POSITION AND ATTITUDE DETERMINATION METHOD AND SYSTEM USING EDGE IMAGES

A method of determining at least one of position and attitude in relation to an object is provided. The method includes capturing at least two images of the object with at least one camera. Each image is captured at a different position in relation to the object. The images are converted to edge ima...

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Bibliographic Details
Main Authors MOHR, Benjamin, ELGERSMA, Michael Ray
Format Patent
LanguageEnglish
French
German
Published 06.09.2023
Subjects
CALCULATING
COMPUTING
CONTROLLING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Summary:A method of determining at least one of position and attitude in relation to an object is provided. The method includes capturing at least two images of the object with at least one camera. Each image is captured at a different position in relation to the object. The images are converted to edge images. The edge images of the object are converted into three-dimensional edge images of the object using positions of where the at least two images were captured. Overlap edge pixels in the at least two three-dimensional edge images are located to identify overlap points. A three dimensional edge candidate point image of the identified overlapped points in an evidence grid is built. The three dimensional candidate edge image in the evidence grid is compared with a model of the object to determine at least one of a then current position and attitude in relation to the object.
Bibliography:Application Number: EP20180203230