Three-dimensional visual servoing for robot positioning
AssigneeABB Technology AG
InventorsJianjun Wang, Biao Zhang, Carlos Martinez, Carlos Winsor Morato
Life of this patent
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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.
Claims20
A method comprising:
- facilitating three-dimensional visual servoing for positioning a robot in an environment, the facilitating comprising:
- obtaining three-dimensional point cloud data of a scene of the environment, the scene including a feature;
- converting the three-dimensional point cloud data into a two-dimensional image;
- identifying based on the two-dimensional image a three-dimensional position of the feature;
- and
- providing an indication of the identified three-dimensional position of the feature to a controller for positioning the robot.
A computer system configured to perform a method, the method comprising:
- facilitating three-dimensional visual servoing for positioning a robot in an environment, the facilitating comprising:
- obtaining three-dimensional point cloud data of a scene of the environment, the scene including a feature;
- converting the three-dimensional point cloud data into a two-dimensional image;
- identifying based on the two-dimensional image a three-dimensional position of the feature;
- and
- providing an indication of the identified three-dimensional position of the feature to a controller for positioning the robot.
A computer program product comprising:
- a computer readable storage medium readable by a processor and storing instructions for execution by the processor for performing a method comprising:
- facilitating three-dimensional visual servoing for positioning a robot in an environment, the facilitating comprising:
- obtaining three-dimensional point cloud data of a scene of the environment, the scene including a feature;
- converting the three-dimensional point cloud data into a two-dimensional image;
- identifying based on the two-dimensional image a three-dimensional position of the feature;
- and
- providing an indication of the identified three-dimensional position of the feature to a controller for positioning the robot.
Dependencies are inferred from the claim text.