DE60213989D1 - Selbstkalibrierendes system zur bestimmung der position - Google Patents
Selbstkalibrierendes system zur bestimmung der positionInfo
- Publication number
- DE60213989D1 DE60213989D1 DE60213989T DE60213989T DE60213989D1 DE 60213989 D1 DE60213989 D1 DE 60213989D1 DE 60213989 T DE60213989 T DE 60213989T DE 60213989 T DE60213989 T DE 60213989T DE 60213989 D1 DE60213989 D1 DE 60213989D1
- Authority
- DE
- Germany
- Prior art keywords
- self
- determining
- calibrating system
- calibrating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
- G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US29865301P | 2001-06-15 | 2001-06-15 | |
US298653P | 2001-06-15 | ||
PCT/US2002/018709 WO2002103286A1 (en) | 2001-06-15 | 2002-06-14 | Self-calibrating position determination system |
Publications (2)
Publication Number | Publication Date |
---|---|
DE60213989D1 true DE60213989D1 (de) | 2006-09-28 |
DE60213989T2 DE60213989T2 (de) | 2006-12-14 |
Family
ID=23151446
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60213989T Expired - Lifetime DE60213989T2 (de) | 2001-06-15 | 2002-06-14 | Selbstkalibrierendes system zur bestimmung der position |
Country Status (6)
Country | Link |
---|---|
US (1) | US6839972B2 (de) |
EP (1) | EP1399710B1 (de) |
JP (1) | JP2004530889A (de) |
CN (2) | CN1227511C (de) |
DE (1) | DE60213989T2 (de) |
WO (1) | WO2002103286A1 (de) |
Families Citing this family (54)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3759429B2 (ja) * | 2001-05-23 | 2006-03-22 | 株式会社東芝 | 障害物検出装置及びその方法 |
US20030023395A1 (en) * | 2001-06-28 | 2003-01-30 | Snap-On Technologies | Self-calibrating position determination system and user interface |
US7062861B2 (en) * | 2001-06-28 | 2006-06-20 | Snap-On Incorporated | Self-calibrating position determination system and user interface |
US7302093B2 (en) * | 2002-03-26 | 2007-11-27 | Hunter Engineering Company | Color vision vehicle wheel alignment system |
US6823601B2 (en) * | 2002-09-17 | 2004-11-30 | Snap-On Incorporated | Apparatus for use with a 3D image wheel aligner for facilitating adjustment of an adaptive cruise control sensor on a motor vehicle |
USRE49105E1 (en) * | 2002-09-20 | 2022-06-14 | Vi Technologies, Llc | Self-calibrated, remote imaging and data processing system |
US20040172170A1 (en) * | 2002-12-02 | 2004-09-02 | Lesert Brooks R. | Portable wheel alignment device |
US6931736B2 (en) * | 2003-01-09 | 2005-08-23 | Magnum Marketing Ltd. | Method of and apparatus for the inspection of vehicle wheel alignment |
WO2004086494A1 (en) * | 2003-03-26 | 2004-10-07 | Assembleon N.V. | Method for calibrating a device, method for calibrating a number of devices lying side by side as well as an object suitable for implementing such a method |
WO2005008172A1 (de) * | 2003-07-18 | 2005-01-27 | Lasatron Ag | Verfahren und vorrichtung zur messung der lenkgeometrie von fahrzeugen |
US20050060899A1 (en) * | 2003-09-23 | 2005-03-24 | Snap-On Technologies, Inc. | Invisible target illuminators for 3D camera-based alignment systems |
US7164472B2 (en) * | 2003-10-09 | 2007-01-16 | Hunter Engineering Company | Common reference target machine vision wheel alignment system |
US7453559B2 (en) * | 2003-10-09 | 2008-11-18 | Hunter Engineering Company | Vehicle lift reference system for movable machine-vision alignment system sensors |
US7538864B2 (en) * | 2005-03-24 | 2009-05-26 | Hunter Engineering Company | Vehicle wheel alignment system scanned beam imaging sensor |
