THREE-DIMENSIONAL BODY POSITION AND ATTITUDE ESTIMATING METHOD - Nippon Telegraph and Telephone Corporation

Title:

THREE-DIMENSIONAL BODY POSITION AND ATTITUDE ESTIMATING METHOD

Document Type and Number:

Japanese Patent JP3253444

Kind Code:

B2

Abstract:

PURPOSE: To provide the three-dimensional body position and attitude estimating method which can estimates the position and attitude of a body stably and efficiently even in case of three-dimensional attitude changes and a shape whose aspect ratio is nearly 1 and also enables stable position and attitude estimation even in case of arrangement wherein features can not be grasped from only one measuring direction.
CONSTITUTION: The determination problem of a degree 6 of freedom for a position and an attitude required to estimate the position and attitude of the body is decomposed into the determination (1st procedure) of a candidate of a degree 2 of freedom for an observation direction based upon range data, the determination (2nd procedure) of a candidate of a degree 1 of freedom of an angle of rotation on the observation direction, and the determination (4th procedure) of a candidate of a degree 3 of freedom for a three-dimensional position to reduce the calculation cost and memory. By a 5th procedure, a position and an attitude which are compatible with the range data of two measuring directions are estimated, and consequently a stable estimation result is obtained even in a state wherein they can not be estimated only with observation range data of one direction, i.e., in case of the staining of data due to a noise and the arrangement of a sensor and the body where body features are hardly obtained to estimate the position and attitude.

More Like This:

JPH0921613	OPTICAL AXIS ADJUSTING APPARATUS
JP2000337815	METHOD AND APPARATUS FOR MEASUREMENT OF THREE- DIMENSIONAL COORDINATES IN AT LEAST ONE OBJECT POINT

Inventors:

Kouichi Tanaka
Naoki Takegawa

Application Number:

JP3433394A

Publication Date:

February 04, 2002

Filing Date:

March 04, 1994

Export Citation:

Click for automatic bibliography generation Help

Assignee:

Nippon Telegraph and Telephone Corporation

International Classes:

G01B11/00; G01B11/26; G06T1/00; G06T7/00; (IPC1-7): G06T1/00; G01B11/00; G01B11/26

Domestic Patent References:

JP3150402A
JP61129508A

Other References:

田中弘一、武川直樹，３次元物体同定、位置姿勢推定のための多重方向ヒストグラム法，情報処理学会研究報告ＣＶ−８５，日本，情報処理学会，１９９３年９月３０日，Ｖｏｌ．９３，Ｎｏ．８７，ｐ．２５−３２

Attorney, Agent or Firm:

Fujiya Shiga

Previous Patent: PORTABLE TERMINAL DEVICE FOR MAINTENANCE OF ELEVATOR

Next Patent: TRIGGER FOR SPRING-OPERATED PRETENSIONER