US 11,941,898 B2
Three-dimensional position and posture recognition device and method
Atsutake Kosuge, Tokyo (JP); Takashi Oshima, Tokyo (JP); Yukinori Akamine, Tokyo (JP); and Keisuke Yamamoto, Tokyo (JP)
Assigned to HITACHI, LTD., Tokyo (JP)
Appl. No. 17/295,148
Filed by Hitachi, Ltd., Tokyo (JP)
PCT Filed Dec. 19, 2019, PCT No. PCT/JP2019/049858
§ 371(c)(1), (2) Date May 19, 2021,
PCT Pub. No. WO2020/130085, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 2018-239421 (JP), filed on Dec. 21, 2018.
Prior Publication US 2022/0019762 A1, Jan. 20, 2022
Int. Cl. G06K 9/00 (2022.01); B25J 13/08 (2006.01); G06T 7/73 (2017.01); G06V 20/64 (2022.01)
CPC G06V 20/653 (2022.01) [B25J 13/089 (2013.01); G06T 7/75 (2017.01)] 4 Claims
OG exemplary drawing
 
1. A three-dimensional position recognition device, comprising:
an external memory configured to store model data of each object;
a sensor unit configured to acquire distance information between a two-dimensional image of an object and the object;
an image recognition unit configured to output an object type and an object region coordinate based on the two-dimensional image of the object acquired by the sensor unit;
a parameter calculating unit configured to output resolution for each object based on the object type and the object region coordinate from the image recognition unit, and an allowable error for each object;
a data thinning unit configured to output, based on the resolution from the parameter calculating unit, thinned data from model data of the object read from the external memory according to the object type from the image recognition unit;
a data structuring unit configured to generate structured model data from the thinned data;
an internal memory configured to store the structured model data generated by the data structuring unit;
a point cloud generating unit configured to generate the measurement point cloud data from the two-dimensional image acquired from the sensor unit;
a resolution conversion unit configured to output the measurement point cloud data as measurement point cloud data of a plurality of resolutions after resolution conversion;
a K neighborhood point searching unit configured to perform K neighborhood point search using the structured model data stored in the internal memory and the predetermined measurement point cloud data from the resolution conversion unit;
a rotation and translation estimating unit configured to perform rotation and translation estimation using output of the K neighborhood point searching unit, and the structured model data stored in the internal memory;
a first loop that repeats processing of the K neighborhood point searching unit and the rotation and translation estimating unit until an error of the structured model data stored in the internal memory and the measurement point cloud data of the resolution conversion unit is a certain value or less; and
a second loop that repeats the processing of the K neighborhood point searching unit and the rotation and translation estimating unit with respect to measurement point cloud data of the plurality of the resolutions from the resolution conversion unit.