Granted Patent B2

US 12,511,779 · App. 18/268,657 · Granted Dec 30, 2025

Inventors: Jens Pannekamp (Umkirch, DE); Dominik Kult (Stegen, DE)

Assignee: Sensopart Industriesensorik GmbH

G06T7/73G06K7/1417G06T2207/30204

Abstract

Claims (21)

1 . A method for determining a three-dimensional pose of an object ( 4 ) by using an optical sensor unit ( 6 ) for capturing the object ( 4 ), the optical sensor unit ( 6 ) being connected to a data processing unit ( 7 ), the method comprising:

providing a target marker ( 1 ) for determining a three-dimensional pose of an object ( 4 ), wherein the target marker ( 1 ) has encoding modules ( 2 ) that are present in a defined module pattern ( 10 ) that encodes a character string comprising specific information that defines a size of the target marker,

and/or

gripping parameters for gripping the object ( 4 ) selected from the group consisting of a gripping pose of a gripper, a gripper geometry, and gripper forces;

arranging the target marker ( 1 ) on the object ( 4 );

positioning the optical sensor unit in front of the object ( 4 ) such that the object ( 4 ) is in a detection range of the optical sensor unit and, by the optical sensor unit, detecting the target marker on the object;

determining centers of the module patterns of the target marker by the data processing unit, and reading out the specific information;

determining a hypothetical three-dimensional pose of the target marker on the object ( 4 ) based on the specific information in the data processing unit; and

continuously varying the hypothetical three-dimensional pose of the target marker until the center of the module pattern coincides with the

determined center of the module pattern, thereby determining an actual three-dimensional pose of the target marker.

2 . The method according to claim 1 ,

wherein the module patterns ( 10 ) are encoded in consecutive numbering, the numbering being in form of a unique identification (ID).

3 . The method according to claim 1 , wherein

a shape of the target marker ( 1 ) is square or circular, and/or

a shape of the module pattern ( 10 ) and/or the encoding modules ( 2 ) are/is square or circular.

4 . The method according to claim 1 , wherein

the target marker ( 1 ) has a background ( 3 ) on which the encoding modules ( 2 ) are arranged.

5 . The method according to claim 4 ,

wherein the encoding modules ( 2 ) and/or the background ( 3 ) of the target marker ( 1 ) are retroreflective.

6 . The method according to claim 1 ,

wherein the character string comprises information that defines the size of the target marker and the gripping parameters.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (23)