US7518714B2 (en) * | 2005-04-07 | 2009-04-14 | Hunter Engineering Company | Vehicle service system with variable-lens imaging sensors |
US8341848B2 (en) * | 2005-09-28 | 2013-01-01 | Hunter Engineering Company | Method and apparatus for vehicle service system optical target assembly |
US7373726B2 (en) * | 2005-10-28 | 2008-05-20 | Snap-On Technologies, Inc. | Retro-reflective target wafer for a position determination system |
DE102006042308A1 (de) * | 2006-09-08 | 2008-03-27 | Beissbarth Gmbh | Verfahren zum Auffinden eines Geometriedetails zur Bestimmung der räumlichen Lage einer Radfelge zu einem Messgerät sowie Verfahren und Vorrichtung zur Bestimmung der räumlichen Lage einer Radfelge zu einem Messgerät |
US7424387B1 (en) | 2007-04-18 | 2008-09-09 | Snap-On Incorporated | Method for use with an optical aligner system for positioning a fixture relative to a vehicle |
JP2009014481A (ja) * | 2007-07-04 | 2009-01-22 | Ihi Corp | 距離計測装置とそのキャリブレーション方法 |
US7640673B2 (en) * | 2007-08-01 | 2010-01-05 | Snap-On Incorporated | Calibration and operation of wheel alignment systems |
DE102008000837A1 (de) * | 2008-03-26 | 2009-10-01 | Robert Bosch Gmbh | Fahrwerksvermessungssystem sowie Verfahren zum Bestimmen der Lageparameter von Messköpfen eines Fahrwerksvermessungssystems |
DE102008000833A1 (de) | 2008-03-26 | 2009-10-01 | Robert Bosch Gmbh | Messkopf für ein Fahrwerksvermessungssystem, Fahrwerksvermessungssystem sowie Verfahren zum Bestimmen der Lageparameter von Messköpfen eines Fahrwerksvermessungssystems |
DE102009041734B4 (de) * | 2009-09-16 | 2023-11-02 | Kuka Roboter Gmbh | Vermessung eines Manipulators |
WO2011097515A1 (en) * | 2010-02-04 | 2011-08-11 | Snap-On Incorporated | Rotating animated visual user display interface |
CN102553834A (zh) * | 2010-12-16 | 2012-07-11 | 江阴格朗瑞科技有限公司 | 双相机组合对准式条带测试分选机 |
CN102645208B (zh) * | 2012-04-01 | 2014-05-14 | 燕山大学 | 基于动态路由机制的视觉测量定位及校正*** |
US9157724B2 (en) * | 2012-10-26 | 2015-10-13 | Vladimir Vladimirovich Nagornov | Method and system for determining vehicle wheel alignment based on the application of systems using gyroscopic sensors and/or MEMS angular rate sensors (MEMS gyroscopes) |
CN103852266B (zh) * | 2012-12-04 | 2016-12-21 | 李志伟 | 双三维八标靶四轮定位*** |
EA031929B1 (ru) * | 2012-12-14 | 2019-03-29 | Бипи Корпорейшн Норд Америка Инк. | Устройство и способ трехмерного измерения поверхности |
US10298814B2 (en) * | 2013-08-19 | 2019-05-21 | Snap-On Incorporated | Self-calibrating multi-camera alignment system |
EP3036516B8 (de) * | 2013-08-19 | 2018-06-06 | Snap-On Incorporated | Verbessertes motorsteuerungssystem für ein selbstkalibrierendes system zur ausrichtung mehrerer kameras |
DE102014204686A1 (de) * | 2014-03-13 | 2015-09-17 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Bildaufnahme in der Fahrzeugvermessung |
US9759922B2 (en) * | 2014-07-22 | 2017-09-12 | The Boeing Company | Nonconductive position verification systems for devices utilizing magnetic sensors |
CN104316335B (zh) * | 2014-11-19 | 2017-01-18 | 烟台开发区海德科技有限公司 | 3d汽车车轮定位仪多相机标定***及多相机标定方法 |
TWI577493B (zh) | 2014-12-26 | 2017-04-11 | 財團法人工業技術研究院 | 校正方法與應用此方法的自動化設備 |
EP3332212B1 (de) * | 2015-10-06 | 2020-02-19 | Snap-On Incorporated | Selbstkalibrierender radausrichter mit verbesserter tragbarkeit |
CN205483597U (zh) | 2016-02-06 | 2016-08-17 | 实耐宝公司 | 四轮定位仪 |
CN105583825B (zh) * | 2016-03-14 | 2017-06-30 | 中国计量大学 | 一种工业机器人轨迹检测装置 |
