ФЕДОРЕНКО Сергей Игоревич (RU),КОРОВИН Константин (RU)
申请号：
RU2014143437
公开号：
RU2014143437A
申请日:
2013.03.27
申请国别(地区):
RU
年份:
2016
代理人:
摘要：
1. A method for optically determining the position and / or orientation of an object in space based on images from at least one camera (24a, 24b), which includes the steps of: recording at least one two-dimensional image of an object and extracting a two-dimensional image from said image contour information； calculate the contour line (33) of the model depending on the two-dimensional contour information； based on the contour line (33) of the model, determine at least one area (40) of the object； generate three-dimensional information from the specified at least at least one two-dimensional image or from at least one additional two-dimensional image； select a part of three-dimensional information that is within the specified specific region (40) of the object and determine the position and / or orientation of the object based on the selected part of the three-dimensional information, while the surface contour of the object is described using the body of rotation of the line (33) of the model’s contour, and the position and / or orientation of the body of revolution in space is changed so that the measured three-dimensional information from the selected region STI (40) is wholly was as close as possible to the side surface of the body vrascheniya.2. The method of claim 1, wherein the two-dimensional contour information is extracted from said at least one two-dimensional image as a contour line (32, 32b, 32f). The method of claim 2, wherein said at least one two-dimensional image is recorded under backlight conditions. A method according to claim 2, wherein said at least one two-dimensional image is recorded under lighting conditions from the front side, and the resulting line (32) of the contour is corrected. The method of claim 4, wherein the amendment1. Способ оптического определения положения и/или ориентации объекта в пространстве на основе изображений от по меньшей мере одной камеры (24а, 24b), включающий в себя этапы, на которых:записывают по меньшей мере одно
