Determination of relative positions

    公开(公告)号:US10078908B2

    公开(公告)日:2018-09-18

    申请号:US15483626

    申请日:2017-04-10

    IPC分类号: G06T7/70 H04N5/225 H04N5/247

    摘要: A workcell has a camera module with two optical systems and a memory containing information about the arrangement of the optical systems, a robot module with a first coordinate system, a first set of fiducials, and a memory containing information about the 3D positions of the first set of fiducials defined within the first coordinate system, and a fixture with a second coordinate system, a second set of fiducials, and a memory containing information about the 3D positions of the second set of fiducials defined within the second coordinate system. A processor is communicatively coupled to the camera module, the robot module, and the fixture. The processor is configured to receive information about positions of each of the fiducials as observed by the two optical systems, retrieve from the various memories information about the arrangement of the first and second optical systems, the 3D positions of the first set of fiducials, and the 3D positions of the second set of fiducials, and determine the position and orientation of the fixture in the coordinate system of the robot module.

    Windshield-mounted camera apparatus and adjuster

    公开(公告)号:US10077008B2

    公开(公告)日:2018-09-18

    申请号:US15139189

    申请日:2016-04-26

    申请人: DENSO CORPORATION

    摘要: A camera apparatus is provided. A bracket is fixed to a windshield of a vehicle. A camera case is fixed to the bracket. A camera module is fixed to the camera case and includes a lens. The camera apparatus detects a position of an object present ahead of the vehicle. The object includes a lane and another vehicle. Information on the object acquired by the camera apparatus is used for at least one of lane departure alarm control, light control, and collision avoidance control. The camera apparatus further includes an adjustment structure for completing adjustment of an inclination angle in a vertical direction of an optical axis of the lens with respect to the windshield by the time when the camera case is completely fixed to the bracket.