Title:
How to presume an angle deviation of a move element to a reference direction
Document Type and Number:
Japanese Patent JP6229041
Kind Code:
B2
Abstract:
A method for estimating the angular deviation of a moving element relative to a reference direction comprises the following steps: acquisition of a reference image of a reference direction of the moving element; acquisition of a current image of the current direction of the moving element; identification of points of interest in the reference image and in the current image; determination of at least two pairs of points of interest, one pair being made up of a point of interest in the current image and of a point of interest corresponding thereto in the reference image; determination of the angular deviation between the current direction and the reference direction of the moving element by using the at least two pairs of points identified in the preceding step.
Inventors:
Bilbell, emily
Frank Duryes
De La Fortel, Arnault
Stou, Bruno
Bonabel, Silbert
Frank Duryes
De La Fortel, Arnault
Stou, Bruno
Bonabel, Silbert
Application Number:
JP2016506953A
Publication Date:
November 08, 2017
Filing Date:
April 09, 2014
Export Citation:
Assignee:
SOFTBANK ROBOTICS EUROPE
International Classes:
G06T7/70; B25J5/00; B25J13/08; G01C21/28
Domestic Patent References:
| JP2008146197A | ||||
| JP2010250469A |
Foreign References:
| US20120027085 |
Other References:
萩原良信 外2名,自己移動量を応用した教示経路外における移動ロボットの位置・方向の推定,電気学会論文誌C 電子・情報・システム部門誌,一般社団法人電気学会,2013年 2月 1日,第133巻 第2号,第356-364頁
BELLOTTO et al.,Appearance-based localization for mobile robots using digital zoom and visual compass,ROBOTICS AND AUTONOMOUS SYSTEMS,NL,ELSEVIER SCIENCE PUBLISHERS,2008年 1月29日,Vol. 56, No. 2,Pages 143-156
BELLOTTO et al.,Appearance-based localization for mobile robots using digital zoom and visual compass,ROBOTICS AND AUTONOMOUS SYSTEMS,NL,ELSEVIER SCIENCE PUBLISHERS,2008年 1月29日,Vol. 56, No. 2,Pages 143-156
Attorney, Agent or Firm:
Kawaguchi International Patent Office
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