Title:
OBJECT DETECTION METHOD AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/151555
Kind Code:
A1
Abstract:
An object detection method according to the present embodiment comprises steps (a1) to (b3). In step (a1), a control device obtains an extracted image and an outline of a specific object from a captured image of the specific object. In step (a2), the control device obtains reference position information, which is information on the angle and the distance of each point of the outline with respect to the center position of the specific object, from the extracted image of the specific object. In step (b1), the control device detects the outline of an unknown object from a captured image of the unknown object. In step (b2), the control device obtains patch images including a region of the outline of the unknown object, by means of the reference position information. In step (b3), the control device determines whether an image of the specific object exists in the captured image of the unknown object, by means of the similarity of the shape of the outline of the unknown object with respect to the shape of the outline of the specific object and of the similarity of each of the patch images with respect to the extracted image of the specific object.
Inventors:
JUNG DONG WHAN (KR)
JANG JAE HO (KR)
HONG HA NA (KR)
JANG JAE HO (KR)
HONG HA NA (KR)
Application Number:
PCT/KR2018/001688
Publication Date:
August 08, 2019
Filing Date:
February 08, 2018
Export Citation:
Assignee:
HANWHA PREC MACH CO LTD (KR)
International Classes:
G06T7/11; B25J9/16; B25J19/02; B25J19/04; G06T5/00; G06T5/50; G06T7/13; G06T7/73; G06V10/46
Foreign References:
| KR20090082546A | 2009-07-31 | |||
| KR20150105217A | 2015-09-16 | |||
| KR20110009547A | 2011-01-28 | |||
| KR20160087600A | 2016-07-22 | |||
| JP2010067247A | 2010-03-25 |
Attorney, Agent or Firm:
Y.P.LEE, MOCK & PARTNERS (KR)
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