Robot Camera Pose Estimation Using LED Surface Marks
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Solution Overview
Problem
Existing methods for determining the location and posture of an object using robots face challenges with high computational requirements and communication disruptions, making real-time estimation difficult, especially in embedded systems with low computational performance.
Innovation Solution
A method and system utilizing a camera-mounted robot to estimate the location and posture of an object by recognizing light-emitting diodes on the object's surfaces, calculating center locations and normal vectors based on captured image data, and controlling robot operations accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If deep learning is used to calculate location and posture in real time, then measurement precision is improved, but device complexity increases due to large computational requirements
Solution Approach 1:
The patent segments the object into multiple surfaces, each with a simplified mark (LED at vertex). Instead of processing the entire object complexly, the system divides it into manageable surface units with simple geometric markers, enabling easier location and posture calculation while maintaining precision.
Solution Approach 2:
The patent uses a simplified 2D image copy of the object's mark from the camera view to estimate the 3D location and posture. By working with the 2D projection and applying geometric transformations, the system avoids complex 3D processing while achieving accurate estimation.
2Measurement precision
If communication is used to transmit location and posture data, then measurement precision is improved, but reliability decreases when communication is cut off
Solution Approach 1:
The object equips itself with visible marks (LEDs) that emit light visible to the camera. This self-service mechanism allows the object to provide its own location and posture information passively through optical signals, eliminating dependence on active communication systems and ensuring reliability even when communication is disrupted.
3Ease of operation
If marks are placed on object surfaces, then ease of operation is improved for location detection, but device complexity increases due to additional components
Solution Approach 1:
The patent applies marks (LEDs) only at specific critical locations (vertices) of object surfaces rather than uniformly across the entire object. This localized approach provides sufficient information for location and posture detection while minimizing the number of additional components required.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables real-time estimation of object location and posture with minimal computational resources, facilitating effective connection and follow-up maneuvers of robots.
Implementation Method 1
The mark may be a light-emitting diode that emits light of a color set based on the surface on which the mark is disposed.
Data Source
AI summary
A method for estimating a location and a posture of an object, can include capturing, by a camera mounted on a robot, an image of the object, recognizing, by a controller, the mark from the image of the object, determining, by the controller, a main surface by using the recognized mark, determining, by the controller, a location of the mark disposed on the main surface, calculating, by the controller, a final center location and a final normal vector of the main surface by using the determined location of the mark and the specifications of the object, and calculating, by the controller, a center location and the posture of the object by using the final center location and the final normal vector of the main surface and the specifications of the object. A system for estimating a location and a posture of an object can be configured to execute such method.