{"search_session":{},"preferences":{"l":"en","queryLanguage":"en"},"patentId":"105-263-157-140-637","frontPageModel":{"patentViewModel":{"ref":{"entityRefType":"PATENT","entityRefId":"105-263-157-140-637"},"entityMetadata":{"linkedIds":{"empty":true},"tags":[],"collections":[{"id":11708,"type":"PATENT","title":"Tokyo Institute of Technology - Patent Portfolio","description":"","access":"OPEN_ACCESS","displayAvatar":true,"attested":false,"itemCount":8409,"tags":[],"user":{"id":91044780,"username":"Cambialens","firstName":"","lastName":"","created":"2015-05-04T00:55:26.000Z","displayName":"Cambialens","preferences":"{\"usage\":\"public\",\"beta\":false}","accountType":"PERSONAL","isOauthOnly":false},"notes":[{"id":8362,"type":"COLLECTION","user":{"id":91044780,"username":"Cambialens","firstName":"","lastName":"","created":"2015-05-04T00:55:26.000Z","displayName":"Cambialens","preferences":"{\"usage\":\"public\",\"beta\":false}","accountType":"PERSONAL","isOauthOnly":false},"text":"
Search Applicants and Owners separately: tokyo inst* tech*
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Add to collection. Total patents: 6977
Search Applicants and Owners separately: tokyo inst* tech*
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Select all patents in the collection and expand by simple families.
Add to collection. Total patents: 6977
two cameras; and
a projective transformation convergence calculation apparatus which performs a convergence calculation of updating values of given types of parameters of a projective transformation matrix between two cameras so as to converge a plane defined by the parameter values to a plane including a flat part of an object in images captured by the two cameras, while comparing a transformed image obtained by transforming an object image in the image captured by one of the two cameras by the projective transformation matrix with an object image in the image captured by the other camera in order to observe the flat part of the object in the images captured by the two cameras,
wherein the initial values are set to values satisfying a limiting condition that should be satisfied by the initial values, where the limiting condition is that the plane defined by the initial values of the parameters in the convergence calculation is inclined with respect to an actual plane including the flat part of the object."],"number":3,"annotation":false,"title":false,"claim":true},{"lines":["The robot according to claim 3, wherein the plane defined by the initial values of the parameters has a tilt angle with respect to a horizontal plane equal to a given angle, which has been previously determined so as to deviate from the range of values that can be used for a tilt angle with respect to the horizontal plane of the actual plane including the flat part of the object."],"number":4,"annotation":false,"title":false,"claim":true},{"lines":["A method of estimating the shape of an object in a traveling direction of a robot using images captured by two cameras carried by the robot and a projective transformation convergence calculation method according to claim 1 or 2."],"number":5,"annotation":false,"title":false,"claim":true},{"lines":["The method of claim 5 wherein the object is a floor on which the robot moves and the method further comprises controlling the motion of the robot according to the estimated floor shape."],"number":6,"annotation":false,"title":false,"claim":true},{"lines":["A method in accordance with any of claims 1, 2, 5 or 6 wherein said method is computer-implemented."],"number":7,"annotation":false,"title":false,"claim":true},{"lines":["A computer program for executing a method according to any of claims 1, 2, 5, 6 or 7."],"number":8,"annotation":false,"title":false,"claim":true}]}},"filters":{"npl":[],"notNpl":[],"applicant":[],"notApplicant":[],"inventor":[],"notInventor":[],"owner":[],"notOwner":[],"tags":[],"dates":[],"types":[],"notTypes":[],"j":[],"notJ":[],"fj":[],"notFj":[],"classIpcr":[],"notClassIpcr":[],"classNat":[],"notClassNat":[],"classCpc":[],"notClassCpc":[],"so":[],"notSo":[],"sat":[]},"sequenceFilters":{"s":"SEQIDNO","d":"ASCENDING","p":0,"n":10,"sp":[],"si":[],"len":[],"t":[],"loc":[]}}