公开(公告)号：US11902492B2

公开(公告)日：2024-02-13

申请号：US17265119

申请日：2019-08-01

申请人： Korea Atomic Energy Research Institute

发明人： Seung-Ho Jung ,  Hocheol Shin ,  Chang-Hoi Kim ,  You-Rak Choi ,  Dongseok Ryu ,  Jonghui Han

IPC分类号： H04N13/128 ,  H04N13/239 ,  G06T3/00 ,  G06T3/60

CPC分类号： H04N13/128 ,  G06T3/0093 ,  G06T3/60 ,  H04N13/239

摘要： An image processing method includes: calculating a rotation matrix to eliminate vertical parallax by converting stereo image captured by stereo camera as if it is image captured by camera rotated about an origin of camera coordinate system, wherein the stereo image includes left image obtained by left camera and right image obtained by right camera; calculating a rotation matrix to adjust the horizontal parallax of the left image and a rotation matrix to adjust the horizontal parallax of the right image; calculating a geometric transformation matrix for the stereo image based on each camera characteristic matrix representing lens characteristics, the rotation matrix for eliminating vertical parallax, and the rotation matrices for adjusting horizontal parallax; and generating new stereo image in which vertical parallax is eliminated and horizontal parallax is adjusted by performing image warping for the stereo image captured by the stereo camera based on the calculated geometric transformation matrix.

公开(公告)号：US11794356B2

公开(公告)日：2023-10-24

申请号：US17267248

申请日：2019-07-24

申请人： KOREA ATOMIC ENERGY RESEARCH INSTITUTE

发明人： Hocheol Shin ,  Seung-Ho Jung ,  You-Rak Choi ,  Dongseok Ryu ,  Jonghui Han

IPC分类号： B25J15/02

CPC分类号： B25J15/022

摘要： An electric gripping device is provided. The electric gripping device improves a coupling relationship between a two-fingered clamper module using a four-joint link and the actuator module to facilitate assembling and disassembling of the actuator module and the clamper module and minimizes a length of the electric gripper to easily secure a robot's work space or work direction when being connected to the robot.