WO2011163209A3 - Mobile object control system and program, and mobile object control method - Google Patents

Mobile object control system and program, and mobile object control method Download PDF

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Publication number
WO2011163209A3
WO2011163209A3 PCT/US2011/041222 US2011041222W WO2011163209A3 WO 2011163209 A3 WO2011163209 A3 WO 2011163209A3 US 2011041222 W US2011041222 W US 2011041222W WO 2011163209 A3 WO2011163209 A3 WO 2011163209A3
Authority
WO
WIPO (PCT)
Prior art keywords
center position
coordinate system
mobile object
rotational center
image capture
Prior art date
Application number
PCT/US2011/041222
Other languages
French (fr)
Other versions
WO2011163209A2 (en
Inventor
Masaaki Ikeda
Original Assignee
Cognex Corporation
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Cognex Corporation filed Critical Cognex Corporation
Publication of WO2011163209A2 publication Critical patent/WO2011163209A2/en
Publication of WO2011163209A3 publication Critical patent/WO2011163209A3/en

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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Processing (AREA)

Abstract

The problem for the present invention is, in a mobile object control system that controls a mobile object on the basis of images captured by a plurality of image capturing units, to enhance the accuracy of the correspondence relationships between the respective image capture coordinate systems that are determined for the respective image capturing units. And, according to the present invention, a first rotational center position specification unit specifies a first rotational center position in a first image capture coordinate system corresponding to a first point on the basis of respective first reference guide marks included in respective first images. Moreover, a second rotational center position specification unit specifies a second rotational center position in a second image capture coordinate system corresponding to the first point on the basis of respective second reference guide marks included in respective second images. And, on the basis of the first rotational center position and the second rotational center position, a coordinate system correspondence relationship storage unit stores a coordinate system correspondence relationship that specifies the correspondence relationship between the first image capture coordinate system and second image capture coordinate system.
PCT/US2011/041222 2010-06-23 2011-06-21 Mobile object control system and program, and mobile object control method WO2011163209A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010-142512 2010-06-23
JP2010142512A JP5634764B2 (en) 2010-06-23 2010-06-23 MOBILE BODY CONTROL SYSTEM, PROGRAM, AND MOBILE BODY CONTROL METHOD

Publications (2)

Publication Number Publication Date
WO2011163209A2 WO2011163209A2 (en) 2011-12-29
WO2011163209A3 true WO2011163209A3 (en) 2012-04-12

Family

ID=44629860

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/041222 WO2011163209A2 (en) 2010-06-23 2011-06-21 Mobile object control system and program, and mobile object control method

Country Status (2)

Country Link
JP (1) JP5634764B2 (en)
WO (1) WO2011163209A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10678251B2 (en) * 2014-12-16 2020-06-09 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
JP6822478B2 (en) * 2016-08-31 2021-01-27 株式会社ニコン Image measurement method, image measurement program and image measurement device, and manufacturing method of articles
US11072074B2 (en) 2017-12-13 2021-07-27 Cognex Corporation Calibration and operation of vision-based manipulation systems

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06160022A (en) * 1992-11-17 1994-06-07 Shinko Electric Ind Co Ltd Image position correcting device
JP2006049755A (en) * 2004-08-09 2006-02-16 Omron Corp Rotation center calculation method and work positioning device using the same
WO2011071813A1 (en) * 2009-12-07 2011-06-16 Cognex Corporation Object control system, object control method and program, and rotational center position specification device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0548295A (en) 1991-08-19 1993-02-26 Toshiba Corp Method and apparatus for mounting electronic component
JP3531674B2 (en) * 2001-08-07 2004-05-31 株式会社ファースト Calibration method, positioning method, positioning device, calibration program, and positioning program
JP5141075B2 (en) * 2007-04-02 2013-02-13 株式会社安川電機 Image processing device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06160022A (en) * 1992-11-17 1994-06-07 Shinko Electric Ind Co Ltd Image position correcting device
JP2006049755A (en) * 2004-08-09 2006-02-16 Omron Corp Rotation center calculation method and work positioning device using the same
WO2011071813A1 (en) * 2009-12-07 2011-06-16 Cognex Corporation Object control system, object control method and program, and rotational center position specification device

Also Published As

Publication number Publication date
JP5634764B2 (en) 2014-12-03
WO2011163209A2 (en) 2011-12-29
JP2012007934A (en) 2012-01-12

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