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EP4153940A4 - Systèmes et procédés de détermination de poses - Google Patents

Systèmes et procédés de détermination de poses Download PDF

Info

Publication number
EP4153940A4
EP4153940A4 EP20944546.9A EP20944546A EP4153940A4 EP 4153940 A4 EP4153940 A4 EP 4153940A4 EP 20944546 A EP20944546 A EP 20944546A EP 4153940 A4 EP4153940 A4 EP 4153940A4
Authority
EP
European Patent Office
Prior art keywords
systems
methods
pose determination
pose
determination
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.)
Pending
Application number
EP20944546.9A
Other languages
German (de)
English (en)
Other versions
EP4153940A1 (fr
Inventor
Lizhi Hu
Hui Lin
Jianhua KE
Wei Lu
Jun Yin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Dahua Technology Co Ltd
Original Assignee
Zhejiang Dahua Technology Co Ltd
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
Priority claimed from CN202010655087.1A external-priority patent/CN111536964B/zh
Priority claimed from CN202010963179.6A external-priority patent/CN112179330B/zh
Application filed by Zhejiang Dahua Technology Co Ltd filed Critical Zhejiang Dahua Technology Co Ltd
Publication of EP4153940A1 publication Critical patent/EP4153940A1/fr
Publication of EP4153940A4 publication Critical patent/EP4153940A4/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/761—Proximity, similarity or dissimilarity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/10—Character recognition
    • G06V30/19—Recognition using electronic means
    • G06V30/19007—Matching; Proximity measures
    • G06V30/19013—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
    • G06V30/1902—Shifting or otherwise transforming the patterns to accommodate for positional errors
    • G06V30/19067—Matching configurations of points or features, e.g. constellation matching
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Databases & Information Systems (AREA)
  • Artificial Intelligence (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP20944546.9A 2020-07-09 2020-12-30 Systèmes et procédés de détermination de poses Pending EP4153940A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202010655087.1A CN111536964B (zh) 2020-07-09 2020-07-09 机器人定位方法及装置、存储介质
CN202010963179.6A CN112179330B (zh) 2020-09-14 2020-09-14 移动设备的位姿确定方法及装置
PCT/CN2020/141652 WO2022007367A1 (fr) 2020-07-09 2020-12-30 Systèmes et procédés de détermination de poses

Publications (2)

Publication Number Publication Date
EP4153940A1 EP4153940A1 (fr) 2023-03-29
EP4153940A4 true EP4153940A4 (fr) 2024-01-17

Family

ID=79552251

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20944546.9A Pending EP4153940A4 (fr) 2020-07-09 2020-12-30 Systèmes et procédés de détermination de poses

Country Status (3)

Country Link
EP (1) EP4153940A4 (fr)
KR (1) KR20230029981A (fr)
WO (1) WO2022007367A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114523477B (zh) * 2022-03-30 2023-06-27 伯朗特机器人股份有限公司 关节位姿的校准方法、系统及存储介质
CN115317899B (zh) * 2022-06-21 2025-10-21 网易（杭州）网络有限公司 场景编辑方法、装置、电子设备及存储介质
CN116585691B (zh) * 2023-05-10 2025-11-07 天翼数字生活科技有限公司 一种健身校正打分方法、装置、设备及存储介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109141437A (zh) * 2018-09-30 2019-01-04 中国科学院合肥物质科学研究院 一种机器人全局重定位方法
WO2019219077A1 (fr) * 2018-05-18 2019-11-21 京东方科技集团股份有限公司 Procédé de positionnement, appareil de positionnement, système de positionnement, support de stockage et procédé de construction de base de données cartographiques hors ligne
CN111060135A (zh) * 2019-12-10 2020-04-24 亿嘉和科技股份有限公司 一种基于局部地图的地图修正方法及系统

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180374237A1 (en) * 2017-06-23 2018-12-27 Canon Kabushiki Kaisha Method, system and apparatus for determining a pose for an object
CN108458715B (zh) * 2018-01-18 2020-05-15 亿嘉和科技股份有限公司 一种基于激光地图的机器人定位初始化方法
CN110736456B (zh) * 2019-08-26 2023-05-05 广东亿嘉和科技有限公司 稀疏环境下基于特征提取的二维激光实时定位方法
CN111536964B (zh) * 2020-07-09 2020-11-06 浙江大华技术股份有限公司 机器人定位方法及装置、存储介质

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019219077A1 (fr) * 2018-05-18 2019-11-21 京东方科技集团股份有限公司 Procédé de positionnement, appareil de positionnement, système de positionnement, support de stockage et procédé de construction de base de données cartographiques hors ligne
US20200226782A1 (en) * 2018-05-18 2020-07-16 Boe Technology Group Co., Ltd. Positioning method, positioning apparatus, positioning system, storage medium, and method for constructing offline map database
CN109141437A (zh) * 2018-09-30 2019-01-04 中国科学院合肥物质科学研究院 一种机器人全局重定位方法
CN111060135A (zh) * 2019-12-10 2020-04-24 亿嘉和科技股份有限公司 一种基于局部地图的地图修正方法及系统

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
"CN109141437A -ROBOT GLOBAL REPOSITIONING METHOD", 30 November 2023, article YANG JIZHOU: "CN109141437A -ROBOT GLOBAL REPOSITIONING METHOD", pages: 1 - 5, XP093107839 *
"CN111060135A -MAP CORRECTION METHOD AND SYSTEM BASED ON LOCAL MAP", 30 November 2023, article HUAN LIN: "CN111060135A -MAP CORRECTION METHOD AND SYSTEM BASED ON LOCAL MAP", pages: 1 - 8, XP093107836 *
CHAN SHAO-HUNG ET AL: "Robust 2D Indoor Localization Through Laser SLAM and Visual SLAM Fusion", 2018 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), IEEE, 7 October 2018 (2018-10-07), pages 1263 - 1268, XP033502825, DOI: 10.1109/SMC.2018.00221 *
See also references of WO2022007367A1 *

Also Published As

Publication number Publication date
KR20230029981A (ko) 2023-03-03
EP4153940A1 (fr) 2023-03-29
WO2022007367A1 (fr) 2022-01-13

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