# US 12,002,220 B2 · Method of image acquisition based on motion control signal according to acquisition pose > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,002,220 B2 - Document ID: US12002220B2 - Status: Granted - Kind: B2 - Application number: 17/671,592 - Filed: 2022-02-15 - Published: 2022-11-17 - Granted: 2024-06-04 - Earliest claimed: 2021-05-13 - Assignees: Beijing Sankuai Online Technology Co., Ltd - Applicants: Beijing Sankuai Online Technology Co., Ltd. - Inventors: Chunle Gao; Huaxia Xia; Hao Shen; Qiong Nie; Tiansi Han; Yiming Li; Jizhou Ma; Feipeng Tian; Binyang Hu; Mi Tian - Web page: https://patentgrep.com/patent/US12002220B2 ## CPC - G06T 7/215: Motion-based segmentation - H04N 5/2625: {for obtaining an image which is composed of images from a temporal image sequence, e.g. for a stroboscopic effect (sequence generated by event triggered capturing H04N7/188)} - G06T 7/248: {involving reference images or patches} - G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration - H04N 13/282: for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems - H04N 17/002: {for television cameras} - H04N 23/61: based on recognised objects - H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects - H04N 5/2628: {Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation} - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract An image acquisition method and apparatus are provided. By controlling a motion device, at least one of an image acquisition device or a photographed target object moves under the driving of the motion device, so that a sample image including the target object can be acquired in a preset designated acquisition pose after movement, thereby improving the accuracy of a relative pose between the image acquisition device and the target object during acquisition, reducing human intervention during acquisition, improving the automation degree, and providing the possibility for subsequent services that need to be performed according to sample images captured with relatively high shooting pose accuracy. ## Claims ### Claim 1 An image acquisition method, comprising: obtaining a predetermined designated acquisition pose; determining at least one motion control signal according to the designated acquisition pose; sending the at least one motion control signal to a motion device to enable the motion device to drive, in response to the at least one motion control signal, at least one of the image acquisition device or a target object, wherein after the at least one of the image acquisition device or the target object is moved, the at least one of the image acquisition device or the target object reaches the designated acquisition pose indicated by the motion control signal, wherein the motion device comprises a motion part and a motion restriction part, the motion part comprises a first motion part and a second motion part, wherein the motion restriction part comprises a guide rail, and the first motion part is one of a mechanical arm and a bearing turntable and the second motion part is another of a mechanical arm and a bearing turntable; and sending an acquisition control signal to the image acquisition device to enable the image acquisition device to capture, in response to the acquisition control signal, an image comprising the target object as a sample image corresponding to the designated acquisition pose. ### Claim 2 (depends on 1) The method according to claim 1, wherein the first motion part configured to drive the target object to move and the second motion part configured to drive the image acquisition device to move; and, wherein sending the at least one motion control signal to the motion device to enable the motion device to drive, in response to the motion control signal, at least one of the image acquisition device or a target object to move comprises: sending a first motion control signal contained in the motion control signal to the first motion part; and sending a second motion control signal contained in the motion control signal to the second motion part, wherein the first motion part drives, in response to the first motion control signal, the target object to move, the second motion part drives, in response to the second motion control signal, the image acquisition device to move, and after movements of the image acquisition device and the target object, the image acquisition device and the target object reach designated acquisition poses indicated by the first motion control signal and the second motion control signal. ### Claim 3 (depends on 1) The method according to claim 1, wherein the first motion part configured to drive the target object to move; and, wherein sending the at least one motion control signal to the motion device to enable the motion device to drive, in response to the motion control signal, at least one of the image acquisition device or a target object to move comprises: sending the at least one motion control signal to the first motion part, wherein the first motion part drives, in response to the received motion control signal, the target object to move and enables the target object to reach the designated acquisition pose indicated by the motion control signal after movement. ### Claim 4 (depends on 1) The method according to claim 1, wherein the second motion part configured to drive the image acquisition device to move; and sending the at least one motion control signal to the motion device to enable the motion device to drive, in response to the motion control signal, at least one of the image acquisition device or a target object to move comprises: sending the at least one motion control signal to the second motion part, wherein the second motion part drives, in response to the received motion control signal, the image acquisition device to move and enables the image acquisition device to reach the designated acquisition pose indicated by the motion control signal after movement. ### Claim 5 (depends on 1) The method according to claim 1, further comprising: adding the sample image corresponding to the designated acquisition pose to an image set to obtain an image set meeting a predesignated service condition. ### Claim 6 (depends on 5) The method according to claim 5, wherein before adding the sample image corresponding to the designated acquisition pose to the image set, the method further comprises: for each sample image in the image set, determining a first difference between the sample image corresponding to the designated acquisition pose and each sample image in the image set; determining a second difference between the sample image corresponding to the designated acquisition pose and the image set, according to the first differences between the sample image corresponding to the designated acquisition pose and each sample image in the image set; and adding the sample image corresponding to the designated acquisition pose to the image set in response to determining that the second difference is greater than or equal to a preset difference threshold. ### Claim 7 (depends on 5) The method according to claim 5, wherein the predesignated service condition comprises at least one of region distribution condition, proportion distribution condition, or pose distribution condition. ### Claim 8 (depends on 5) The method according to claim 