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 PDFInfo
- 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
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
-
- 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.
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)
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)
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)
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 |
-
2010
- 2010-06-23 JP JP2010142512A patent/JP5634764B2/en active Active
-
2011
- 2011-06-21 WO PCT/US2011/041222 patent/WO2011163209A2/en active Application Filing
Patent Citations (3)
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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