US 11,865,724 B2
Movement control method, mobile machine and non-transitory computer readable storage medium
Dejun Guo, San Gabriel, CA (US); and Huan Tan, Pasadena, CA (US)
Assigned to UBKANG (QINGDAO) TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by UBKang (Qingdao) Technology Co., Ltd., Qingdao (CN)
Filed on Apr. 26, 2021, as Appl. No. 17/239,691.
Prior Publication US 2022/0339786 A1, Oct. 27, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01); G06F 17/11 (2006.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01); G06T 3/20 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 19/023 (2013.01); G06F 17/11 (2013.01); G06T 3/20 (2013.01); G06T 7/50 (2017.01); G06T 7/74 (2017.01)] 19 Claims
OG exemplary drawing
 
1. A method for controlling a mobile machine having a camera to move according to a trajectory, wherein the trajectory comprises a plurality of poses, and the method comprises:
obtaining, through the camera of the mobile machine, a desired image of a referenced target captured at a desired pose of the trajectory and an initial image of the referenced target captured at an initial pose of the trajectory, wherein the initial pose is the first of the plurality of poses, and the desired pose is the last of the plurality of poses;
calculating a homography of the desired image and the initial image;
decomposing the homography into an initial translation component and an initial rotation matrix;
obtaining one or more optimized translation components corresponding to one or more constraints for the mobile machine based on the initial translation component;
obtaining one or more optimized homographies based on the one or more optimized translation components and the initial rotation matrix;
obtaining a plurality of objective image features corresponding to the trajectory based on the one or more optimized homographies; and
controlling the mobile machine to move according to the objective image features corresponding to the trajectory.