Title:
METHOD AND DEVICE FOR DETERMINING SPATIAL POSITION SHAPE OF OBJECT, STORAGE MEDIUM AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2019/228523
Kind Code:
A1
Abstract:
Disclosed by the present application are a method and device for determining the spatial position shape of an object, a storage medium and a robot. The method for determining the spatial position pattern of an object comprises: acquiring a binocular visual image of an object to be tested and a standard mark by means of a binocular vision device; correcting and fitting the binocular visual image of the object to be tested so as to obtain a range image of the object to be tested in a world coordinate system, and determining a point cloud data image of the object to be tested according to the range image; determining point cloud data of an upper surface and the center position of the upper surface as position data of an object to be tested; and determining shape data of the object to be tested according to a fitting surface of the point cloud data of the upper surface of the object to be tested and the distance between the center position of the upper surface of the object to be tested and a boundary position of the point cloud data of the upper surface of the object to be tested.
Inventors:
WU FEI (CN)
PENG JIANLIN (CN)
YANG YU (CN)
PENG JIANLIN (CN)
YANG YU (CN)
Application Number:
PCT/CN2019/089635
Publication Date:
December 05, 2019
Filing Date:
May 31, 2019
Export Citation:
Assignee:
SHANGHAI MICRO ELECTRONICS EQUIPMENT GROUP CO LTD (CN)
International Classes:
G06T7/73
Foreign References:
| CN103959012A | 2014-07-30 | |||
| CN108010085A | 2018-05-08 | |||
| CN107590832A | 2018-01-16 | |||
| CN104317391A | 2015-01-28 | |||
| US9895131B2 | 2018-02-20 |
Attorney, Agent or Firm:
BEYOND ATTORNEYS AT LAW (CN)
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