[특허]Structured illumination autonomous machine vision system

[미국특허] Structured illumination autonomous machine vision system 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06K-009/36
출원번호	US-0260423 (1988-10-13)
발명자 / 주소	Brown C. David (4126 Webster Rd. Haure de Grace MD 21078)
인용정보	피인용 횟수 : 76 인용 특허 : 0

초록 ▼

A method and apparatus for automatically determining pathway boundaries for autonomous robotic navigation. A structured light pattern consisting of a plurality of lines is projected on the pathway and background and the reflected pattern is detected by a stereoscopically located video camera. Since the texture of the pathway and background are different, the captured image may be processed to distinguish one from the other. Image processing includes Hough transformation of the image field, rank filtering and morphological dilation. The end points of the pathway lines identified by such processing as well as the 3-D coordinates of such end points are determined.

대표청구항 ▼

A method of providing information for automatically determining pathway boundaries for autonomous robotic navigation, comprising the steps of: projecting a structured light pattern of sequentially scanned thin horizontal lines on a pathway and background, viewing the resultant light pattern which is reflected from the pathway and background with a stereoscopically located video camera, storing an image field which includes bits which correspond to said resultant light pattern in a memory, and processing the image field to determine the degree of distortion of said resultant light pattern, wherein the texture of the background is courser than the texture of the pathway, and whereby said information for determining said pathway boundaries is provided as indicated by the scanned lines reflected from the background having a greater degree of discontinuity than those reflected from the pathway, wherein said processing includes taking the Hough transform of said image field to identify lines in said resultant light pattern, and wherein said processing further includes rank filtering said identified lines.

이 특허를 인용한 특허 (76) 인용/피인용 타임라인 분석

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[미국특허] Structured illumination autonomous machine vision system 원문보기

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[미국특허] Structured illumination autonomous machine vision system 원문보기

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