公开(公告)号：KR101260367B1

公开(公告)日：2013-05-07

申请号：KR1020110096764

申请日：2011-09-26

Applicant: 한국과학기술연구원

Inventor： 김동환 ,  박성기 ,  라제쉬

IPC: G06T7/00

Abstract: 본발명은 (1) 대상물체의영상데이터수신및 3D 윤곽을획득하는단계와 (2) 상기영상데이터및 상기 3D 윤곽을이용하여상기대상물체의기본파지타입및 기능파지타입을탐색하는단계와 (3) 상기설정된각각의파지타입에대하여파지큐(Grasping Cue)를추출하고, 이를통해 1 이상의후보파지영역(Grasping Region)을생성하는단계와 (4) 상기각각의후보파지영역별로파지점후보쌍들을추출하는단계및 (5) 상기각각의파지타입별로상기후보파지영역중에서하나의파지영역을선택하고, 상기선택된파지영역내의후보쌍들중에서하나의파지점쌍을선택하는단계를포함하는범주인식에의한파지점생성방법및 그방법에대한프로그램을기록한컴퓨터로읽을수 있는기록매체에관한것으로서본 발명에따르면로봇스스로동일한범주에속하나형상이다른다양한물체를인식하여파지할수 있게되는효과가있다.

公开(公告)号：KR1020130032990A

公开(公告)日：2013-04-03

申请号：KR1020110096764

申请日：2011-09-26

Applicant: 한국과학기술연구원

Inventor： 김동환 ,  박성기 ,  라제쉬

IPC: G06T7/00

CPC classification number: G06T1/0014 ,  B25J19/023 ,  G06T7/13

Abstract: PURPOSE: A method for generating a nip point by range recognition and a computer-readable recording medium including a program for the method are provided to recognize and grip objects in various shapes in the same range by generating a nip point by recognizing the objects in the same range. CONSTITUTION: A CPU(Central Processing Unit) explores an object gripping direction after obtaining a 3D outline from image data(S10,S20). The CPU extracts a gripping cue for each set gripping cue and generates a candidate gripping area for each gripping cue(S30). The CPU selects one of candidate pairs in an optimal gripping area after the points of nip point candidate pairs are extracted(S40,S50). The CPU generates a nip point manifold(S60). [Reference numerals] (AA) Start; (BB) End; (S10) Step of obtaining a 3D outline from image data; (S20) Step of searching a basic or function grasping type; (S30) Step of generating a candidate grasping area; (S40) Step of extracting grasping point candidate pairs; (S50) Step of selecting a grasping point pair; (S60) Step of generating a grasping point manifold;

Abstract translation: 目的：提供一种用于通过范围识别产生夹点的方法和包括用于该方法的程序的计算机可读记录介质，以通过生成夹点来识别和夹持在相同范围内的各种形状的对象， 相同范围 构成：CPU（中央处理单元）从图像数据中获取3D轮廓后，探索对象夹持方向（S10，S20）。 CPU为每个夹持提示提取夹持线索，并为每个夹持线索产生候选夹持区域（S30）。 在提取夹点候选对的点之后，CPU在最佳夹持区域中选择候选对中的一个（S40，S50）。 CPU产生压点歧管（S60）。 （附图标记）（AA）开始; （BB）结束; （S10）从图像数据获取3D轮廓的步骤; （S20）搜索基本或功能抓取类型的步骤; （S30）生成候选抓取区域的步骤; （S40）提取抓取候选对的步骤; （S50）选择对位点对的步骤; （S60）产生把持歧管的步骤;