Title:
METHOD AND SYSTEM FOR DETECTING RELATIVE POSITION AND ANGLE BETWEEN TWO OBJECT AND MARKER THEREFOR
Document Type and Number:
Japanese Patent JP3267733
Kind Code:
B2
Abstract:
PURPOSE: To provide method and system for detecting the relative position and angle between two objects at an arbitrary position and a marker used therein.
CONSTITUTION: The marker comprises main and auxiliary markers 10, 16 spaced apart by a central distance L wherein the main marker 10 comprises a plurality of chevrons 12 having inclining faces of different colors whereas the auxiliary marker 16 comprises a plurality of concentric circles of different colors. A visual sensor recognizes the marker and detects the relative angles between two objects in two directions based on the ratio of areas of different colors. The distance between two objects is then operated based on the relative angles, the angle θ between the line connecting the centers O, O' and the line connecting the two objects, and the distance between the centers O, O' on an image, thus detecting the relative position of two objects.
Inventors:
Fumiaki Honda
Seiji Koide
Hideyuki Ando
Shuntaro Suzuki
Seiji Koide
Hideyuki Ando
Shuntaro Suzuki
Application Number:
JP8226793A
Publication Date:
March 25, 2002
Filing Date:
April 09, 1993
Export Citation:
Assignee:
Ishikawajima Harima Heavy Industries Co., Ltd.
International Classes:
G01B11/02; G01B11/00; G01B11/26; G01C3/06; G01C15/06; G06T7/60; (IPC1-7): G01B11/00; G01B11/26; G06T7/60
Domestic Patent References:
| JP3131710A | ||||
| JP474905A | ||||
| JP6147828A |
Attorney, Agent or Firm:
Minoru Hotta (2 outside)
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