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公开(公告)号：US11568629B2
公开(公告)日：2023-01-31
申请号：US16433602
申请日：2019-06-06
申请人： Cognex Corporation
发明人： Lei Wang , Vivek Anand , Lowell D. Jacobson , David Y. Li
摘要： This invention provides a system and method for finding patterns in images that incorporates neural net classifiers. A pattern finding tool is coupled with a classifier that can be run before or after the tool to have labeled pattern results with sub-pixel accuracy. In the case of a pattern finding tool that can detect multiple templates, its performance is improved when a neural net classifier informs the pattern finding tool to work only on a subset of the originally trained templates. Similarly, in the case of a pattern finding tool that initially detects a pattern, a neural network classifier can then determine whether it has found the correct pattern. The neural network can also reconstruct/clean-up an imaged shape, and/or to eliminate pixels less relevant to the shape of interest, therefore reducing the search time, as well significantly increasing the chance of lock on the correct shapes.
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2.发明授权公开(公告)号：US10477154B2
公开(公告)日：2019-11-12
申请号：US13788973
申请日：2013-03-07
申请人： Cognex Corporation
发明人： David Y. Li , Lei Wang
IPC分类号： H04N7/00 , H04N7/18 , B25J9/16 , G05B19/402
摘要： This invention provides a system and method for aligning a first work piece with an underlying second work piece in the presence of occlusion by the first work piece of critical alignment features of the second work piece. The vision system, which guides the motion of a manipulator holding the first work piece and a motion stage holding the second work piece, learns secondary alignment features at least one of the first and second work pieces. Using these secondary features, the vision system determines alignment between the work pieces and guides the manipulator and the motion stage to achieve alignment as the first work piece engages the second work piece. The secondary features are used to define a course alignment. Deterministic movements of the manipulator and/or motion stage are used to learn the relationship between the secondary and primary features. Secondary features are used to direct alignment.
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公开(公告)号：US09569850B2
公开(公告)日：2017-02-14
申请号：US14515481
申请日：2014-10-15
申请人： Cognex Corporation
CPC分类号： G06T7/74 , G06K9/4604 , G06K9/6206 , G06T2207/20081 , G06T2207/30164 , G06T2207/30204
摘要： This invention provides a system and method for determining the pose of shapes that are known to a vision system that undergo both affine transformation and deformation. The object image with fiducial is acquired. The fiducial has affine parameters, including degrees of freedom (DOFs), search ranges and search step sizes, and control points with associated DOFs and step sizes. Each 2D affine parameter's search range and the distortion control points' DOFs are sampled and all combinations are obtained. The coarsely specified fiducial is transformed for each combination and a match metric is computed for the transformed fiducial, generating a score surface. Peaks are computed on this surface, as potential candidates, which are refined until a match metric is maximized. The refined representation exceeding a predetermined score is returned as potential shapes in the scene. Alternately the candidate with the best score can be used as a training fiducial.
摘要翻译： 本发明提供一种用于确定进行仿射变换和变形的视觉系统已知的形状姿态的系统和方法。 获取具有基准的物体图像。 基准具有仿射参数，包括自由度（DOF），搜索范围和搜索步长，以及具有相关DOF和步长的控制点。 对每个2D仿射参数的搜索范围和失真控制点的DOF进行采样，并获得所有组合。 为每个组合转换粗略指定的基准，并为变换的基准计算匹配度量，生成分数表面。 在该表面上计算峰值作为潜在候选，其在精度匹配度量最大化之前进行细化。 超过预定分数的精细表示作为场景中的潜在形状返回。 或者，具有最佳成绩的候选人可以用作培训基准。
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公开(公告)号：US11854173B2
公开(公告)日：2023-12-26
申请号：US17127868
申请日：2020-12-18
申请人： Cognex Corporation
发明人： Yu Feng Hsu , Lowell D. Jacobson , David Y. Li
CPC分类号： G06T5/20 , G06T7/13 , G06T7/143 , G06T2207/20076
摘要： This invention provides a system and method for finding multiple line features in an image. Two related steps are used to identify line features. First, the process computes x and y-components of the gradient field at each image location, projects the gradient field over a plurality subregions, and detects a plurality of gradient extrema, yielding a plurality of edge points with position and gradient. Next, the process iteratively chooses two edge points, fits a model line to them, and if edge point gradients are consistent with the model, computes the full set of inlier points whose position and gradient are consistent with that model. The candidate line with greatest inlier count is retained and the set of remaining outlier points is derived. The process then repeatedly applies the line fitting operation on this and subsequent outlier sets to find a plurality of line results. The process can be exhaustive RANSAC-based.
