US4893183A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robotic vision system
Assignee: Carnegie Mellon University
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Filing: 1988-08-11
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Granted: 1990-01-09
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Expires: 2008-08-11
Abstract
Abstract The present invention pertains to a robotic vision system for identifying the location of objects. The robotic vision system includes a device for recording images, and n elements, where n≧2 and is an integer. Each of the n elements is disposed at a predetermined position such that each of the n elements is in view of the recording device and reflections of objects from each of the n elements is received by the recording device. The robotic vision system also includes a device for determining the location of objects from the image received by the recording device. The recording device is connected to the determining device to provide the viewed image thereto.
Inventors
- 👤 Shree K. Nayar
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-07 20:19
CPC Classifications
G; G06; G06T; G06T7/00; G06T7/70; G06T7/73; G06T7/74
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
94 words
A robotic vision system for identifying the location of objects comprising: means for recording images; n elements where n≧2, and is an integer, each of said n elements disposed at a predetermined position such that each of the n elements is in view of the recording means and reflections of objects from each of the n elements is directly received by the recording means; and means for determining the locations of objects from the image received by the recording means, said recording means connected to the determining means to provide the viewed image thereto.
Claim 2
Dependent Claim
94 words
A robotic vision system for identifying the location of objects comprising: means for recording images; n elements where n≧2, and is an integer, each of said n elements disposed at a predetermined position such that each of the n elements is in view of the recording means and reflections of objects from each of the n elements is directly received by the recording means; and means for determining the locations of objects from the image received by the recording means, said recording means connected to the determining means to provide the viewed image thereto.
Claim 3
Dependent Claim
14 words
A system as described in claim 1 wherein the recording means is a camera.
Claim 4
Dependent Claim
90 words
A robotic vision system for identifying the location of objects comprising: a camera; n spheres where n≧2, and is an integer, each of said n spheres disposed at a predetermined position such that each of the n spheres is in view of the camera and reflections of objects from each of the n spheres is received by the recording means; and means for determining the locations of objects from the image received by the recording means, said recording means connected to the determining means to provide the viewed image thereto.
Claim 5
Dependent Claim
90 words
A robotic vision system for identifying the location of objects comprising: a camera; n spheres where n≧2, and is an integer, each of said n spheres disposed at a predetermined position such that each of the n spheres is in view of the camera and reflections of objects from each of the n spheres is received by the recording means; and means for determining the locations of objects from the image received by the recording means, said recording means connected to the determining means to provide the viewed image thereto.
Claim 6
Dependent Claim
23 words
A system as described in claim 3 wherein the determining means is a computer electrically connected to the camera to receive images therefrom.
Claim 7
Dependent Claim
64 words
A system as described in claim 4 wherein the computer calculates with respect to a given reflection in one of the n spheres the epipolar curve for the reflections in each of the other spheres in order to determine the corresponding reflections from each sphere, and from the corresponding reflections from each sphere determines the location of the object associated with the corresponding reflections.
Claim 8
Dependent Claim
13 words
A system as described in claim 5 including means for illuminating the objects.
Claim 9
Dependent Claim
27 words
A system as described in claim 6 wherein each sphere is fixed in a predetermined position and has a glossy surface that is highly reflective of light.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1993-01-08 | 1993-07-10 | 1994-01-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-01-08 | 1997-07-10 | 1998-01-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-01-08 | 2001-07-10 | 2002-01-09 | $7700.00 | Window Closed / Lapsed |