[go: up one dir, main page]

FR3093215B1 - Procédé et dispositif de surveillance de l’environnement d’un robot - Google Patents

Procédé et dispositif de surveillance de l’environnement d’un robot Download PDF

Info

Publication number
FR3093215B1
FR3093215B1 FR1901828A FR1901828A FR3093215B1 FR 3093215 B1 FR3093215 B1 FR 3093215B1 FR 1901828 A FR1901828 A FR 1901828A FR 1901828 A FR1901828 A FR 1901828A FR 3093215 B1 FR3093215 B1 FR 3093215B1
Authority
FR
France
Prior art keywords
environment
robot
monitoring
measurement
relates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1901828A
Other languages
English (en)
Other versions
FR3093215A1 (fr
Inventor
Alain Courteville
Adrien Kaiser
Zepeda José Alonso Ybanez
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fogale Sensors SAS
Original Assignee
Fogale Nanotech SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fogale Nanotech SAS filed Critical Fogale Nanotech SAS
Priority to FR1901828A priority Critical patent/FR3093215B1/fr
Priority to PCT/EP2020/053273 priority patent/WO2020169380A1/fr
Priority to CN202080030497.5A priority patent/CN113767421A/zh
Priority to EP20705316.6A priority patent/EP3928292A1/fr
Priority to US17/310,704 priority patent/US20220130147A1/en
Publication of FR3093215A1 publication Critical patent/FR3093215A1/fr
Application granted granted Critical
Publication of FR3093215B1 publication Critical patent/FR3093215B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/254—Analysis of motion involving subtraction of images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/38—Registration of image sequences
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L’invention concerne un procédé (200) de surveillance de l’environnement d’un robot comprenant au moins une itération d’une phase de détection (220) comprenant les étapes suivantes : acquisition (222), à un instant de mesure, d’une image de profondeur dudit environnement, dite image de mesure, par ladite au moins une caméra 3D, recalage (228) desdites images de référence et de mesure, et détection (230) d’un changement relatif à un objet dans l’environnement dudit robot par comparaison desdites images de référence et de mesure. Elle concerne également un dispositif mettant en œuvre un tel procédé et un robot équipé d’un tel dispositif. Figure d’abrégé : Fig. 2.
FR1901828A 2019-02-22 2019-02-22 Procédé et dispositif de surveillance de l’environnement d’un robot Active FR3093215B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR1901828A FR3093215B1 (fr) 2019-02-22 2019-02-22 Procédé et dispositif de surveillance de l’environnement d’un robot
PCT/EP2020/053273 WO2020169380A1 (fr) 2019-02-22 2020-02-10 Procede et dispositif de surveillance de l'environnement d'un robot
CN202080030497.5A CN113767421A (zh) 2019-02-22 2020-02-10 用于监控机器人的环境的方法和设备
EP20705316.6A EP3928292A1 (fr) 2019-02-22 2020-02-10 Procede et dispositif de surveillance de l'environnement d'un robot
US17/310,704 US20220130147A1 (en) 2019-02-22 2020-02-10 Method and device for monitoring the environment of a robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1901828 2019-02-22
FR1901828A FR3093215B1 (fr) 2019-02-22 2019-02-22 Procédé et dispositif de surveillance de l’environnement d’un robot

Publications (2)

Publication Number Publication Date
FR3093215A1 FR3093215A1 (fr) 2020-08-28
FR3093215B1 true FR3093215B1 (fr) 2021-08-27

Family

ID=66867531

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1901828A Active FR3093215B1 (fr) 2019-02-22 2019-02-22 Procédé et dispositif de surveillance de l’environnement d’un robot

Country Status (5)

Country Link
US (1) US20220130147A1 (fr)
EP (1) EP3928292A1 (fr)
CN (1) CN113767421A (fr)
FR (1) FR3093215B1 (fr)
WO (1) WO2020169380A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117355397A (zh) * 2021-05-27 2024-01-05 发那科株式会社 基于由视觉传感器拍摄到的图像来计算三维位置的拍摄装置
CN114049563B (zh) * 2022-01-12 2022-05-03 国网瑞嘉(天津)智能机器人有限公司 带电作业环境的评估方法、作业环境评估系统及电子设备
CN114782438B (zh) * 2022-06-20 2022-09-16 深圳市信润富联数字科技有限公司 物体点云修正方法、装置、电子设备和存储介质
WO2024232947A1 (fr) * 2023-05-08 2024-11-14 Boston Dynamics, Inc. Détection de changement basée sur l'emplacement dans des données d'image par un robot mobile
KR20240175176A (ko) * 2023-06-12 2024-12-19 현대자동차주식회사 안전감지장치 및 이를 포함하는 안전감지 시스템
WO2024261752A1 (fr) * 2023-06-20 2024-12-26 Mazor Robotics Ltd. Systèmes de détection en temps réel de collision d'objet et/ou de mouvement d'objet
CN117226865A (zh) * 2023-09-18 2023-12-15 浙江浙能数字科技有限公司 一种煤堆深层测温机器人的控制方法

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010023201A1 (en) * 2000-03-08 2001-09-20 Susumu Takatsuka Method of replaying game, recording medium, program, and entertainment system
US6724385B2 (en) * 2000-03-08 2004-04-20 Sony Computer Entertainment Inc. Method of replaying game, recording medium, program, and entertainment system
US7697748B2 (en) * 2004-07-06 2010-04-13 Dimsdale Engineering, Llc Method and apparatus for high resolution 3D imaging as a function of camera position, camera trajectory and range
KR100731979B1 (ko) * 2005-10-18 2007-06-25 전자부품연구원 다시점 정방향 카메라 구조 기반의 메쉬를 이용한 중간영상 합성 방법 및 장치와 이를 구현하는 기능을실현시키기 위한 프로그램을 기록한 컴퓨터로 읽을 수 있는기록 매체
KR20080066408A (ko) * 2007-01-12 2008-07-16 삼성전자주식회사 3차원 영상 처리 장치 및 방법
EP2600316A1 (fr) * 2011-11-29 2013-06-05 Inria Institut National de Recherche en Informatique et en Automatique Procédé, système et programme logiciel pour enregistrer et éditer un film comprenant au moins une image d'une animation 3D générée par ordinateur
FR2984057B1 (fr) * 2011-12-13 2014-01-03 Solidanim Systeme de tournage de film video
US9177224B1 (en) * 2013-03-14 2015-11-03 Amazon Technologies, Inc. Object recognition and tracking
US10203762B2 (en) * 2014-03-11 2019-02-12 Magic Leap, Inc. Methods and systems for creating virtual and augmented reality
US9299013B1 (en) * 2014-03-27 2016-03-29 Amazon Technologies, Inc. Visual task feedback for workstations in materials handling facilities
US10852838B2 (en) * 2014-06-14 2020-12-01 Magic Leap, Inc. Methods and systems for creating virtual and augmented reality
US20160048966A1 (en) * 2014-08-13 2016-02-18 Bendix Commercial Vehicle Systems Llc Learning the distance between cameras for articulated vehicles
MA41117A (fr) * 2014-12-05 2017-10-10 Myfiziq Ltd Imagerie d'un corps
US20160188977A1 (en) * 2014-12-24 2016-06-30 Irobot Corporation Mobile Security Robot
US10458990B1 (en) * 2015-03-06 2019-10-29 Scanit Technologies, Inc. Spore state discrimination
WO2016141984A1 (fr) * 2015-03-11 2016-09-15 Huawei Technologies Co., Ltd. Dispositif et procédé de traitement d'images pour étalonnage géométrique d'images
EP3086283B1 (fr) * 2015-04-21 2019-01-16 Hexagon Technology Center GmbH Fourniture d'un nuage de points à l'aide d'un instrument de surveillance et un dispositif de caméra
CN111492373A (zh) * 2017-10-30 2020-08-04 纽约州州立大学研究基金会 与基于声学的回声签名的用户认证相关联的系统和方法
JP6936974B2 (ja) * 2017-12-19 2021-09-22 オムロン株式会社 位置姿勢推定装置、位置姿勢推定方法及びプログラム
EP4339692B1 (fr) * 2018-01-17 2025-11-12 Magic Leap, Inc. Systèmes et procédés d'affichage pour déterminer un enregistrement entre un affichage et les yeux d'un utilisateur
CN114746717A (zh) * 2019-10-07 2022-07-12 波士顿偏振测定公司 利用偏振进行表面法线感测的系统和方法
US11583345B2 (en) * 2020-04-24 2023-02-21 Smith & Nephew, Inc. Optical tracking device with built-in structured light module

Also Published As

Publication number Publication date
FR3093215A1 (fr) 2020-08-28
CN113767421A (zh) 2021-12-07
WO2020169380A1 (fr) 2020-08-27
US20220130147A1 (en) 2022-04-28
EP3928292A1 (fr) 2021-12-29

Similar Documents

Publication Publication Date Title
FR3093215B1 (fr) Procédé et dispositif de surveillance de l’environnement d’un robot
Remondino et al. TOF range-imaging cameras
US10823552B2 (en) Method for the three dimensional measurement of moving objects during a known movement
CN106550228B (zh) 获取三维场景的深度图的设备
JP6596433B2 (ja) ２つのカメラからの曲線の集合の構造化光整合
Ruan et al. Calibration of 3D sensors using a spherical target
US8120755B2 (en) Method of correcting a volume imaging equation for more accurate determination of a velocity field of particles in a volume
FR3021784A1 (fr) Procede de projection de donnees virtuelles et dispositif permettant cette projection
US20190050998A1 (en) Scene Flow Camera
SG11201909734UA (en) Bonding apparatus and method for detecting height of bonding target
KR20170002409A (ko) 이미지 분석에 의한 신의 3차원 재구성 디바이스 및 방법
JP7201266B2 (ja) 滑走路照明灯の検査装置及び滑走路照明灯の検査方法
US20050206874A1 (en) Apparatus and method for determining the range of remote point light sources
FR3030091A1 (fr) Procede et systeme de detection automatique d'un desalignement en operation d'un capteur de surveillance d'un aeronef.
RU2340872C1 (ru) Моностатический способ определения расстояния до объекта, его направления и скорости движения
Chun-Shin et al. Distance measurement using a single camera with a rotating mirror
FR3069691A1 (fr) Procede de determination de la position et de l'orientation d'un capteur optique matriciel par rapport a un robot porteur
US11500090B2 (en) Apparatus and method for obstacle detection
FR3093216B1 (fr) Procédé de recalage d’images de profondeur.
EP3015839A1 (fr) Système de pointage laser pour surveiller la stabilité de structures
CN104897077B (zh) 高速变焦摄像对曲面轮廓线的自适应检测系统及方法
Langmann et al. Real-time image stabilization for ToF cameras on mobile platforms
FR3059423B1 (fr) Systeme et procede de positionnement et d'inspection optique d'un objet
US20160156831A1 (en) System for determining a lens position
KR102267867B1 (ko) 물체의 위치 측정 시스템 및 방법

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20200828

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4

TP Transmission of property

Owner name: FOGALE SENSORS, FR

Effective date: 20220908

PLFP Fee payment

Year of fee payment: 5

PLFP Fee payment

Year of fee payment: 6

PLFP Fee payment

Year of fee payment: 7