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US 2010/0246895 A1Published application
Position/attitude recognizing method, part holding method, part arranging method, part assembling method, position/attitude recognizing apparatus, part holding apparatus, part arranging apparatus and part assembling apparatus
AssigneeFuji Xerox Co., Ltd.
InventorsNaoki Koike, Kimihiro Wakabayashi, Hiroyuki Hotta
Life of this patent
Estimating the term…
Abstract
A group of light spots dispersed and disposed three-dimensionally to be disposed not in one plane on an object-to-be-measured are shot by a camera. A position and an attitude of the object-to-be-measured are recognized based on an optical image representing each of the light spots included on a shot image by the camera.
Claims20
A position/attitude recognizing method comprising:
- a first shooting process of shooting, by a camera, a group of light spots on an object-to-be-measured on which the group of light spots are arranged, the group of light spots including a plurality of light spots which are dispersed and disposed three-dimensionally to be disposed not on one plane;
- and
- a first recognizing process of recognizing a position and an attitude of the object-to-be-measured based on an optical image representing each of the plurality of light spots included in the group of light spots on a first shot image obtained by the shooting in the first shooting process.
A position/attitude recognizing apparatus comprising:
- a camera;
- a camera control section that performs a first shooting process of causing the camera to shoot a group of light spots on an object-to-be-measured on which the group of light spots are arranged, the group of light spots including a plurality of light spots dispersed and disposed three dimensionally to be disposed not on one plane;
- and
- a position/attitude recognizing section that performs a first recognizing process of recognizing a position and an attitude of the object-to-be-measured based on an optical image representing each of the plurality of the light spots included in the group of light spots on a first shot image obtained by the shooting operation in the first shooting process.
1 more element
Dependencies are inferred from the claim text.