5, further comprising: updating the designated acquisition pose by using designated acquisition poses corresponding to each sample image in the image set. ### Claim 9 (depends on 1) The method according to claim 1, wherein sample images captured by the image acquisition device comprise at least one multi-target image, and the multi-target image comprises at least two target objects. ### Claim 10 (depends on 1) The method according to claim 1, wherein the motion restriction part is configured to limit the motion part to move in a preset motion trajectory, and in response to receiving the motion control signal, the motion part moves along the motion restriction part and/or controls at least some components of the motion part to move, to drive at least one of the image acquisition device or the target object to move to the designated acquisition pose. ### Claim 11 (depends on 10) The method according to claim 10, wherein the motion part comprises a control subpart, a support subpart, and a movable subpart, wherein the control subpart is configured to send an overall motion control signal to the support subpart and/or a local motion control signal to the movable subpart according to the received motion control signal, the support subpart cooperates with the motion restriction part, is configured to support the movable subpart, and drives, according to the received overall motion control signal, the motion part to move along the motion restriction part, and the movable subpart is connected to at least one of the image acquisition device or the target object, and is configured to drive, according to the received local motion control signal, the at least one of the image acquisition device or the target object connected to the movable subpart to move to the designated acquisition pose. ### Claim 12 (depends on 1) The method according to claim 1, wherein the first motion part configured to drive the target object to move and the second motion part configured to drive the image acquisition device to move, wherein the first motion part is configured to drive, in response to a received motion control signal, the target object to move, the second motion part is configured to drive, in response to a received motion control signal, the image acquisition device to move, and a relative pose between the target object and the image acquisition device is the designated acquisition pose after movements. ### Claim 13 (depends on 1) The method according to claim 1, wherein the first motion part is the bearing turntable, the second motion part is the mechanical arm, and wherein the motion restriction part comprises a horizontal guide rail and a vertical guide rail, and is configured to limit the second motion part to move in a preset motion trajectory. ### Claim 14 A non-transitory computer-readable storage medium, storing a computer program such that when the computer program is executed by a processor, the processor is caused to perform: obtaining a predetermined designated acquisition pose; determining at least one motion control signal according to the designated acquisition pose; sending the motion control signal to a motion device to enable the motion device to drive, in response to the at least one motion control signal, the at least one of the image acquisition device or the target object to move, wherein after the at least one of the image acquisition device or the target object is moved, the at least one of the image acquisition device or the target object reaches the designated acquisition pose indicated by the motion control signal, wherein the motion device comprises a motion part and a motion restriction part, the motion part comprises a first motion part and a second motion part, wherein the motion restriction part comprises a guide rail, and the first motion part is one of a mechanical arm and a bearing turntable and the second motion part is another of a mechanical arm and a bearing turntable; and sending an acquisition control signal to the image acquisition device to enable the image acquisition device to capture, in response to the acquisition control signal, an image comprising the target object as a sample image corresponding to the designated acquisition pose. ### Claim 15 An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor such that when computer program is executed by the processor, the processor is caused to perform: obtaining a predetermined designated acquisition pose; determining at least one motion control signal according to the designated acquisition pose; sending the at least one motion control signal to a motion device to enable the motion device to drive, in response to the at least one motion control signal, the at least one of the image acquisition device or the target object to move, wherein after the at least one of the image acquisition device or the target object is moved, the at least one of the image acquisition device or the target object reaches the designated acquisition pose indicated by the motion control signal, wherein the motion device comprises a motion part and a motion restriction part, the motion part comprises a first motion part and a second motion part, wherein the motion restriction part comprises a guide rail, and the first motion part is one of a mechanical arm and a bearing turntable and the second motion part is another of a mechanical arm and a bearing turntable; and sending an acquisition control signal to the image acquisition device to enable the image acquisition device to capture, in response to the acquisition control signal, an image comprising the target object as a sample image corresponding to the designated acquisition pose. ### Claim 16 (depends on 15) The electronic device according to claim 15, wherein the processor is further caused to perform: adding the sample image corresponding to the designated acquisition pose to an image set to obtain an image set meeting a predesignated service condition. ### Claim 17 (depends on 16) The electronic device according to claim 16, wherein before adding the sample image corresponding to the designated acquisition pose to an image set, the processor is caused to perform: For each sample image in the image set, determining a first difference between the sample image corresponding to the designated acquisition pose and each sample image in the image set; Determining a second difference between the sample image corresponding to the designated acquisition pose and the image set, according to the first differences between the sample image corresponding to the designated acquisition pose and each sample image in the image set; and adding the sample image corresponding to the designated acquisition pose to the image set in response to determining that the second difference is greater than or equal to a preset difference threshold. ### Claim 18 (depends on 16) The electronic device according to claim 16, wherein the predesignated service condition comprises at least one of region distribution condition, proportion distribution condition, or pose distribution condition. ### Claim 19 (depends on 16) The electronic device according to claim 16, wherein the processor is further caused to perform: updating the designated acquisition pose by using designated acquisition poses corresponding to each of the sample images in the image set.