PROBLEM TO BE SOLVED: To accurately specify a position and attitude of an object at a high speed.SOLUTION: There is provided an object state specification method for acquiring, by a sensor 102, actual measured values as three-dimensional data of an object 200 including a plane part 201 with an opening 210 on a surface thereof and specifying a position and attitude of the object 200, the method including: extracting a corresponding point value representing a position of a peripheral edge of the opening 210 on the basis of a prescribed feature amount; calculating a plane equation representing a surface including the plane part 201 on the basis of the corresponding point value and determining a virtual plane; extracting an actual measured value mounted on the virtual plane as a stable point; and specifying the position and attitude of the object 200 on the basis of the stable point.SELECTED DRAWING: Figure 2
【課題】物体の位置や姿勢を高速かつ正確に特定する。【解決手段】開口部210を有する平面部201を表面に備える物体200の三次元データである実測値をセンサ102により取得し、物体200の位置、および、姿勢を特定する物体状態特定方法であって、所定の特徴量に基づき開口部210の周縁の位置を示す対応点値を抽出し、対応点値に基づき平面部201を含む面を示す平面方程式を算出して仮想平面を決定し、仮想平面に乗る実測値を安定点として抽出し、安定点に基づいて物体200の位置や姿勢を特定する。【選択図】図2
OBJECT STATE SPECIFICATION METHOD, OBJECT STATE SPECIFICATION APPARATUS, AND CONVEYANCE VEHICLE
物体状態特定方法、物体状態特定装置、および、搬送車
2017-08-31
Patent
Electronic Resource
Japanese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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