Methods for providing navigation data, methods and equipment for creating point-symmetric regions

CN116710975BActive Publication Date: 2026-06-30ROBERT BOSCH GMBH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
ROBERT BOSCH GMBH
Filing Date
2021-10-15
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Existing technologies struggle to accurately determine robot posture or position in visual robot control, especially when partially occluded in point-symmetric areas or when the view is not frontal, leading to decreased positioning accuracy.

Method used

By utilizing the invariant characteristics of point-symmetric regions, imaging sensors are used to detect and locate point-symmetric regions. Signature images are generated by combining signature and mirror filters, camera image distortion is corrected, the center of symmetry is determined, and navigation data is provided to control the robot.

Benefits of technology

It achieves high-precision positioning of the center of symmetry under partially occluded and non-frontal views, improving the accuracy and robustness of robot control and reducing the error of the center of symmetry positioning.

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Abstract

The present invention relates to a method for providing navigation data (135) to control a robot. The method includes the steps of reading image data (105) provided by means of a camera (102). The image data (105) represents a camera image of at least one predefined point symmetry region (110). The steps include using the image data (105) and determination rules (128) to determine at least one center of symmetry (112) of the at least one point symmetry region (110); comparing the position of the center of symmetry (112) in the camera image with a predefined position of a reference center of symmetry in a reference image (115) to determine a positional deviation (131) between the center of symmetry (112) and the reference center of symmetry; and optionally, using the positional deviation (131) to determine a displacement vector (133) of at least one subset of pixels in the camera image relative to corresponding pixels in the reference image (115). The navigation data (135) is provided using the positional deviation (131) and / or the displacement vector (133).
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