US10323936B2 (en) * | 2016-12-30 | 2019-06-18 | Bosch Automotive Service Solutions Inc. | Calibration system for sensors and cameras on vehicles |
DE102017203155A1 (de) | 2017-02-27 | 2018-08-30 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Kalibrieren von Fahrzeug-Assistenz-Systemen |
DE102017205732A1 (de) | 2017-04-04 | 2018-10-04 | Siemens Aktiengesellschaft | Kalibrierkörper mit einem Sensor |
CN110019628B (zh) * | 2017-12-27 | 2023-12-29 | 努比亚技术有限公司 | 定位方法、移动终端及计算机可读存储介质 |
US20190204059A1 (en) * | 2018-01-03 | 2019-07-04 | National Synchrotron Radiation Research Center | Position-sensing system |
US11243074B2 (en) | 2018-04-30 | 2022-02-08 | BPG Sales and Technology Investments, LLC | Vehicle alignment and sensor calibration system |
US11781860B2 (en) | 2018-04-30 | 2023-10-10 | BPG Sales and Technology Investments, LLC | Mobile vehicular alignment for sensor calibration |
EP3788341B1 (de) | 2018-04-30 | 2024-02-07 | BPG Sales and Technology Investments, LLC | Fahrzeugausrichtung zur kalibrierung eines sensors |
US11835646B2 (en) | 2018-04-30 | 2023-12-05 | BPG Sales and Technology Investments, LLC | Target alignment for vehicle sensor calibration |
US11597091B2 (en) | 2018-04-30 | 2023-03-07 | BPG Sales and Technology Investments, LLC | Robotic target alignment for vehicle sensor calibration |
DE102018111776B4 (de) * | 2018-05-16 | 2024-01-25 | Motherson Innovations Company Limited | Kalibriervorrichtung, Verfahren zur Ermittlung von Kalibrierdaten, Vorrichtung zur Ausführung des Verfahrens, Kraftfahrzeug umfassend eine solche Vorrichtung und Verwendung der Kalibriervorrichtung für das Verfahren sowie das Kraftfahrzeug |
CN109571467B (zh) * | 2018-11-23 | 2020-09-18 | 北京控制工程研究所 | 双轮差速机器人运动模型标定方法、装置及里程计*** |
CN210129117U (zh) * | 2019-02-01 | 2020-03-06 | 深圳市道通科技股份有限公司 | 一种标定***及其标定支架 |
CN111890038B (zh) * | 2020-07-16 | 2022-04-01 | 四川国软科技集团有限公司 | 一种用于前盖的自动装配方法 |
DE102021201923A1 (de) | 2021-03-01 | 2022-09-01 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren und System zum Kalibrieren mindestens eines in einem Fahrzeug angeordneten Fahrzeugsensors |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
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BE787649A (fr) * | 1971-09-20 | 1973-02-19 | Blount & George Inc | Systeme de poursuite ou de depistage a l'aide d'un instrument d'optiqu |
DE2948573A1 (de) | 1979-12-03 | 1981-06-04 | Siemens AG, 1000 Berlin und 8000 München | Verfahren und anordnung zur beruehrungslosen achsvermessung an kraftfahrzeugen |
US4396945A (en) | 1981-08-19 | 1983-08-02 | Solid Photography Inc. | Method of sensing the position and orientation of elements in space |
US4519705A (en) * | 1982-09-16 | 1985-05-28 | Spetra-Physics, Inc. | Sighting cap for rotating laser beam transmitter |
US4753569A (en) * | 1982-12-28 | 1988-06-28 | Diffracto, Ltd. | Robot calibration |
EP0149690A1 (de) | 1984-01-18 | 1985-07-31 | Alpha Technologies Ltd. | Verfahren zum Vermessen und Bestimmen von Raumpunkten |
US5274433A (en) * | 1989-07-07 | 1993-12-28 | Miradco | Laser-based wheel alignment system |
US5046032A (en) * | 1989-12-01 | 1991-09-03 | Bear Automotive Service Equipment Company | Calibration bar |
US5724743A (en) * | 1992-09-04 | 1998-03-10 | Snap-On Technologies, Inc. | Method and apparatus for determining the alignment of motor vehicle wheels |
US5535522A (en) | 1992-09-04 | 1996-07-16 | Jackson; Bernie F. | Method and apparatus for determining the alignment of motor vehicle wheels |
