Methods and systems for registering a three-dimensional pose of an object
In an example, a system for registering a three-dimensional (3D) pose of a workpiece relative to a robotic device is disclosed. The system comprises the robotic device, where the robotic device comprises one or more mounted lasers. The system also comprises one or more sensors configured to detect l...
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| creator | Desbiez, Alexandre Haeusler, Phillip |
| description | In an example, a system for registering a three-dimensional (3D) pose of a workpiece relative to a robotic device is disclosed. The system comprises the robotic device, where the robotic device comprises one or more mounted lasers. The system also comprises one or more sensors configured to detect laser returns from laser rays projected from the one or more mounted lasers and reflected by the workpiece. The system also comprises a processor configured to receive a tessellation of the workpiece, wherein the tessellation comprises a 3D representation of the workpiece made up of cells, convert the laser returns into a 3D point cloud in a robot frame, based on the 3D point cloud, filter visible cells of the tessellation of the workpiece to form a tessellation included set, and solve for the 3D pose of the workpiece relative to the robotic device based on the tessellation included set. |
| format | Patent |
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The system comprises the robotic device, where the robotic device comprises one or more mounted lasers. The system also comprises one or more sensors configured to detect laser returns from laser rays projected from the one or more mounted lasers and reflected by the workpiece. The system also comprises a processor configured to receive a tessellation of the workpiece, wherein the tessellation comprises a 3D representation of the workpiece made up of cells, convert the laser returns into a 3D point cloud in a robot frame, based on the 3D point cloud, filter visible cells of the tessellation of the workpiece to form a tessellation included set, and solve for the 3D pose of the workpiece relative to the robotic device based on the tessellation included set.</description><language>eng</language><subject>CALCULATING ; COMPUTING ; CONTROL OR REGULATING SYSTEMS IN GENERAL ; CONTROLLING ; COUNTING ; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS ; HANDLING RECORD CARRIERS ; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS ; PHYSICS ; PRESENTATION OF DATA ; RECOGNITION OF DATA ; RECORD CARRIERS ; REGULATING</subject><creationdate>2021</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&date=20210706&DB=EPODOC&CC=US&NR=11055562B1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25563,76318</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20210706&DB=EPODOC&CC=US&NR=11055562B1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Desbiez, Alexandre</creatorcontrib><creatorcontrib>Haeusler, Phillip</creatorcontrib><title>Methods and systems for registering a three-dimensional pose of an object</title><description>In an example, a system for registering a three-dimensional (3D) pose of a workpiece relative to a robotic device is disclosed. 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| subjects | CALCULATING COMPUTING CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING COUNTING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HANDLING RECORD CARRIERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS REGULATING |
| title | Methods and systems for registering a three-dimensional pose of an object |
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