN</creatorcontrib><creatorcontrib>HU MINGLIANG</creatorcontrib><creatorcontrib>GUAN SHIYAN</creatorcontrib><creatorcontrib>CHEN YUHUA</creatorcontrib><creatorcontrib>WANG YIWEN</creatorcontrib><creatorcontrib>LIU QIAO</creatorcontrib><creatorcontrib>FENG CHONGQING</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>ZHAO RANRAN</au><au>HU MINGLIANG</au><au>GUAN SHIYAN</au><au>CHEN YUHUA</au><au>WANG YIWEN</au><au>LIU QIAO</au><au>FENG CHONGQING</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Target pose recognition and positioning method</title><date>2024-04-26</date><risdate>2024</risdate><abstract>The invention discloses a target pose recognition and positioning method, which comprises the following steps of: preparing a checkerboard type calibration plate, shooting calibration plate images in various pose states by using a multi-view camera, accurately recording pixel coordinates of checkerboard angular points in each image, grabbing the calibration plate by using a robot, and carrying out target pose recognition and positioning on the calibration plate. Recording the actual position and posture of an end effector of the robot under each posture, carrying out joint calibration on the camera and the robot, taking parameters of the camera and the robot as optimization variables, determining an optimized objective function, preparing data for optimization, and taking the data as the input of an optimization problem for joint optimization; according to the method, the reprojection error and the robot calibration error can be minimized by jointly optimizing the parameters of the camera and the robot, so th</abstract><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier
ispartof
issn
language chi ; eng
recordid cdi_epo_espacenet_CN117934634A
source esp@cenet
subjects CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
title Target pose recognition and positioning method
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-19T15%3A14%3A36IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=ZHAO%20RANRAN&rft.date=2024-04-26&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3ECN117934634A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true