ESTIMATING THREE-DIMENSIONAL POSITION AND ORIENTATION OF ARTICULATED MACHINE USING ONE OR MORE IMAGE-CAPTURING DEVICES AND ONE OR MORE MARKERS

A method and system of estimating the three-dimensional (3D) position and orientation (pose) of an articulated machine, such as an excavator, involves the use of one or more marker(s) and one or more image-capturing device(s). Images of the marker(s) are captured via the image-capturing device(s), a...

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Bibliographische Detailangaben
Hauptverfasser:	AKULA MANU, FENG CHEN, DONG SUYANG, FREDERICKS NICHOLAS D, XIAO YONG, KAMAT VINEET R, LUNDEEN KURT M
Format:	Patent
Sprache:	eng
Schlagworte:	ELECTRIC COMMUNICATION TECHNIQUE ELECTRICITY MEASURING MEASURING ANGLES MEASURING AREAS MEASURING IRREGULARITIES OF SURFACES OR CONTOURS MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS PERFORMING OPERATIONS PHYSICS PICTORIAL COMMUNICATION, e.g. TELEVISION TESTING TRANSPORTING VEHICLES IN GENERAL VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR
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Beschreibung
Zusammenfassung:	A method and system of estimating the three-dimensional (3D) position and orientation (pose) of an articulated machine, such as an excavator, involves the use of one or more marker(s) and one or more image-capturing device(s). Images of the marker(s) are captured via the image-capturing device(s), and the captured images are used to determine pose. Furthermore, the pose of non-articulated components of the articulated machine, of articulated components of the articulated machine, and of end effectors of the articulated machine can all be estimated with the method and system.