Patent EP0218259A2 successfully refreshed from Google Patents.
EP0218259A2
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EP
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Method and apparatus for calculating position and orientation by combination of features of partial shapes
Assignee: Hitachi Ltd
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Filing: 1986-10-10
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Granted: —
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Expires: 2006-10-10
Abstract
Abstract There are disclosed a method and an apparatus for properly recognizing the position and orientation of a whole object article from its partial shape. The method comprises the steps of first extracting an image of a partial shape from a two-dimensional picture image representing at least one portion of the object article (2) whose position and orientation are to be recognized, then calculating at least one of a center of gravity, an intersection of straight lines and a linear equation with respect to each of the extracted feature shapes, thereby obtaining at least one feature parameter, and calculating the position and orientation of the whole object article by arbitrarily combining such feature parameters.
Inventors
- 👤 Yoshie Nishida
- 👤 Seiji Hata
- 👤 Masao Tsuji
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-09 15:17
CPC Classifications
G; G06; G06T; G06T7/00; G06T7/70; G06T7/73; G06V; G06V10/00; G06V10/40
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
95 words
A position and orientation calculating method comprising the steps of: inputting a two-dimensional picture image of at least one portion of an object article whose position and orientation are to be calculated; extracting the image of the partial shape from the input picture image; calculating at least one of a center of gravity, an intersection of straight lines and a linear equation with respect to each of the extracted partial shapes, thereby obtaining at least one feature parameters; and calculating the position and orientation of the whole object article by arbitrarily combining said feature parameters.
Claim 2
Dependent Claim
95 words
A position and orientation calculating method comprising the steps of: inputting a two-dimensional picture image of at least one portion of an object article whose position and orientation are to be calculated; extracting the image of the partial shape from the input picture image; calculating at least one of a center of gravity, an intersection of straight lines and a linear equation with respect to each of the extracted partial shapes, thereby obtaining at least one feature parameters; and calculating the position and orientation of the whole object article by arbitrarily combining said feature parameters.
Claim 3
Independent Claim
85 words
The method as defined in claim l, wherein said extracted partial shapes are classified into a pattern representing the entire feature shape and a pattern representing the partial feature shape, and after polygonal approximation of each partial shapes by segmentation, the center of gravity is calculated as a feature parameter with respect to the pattern adapted for extraction of the entire partial shape, while the linear equation is calculated as a feature parameter with respect to the pattern adapted for extraction of the partial shape.
Claim 4
Independent Claim
45 words
The method as defined in claim l, wherein, when two centers of gravity are mutually combined as feature parameters, the position of said object article is calculated from one of said centers of gravity, and the orientation is calculated from said two centers of gravity.
Claim 5
Independent Claim
66 words
The method as defined in claim l, wherein, when one center of gravity and one linear equation are mutually combined as feature parameters, the position of said object article is calculated from said center of gravity, and the orientation is calculated from a combination of said center of gravity and the intersection of said straight line and a perpendicular extending thereto from said center of gravity.
Claim 6
Independent Claim
47 words
The method as defined in claim l, wherein, when two linear equations are mutually combined as feature parameters, the position of said object article is calculated from the intersection of two straight lines, and the orientation is calculated from the inclination of one of said straight lines.
Claim 7
Independent Claim
88 words
The method as defined in claim l, wherein said extracted feature shapes are classified into a pattern in which merely a center of gravity is obtainable from the entire partial shape, a pattern in which a center of gravity and a secondary moment are obtainable from the entire partial shape, a pattern in which a linear equation is obtainable, and another pattern in which two non-parallel straight lines or an intersection thereof is obtainable; and a feature parameter is calculated with respect to each of said four patterns.
Claim 8
Dependent Claim
27 words
The method as defined in claim 6, wherein the position and orientation of said object article are calculated according to an arbitrary combination of said four patterns.
Claim 9
Dependent Claim
135 words
A position and orientation calculating apparatus comprising: a TV camera (3) for inputting a picture image corresponding to at least one portion of an object article whose position and orientation are to be calculated; an image processor (4) for extracting the image of the partial shape from the input picture image, then calculating at least one of a center of gravity (G₁, G₂..), an intersection (J₂) of straight lines and a linear equation (J₁) with respect to each of the extracted partial shapes, thereby obtaining at least one feature parameter, and calculating the position and orientation of said object article (2) by arbitrarily combining said feature parameters; and a means (5) for controlling said object article (2) by correcting the reference position and orientation data on the basis of the calculated position and orientation information.
Claim 10
Dependent Claim
135 words
A position and orientation calculating apparatus comprising: a TV camera (3) for inputting a picture image corresponding to at least one portion of an object article whose position and orientation are to be calculated; an image processor (4) for extracting the image of the partial shape from the input picture image, then calculating at least one of a center of gravity (G₁, G₂..), an intersection (J₂) of straight lines and a linear equation (J₁) with respect to each of the extracted partial shapes, thereby obtaining at least one feature parameter, and calculating the position and orientation of said object article (2) by arbitrarily combining said feature parameters; and a means (5) for controlling said object article (2) by correcting the reference position and orientation data on the basis of the calculated position and orientation information.
Claim 11
Dependent Claim
65 words
The apparatus as defined in claim 9, wherein said image processor (4) comprises an image input means (23) receiving the picture image from said TV camera, an image preprocessing means (24) for dividing the input image into regions, a memory means (20) for storing a processing program and dictionary data, and a processing means (22) for executing sequential steps in accordance with said processing program.
References Cited (Backward Citations)
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