US5531030A (en) * | 1993-09-17 | 1996-07-02 | Fmc Corporation | Self-calibrating wheel alignment apparatus and method |
US5809658A (en) * | 1993-09-29 | 1998-09-22 | Snap-On Technologies, Inc. | Method and apparatus for calibrating cameras used in the alignment of motor vehicle wheels |
US5724128A (en) * | 1995-12-28 | 1998-03-03 | Hunter Engineering Company | Apparatus and method for determining vehicle wheel alignment measurements from three dimensional wheel positions and orientations |
US6298284B1 (en) | 1995-12-28 | 2001-10-02 | Hunter Engineering Company | Apparatus and method with improved field of view for determining vehicle wheel alignment measurements from three dimensional wheel positions and orientations |
US5675515A (en) | 1995-12-28 | 1997-10-07 | Hunter Engineering Company | Apparatus and method for determining vehicle wheel alignment measurements from three dimensional wheel positions and orientations |
DE69622530T2 (de) * | 1996-04-23 | 2003-03-06 | G.S. S.R.L., Correggio | Verfahren zur Bestimmung der Fahrzeugradausrichtung |
US6064750A (en) * | 1997-01-10 | 2000-05-16 | Hunter Engineering Company | Apparatus and method for determining vehicle wheel alignment measurements from three dimensional wheel positions and orientations |
FR2770317B1 (fr) | 1997-10-24 | 2000-12-08 | Commissariat Energie Atomique | Procede d'etalonnage de la position et de l'orientation d'origine d'une ou plusieurs cameras mobiles et son application a la mesure de position tridimentionnelle d'objets fixes |
US6101455A (en) * | 1998-05-14 | 2000-08-08 | Davis; Michael S. | Automatic calibration of cameras and structured light sources |
US6151787A (en) * | 1998-08-14 | 2000-11-28 | Empire Level Mfg. Corp. | Levelling apparatus for a builder's laser level |
SE515134C2 (sv) | 1998-09-11 | 2001-06-11 | Qualisys Ab | System och metod för kamerapositionering i en virtuell studio |
FR2786268B1 (fr) | 1998-11-20 | 2001-04-13 | Cie Europ D Equipements De Gar | Installation et procede optiques de determination des positions relatives d'au moins deux objets dans l'espace |
US6498959B1 (en) * | 2000-01-19 | 2002-12-24 | Hunter Engineering Company | Apparatus and method for controlling a mechanism for positioning video cameras for use in measuring vehicle wheel alignment |
DE10043354A1 (de) | 2000-09-02 | 2002-03-14 | Beissbarth Gmbh | Fahrwerkvermessungseinrichtung |
-
2002
- 2002-06-14 US US10/170,401 patent/US6839972B2/en not_active Expired - Lifetime
- 2002-06-14 CN CNB02811955XA patent/CN1227511C/zh not_active Expired - Lifetime
- 2002-06-14 JP JP2003505559A patent/JP2004530889A/ja active Pending
- 2002-06-14 EP EP02739858A patent/EP1399710B1/de not_active Expired - Lifetime
- 2002-06-14 WO PCT/US2002/018709 patent/WO2002103286A1/en active IP Right Grant
- 2002-06-14 DE DE60213989T patent/DE60213989T2/de not_active Expired - Lifetime
- 2002-06-14 CN CNB2005101127180A patent/CN100360897C/zh not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
US20020189115A1 (en) | 2002-12-19 |
CN1227511C (zh) | 2005-11-16 |
WO2002103286A1 (en) | 2002-12-27 |
EP1399710B1 (de) | 2006-08-16 |
JP2004530889A (ja) | 2004-10-07 |
CN100360897C (zh) | 2008-01-09 |
CN1776356A (zh) | 2006-05-24 |
DE60213989T2 (de) | 2006-12-14 |
EP1399710A1 (de) | 2004-03-24 |
US6839972B2 (en) | 2005-01-11 |
CN1516806A (zh) | 2004-07-28 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |