ES2047527T3 - Procedimiento para el reconocimiento de la posicion y orientacion espacial de cuerpos previamente conocidos. - Google Patents

Procedimiento para el reconocimiento de la posicion y orientacion espacial de cuerpos previamente conocidos.

Info

Publication number
ES2047527T3
ES2047527T3 ES88117264T ES88117264T ES2047527T3 ES 2047527 T3 ES2047527 T3 ES 2047527T3 ES 88117264 T ES88117264 T ES 88117264T ES 88117264 T ES88117264 T ES 88117264T ES 2047527 T3 ES2047527 T3 ES 2047527T3
Authority
ES
Spain
Prior art keywords
procedure
recognition
orientation
inertia
regarding
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.)
Expired - Lifetime
Application number
ES88117264T
Other languages
English (en)
Inventor
Gunter Dr Doemens
Peter Dr Mengel
Martin Brendes
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.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
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 Siemens AG, Siemens Corp filed Critical Siemens AG
Application granted granted Critical
Publication of ES2047527T3 publication Critical patent/ES2047527T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
    • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
    • H10P72/50—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for positioning, orientation or alignment
    • H10P72/53—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for positioning, orientation or alignment using optical controlling means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

EL METODO CONOCIDO DE RECONOCIMIENTO DE MUESTRAS MEDIANTE EL TRATAMIENTO DE IMAGEN GRIS LLEGA A SUS LIMITES EN ALGUNOS DE LAS APLICACIONES INDUSTRIALES DE HOY. YA ES USUAL LA APLICACION DEL PROCEDIMIENTO DE TRIANGULACION Y EL USO DE SENSORES 3D Y ESCANERS LASER. CON ELLO SE PRODUCEN DATOS DE IMAGENES TRIDIMENSIONALES. PARA RECONOCER LA POSICION Y LA ORIENTACION DE UN CUERPO CUALQUIERA ANTERIORMENTE CONOCIDO (1) RESPECTO AL SISTEMA DE COORDENADAS GENERAL CARTESIANO (X, Y, Z) ESTE INVENTO UTILIZA CRITERIOS DE EVALUACION QUE SIEMPRE SE BASAN EN UNA MULTITUD DE PUNTOS EXISTENTES Y POR LO TANTO DEPENDEN DE MEDICIONES ERRONEAS INDIVIDUALES. EN EL CASO ESPECIAL SE SECCIONA UN CUERPO CONOCIDO (1) CON UN PRIMITIVO DE VOLUMEN (2), AQUI UNA BOLA, LA LINEA DE CORTE (5) SE LLENA UNIFORMEMENTE CON UN DETERMINADO NUMERO DE PUNTOS DE APOYO (4), SE CALCULA LA SUMA DE TODOS LO MOMENTOS DE INERCIA DE LOS PUNTOS DE APOYO (4) SE AVERIGUA MEDIANTE TRANSFORMACION DEL EJE PRINCIPAL UN TRIPLE DE LOS MOMENTOS PRINCIPALES DE INERCIA Y COMPARANDO CON LOS DATOS ALMACENADOS DE UNA POSICION DE REFERENCIA SE AVERIGUA LA ORIENTACION DEL CUERPO CONOCIDO (1) RESPECTO A LA POSICION DE REFERENCIA. LOS DATOS ALMACENADOS SON CARACTERISTICAS DE COMPARACION DEL CUERPO CONOCIDO (1) TOMADOS Y CALCULADOS POR EL MISMO PROCEDIMIENTO. EL PROCEDIMIENTO LLEVA A UNA REDUCCION SUSTANCIAL DE LOS DATOS PARA EL RECONOCIMIENTO DE MUESTRAS.
ES88117264T 1988-10-17 1988-10-17 Procedimiento para el reconocimiento de la posicion y orientacion espacial de cuerpos previamente conocidos. Expired - Lifetime ES2047527T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP88117264A EP0364614B1 (de) 1988-10-17 1988-10-17 Verfahren zur Erkennung der räumlichen Lage und Orientierung vorher bekannter Körper

Publications (1)

Publication Number Publication Date
ES2047527T3 true ES2047527T3 (es) 1994-03-01

Family

ID=8199467

Family Applications (1)

Application Number Title Priority Date Filing Date
ES88117264T Expired - Lifetime ES2047527T3 (es) 1988-10-17 1988-10-17 Procedimiento para el reconocimiento de la posicion y orientacion espacial de cuerpos previamente conocidos.

Country Status (4)

Country Link
EP (1) EP0364614B1 (es)
AT (1) ATE99070T1 (es)
DE (1) DE3886539D1 (es)
ES (1) ES2047527T3 (es)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2068961T3 (es) * 1990-09-27 1995-05-01 Siemens Ag Procedimiento para la documentacion de instalaciones.
DE19539367A1 (de) * 1995-10-23 1997-04-24 Siemens Ag Verfahren zum Transformieren eines Koordinatensystems
GB2465298B (en) 2004-09-24 2010-06-30 Vision Rt Ltd Image processing system for use with a patient positioning device
US8781159B2 (en) 2009-05-13 2014-07-15 Applied Vision Corporation System and method for dimensioning objects using stereoscopic imaging
US8284988B2 (en) 2009-05-13 2012-10-09 Applied Vision Corporation System and method for dimensioning objects using stereoscopic imaging
US8508591B2 (en) 2010-02-05 2013-08-13 Applied Vision Corporation System and method for estimating the height of an object using tomosynthesis-like techniques
DE102015213557A1 (de) 2015-07-20 2017-01-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Erstellen eines dreidimensionalen Modells einer Produktionsumgebung
DE102015214857A1 (de) 2015-08-04 2017-02-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Erstellen eines dreidimensionalen Modells einer Produktionsumgebung
DE102015214858A1 (de) 2015-08-04 2017-02-09 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Erstellen eines dreidimensionalen Modells einer Produktionsumgebung und Hilfsmittel

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4435837A (en) * 1981-03-05 1984-03-06 President And Fellows Of Harvard College Pattern recognition and orientation system
US4611292A (en) * 1982-10-06 1986-09-09 Hitachi, Ltd. Robot vision system
FR2553912B1 (fr) * 1983-10-21 1985-12-20 Onera (Off Nat Aerospatiale) Procede et appareillage pour determiner l'attitude d'un objet dans l'espace par rapport a un poste d'observation
US4593406A (en) * 1984-01-16 1986-06-03 The United States Of America As Represented By The United States Department Of Energy Automatic image acquisition processor and method
US4766556A (en) * 1984-11-20 1988-08-23 Matsushita Electric Industrial Co., Ltd. Three-dimensional solid object manipulating apparatus and method therefor
JPS63503332A (ja) * 1985-12-16 1988-12-02 ブリティッシュ・テクノロジー・グループ・リミテッド 検査装置

Also Published As

Publication number Publication date
ATE99070T1 (de) 1994-01-15
EP0364614A1 (de) 1990-04-25
EP0364614B1 (de) 1993-12-22
DE3886539D1 (de) 1994-02-03

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