公开(公告)号：US20170140539A1

公开(公告)日：2017-05-18

申请号：US14941832

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato

IPC: G06T7/00 ,  B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/1697 ,  G05B2219/34165 ,  G05B2219/37563 ,  G05B2219/40425 ,  G06T7/73 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20061

Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.

公开(公告)号：US10046459B2

公开(公告)日：2018-08-14

申请号：US14941832

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato

IPC: G06K9/00 ,  B25J9/16 ,  G06T7/73

Abstract: Three-dimensional visual servoing for positioning a robot in an environment is facilitated. Three-dimensional point cloud data of a scene of the environment is obtained, the scene including a feature. The three-dimensional point cloud data is converted into a two-dimensional image, and a three-dimensional position of the feature is identified based on the two-dimensional image. An indication of the identified three-dimensional position of the feature is then provided.

公开(公告)号：US20170136626A1

公开(公告)日：2017-05-18

申请号：US14941823

申请日：2015-11-16

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato ,  Remus Boca

IPC: B25J9/16 ,  G06T7/20 ,  G06T7/00

CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/30244 ,  Y10S901/09

Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.