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公开(公告)号：US20190101376A1
公开(公告)日：2019-04-04
申请号：US15934766
申请日：2018-03-23
申请人： Cognex Corporation
发明人： David Y. Li , Li Sun , Lowell D. Jacobson , Lei Wang
摘要： This invention provides a system and method for selecting the correct profile from a range of peaks generated by analyzing a surface with multiple exposure levels applied at discrete intervals. The cloud of peak information is resolved by comparison to a model profile into a best candidate to represent an accurate representation of the object profile. Illustratively, a displacement sensor projects a line of illumination on the surface and receives reflected light at a sensor assembly at a set exposure level. A processor varies the exposure level setting in a plurality of discrete increments, and stores an image of the reflected light for each of the increments. A determination process combines the stored images and aligns the combined images with respect to a model image. Points from the combined images are selected based upon closeness to the model image to provide a candidate profile of the surface.
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公开(公告)号：US20150104068A1
公开(公告)日：2015-04-16
申请号：US14515481
申请日：2014-10-15
申请人： Cognex Corporation
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G06K9/4604 , G06K9/6206 , G06T2207/20081 , G06T2207/30164 , G06T2207/30204
摘要： This invention provides a system and method for determining the pose of shapes that are known to a vision system that undergo both affine transformation and deformation. The object image with fiducial is acquired. The fiducial has affine parameters, including degrees of freedom (DOFs), search ranges and search step sizes, and control points with associated DOFs and step sizes. Each 2D affine parameter's search range and the distortion control points' DOFs are sampled and all combinations are obtained. The coarsely specified fiducial is transformed for each combination and a match metric is computed for the transformed fiducial, generating a score surface. Peaks are computed on this surface, as potential candidates, which are refined until a match metric is maximized. The refined representation exceeding a predetermined score is returned as potential shapes in the scene. Alternately the candidate with the best score can be used as a training fiducial.
摘要翻译： 本发明提供一种用于确定进行仿射变换和变形的视觉系统已知的形状姿态的系统和方法。 获取具有基准的物体图像。 基准具有仿射参数，包括自由度（DOF），搜索范围和搜索步长，以及具有相关DOF和步长的控制点。 对每个2D仿射参数的搜索范围和失真控制点的DOF进行采样，并获得所有组合。 为每个组合转换粗略指定的基准，并为变换的基准计算匹配度量，生成分数表面。 在该表面上计算峰值作为潜在候选，其在精度匹配度量最大化之前进行细化。 超过预定分数的精细表示作为场景中的潜在形状返回。 或者，具有最佳成绩的候选人可以用作培训基准。
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7.发明申请SYSTEM AND METHOD FOR ALIGNING TWO WORK PIECES WITH A VISION SYSTEM IN THE PRESENCE OF OCCLUSION 审中-公开系统和方法用于在视觉系统存在的情况下对两个工作点进行校准公开(公告)号：US20140253720A1
公开(公告)日：2014-09-11
申请号：US13788973
申请日：2013-03-07
申请人： Cognex Corporation
发明人： David Y. Li , Lei Wang
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , B25J9/1697 , G05B19/402 , G05B2219/49113
摘要： This invention provides a system and method for aligning a first work piece with an underlying second work piece in the presence of occlusion by the first work piece of critical alignment features of the second work piece. The vision system, which guides the motion of a manipulator holding the first work piece and a motion stage holding the second work piece, learns secondary alignment features at least one of the first and second work pieces. Using these secondary features, the vision system determines alignment between the work pieces and guides the manipulator and the motion stage to achieve alignment as the first work piece engages the second work piece. The secondary features are used to define a course alignment. Deterministic movements of the manipulator and/or motion stage are used to learn the relationship between the secondary and primary features. Secondary features are used to direct alignment.
摘要翻译： 本发明提供一种用于在第一工件与第二工件的临界对准特征的闭合存在的情况下将第一工件与下面的第二工件对准的系统和方法。 引导保持第一工件的操纵器的运动和保持第二工件的运动台的视觉系统学习第一和第二工件中的至少一个的第二对准特征。 使用这些次要特征，视觉系统确定工件之间的对准并且引导操纵器和运动台以在第一工件接合第二工件时实现对准。 次要特征用于定义课程对齐。 使用操纵器和/或运动台的确定性运动来了解次要和主要特征之间的关系。 次要特征用于直接对齐。
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8.发明公开公开(公告)号：US20240005148A1
公开(公告)日：2024-01-04
申请号：US18103432
申请日：2023-01-30
申请人： Cognex Corporation
发明人： Lei Wang , Vivek Anand , Lowell D. Jacobson , David Y. Li
IPC分类号： G06N3/08 , G06V10/50 , G06F18/214 , G06V10/82 , G06V10/44
CPC分类号： G06N3/08 , G06V10/50 , G06F18/2148 , G06V10/7553 , G06V10/454 , G06V10/44 , G06V10/82
摘要： This invention provides a system and method for finding patterns in images that incorporates neural net classifiers. A pattern finding tool is coupled with a classifier that can be run before or after the tool to have labeled pattern results with sub-pixel accuracy. In the case of a pattern finding tool that can detect multiple templates, its performance is improved when a neural net classifier informs the pattern finding tool to work only on a subset of the originally trained templates. Similarly, in the case of a pattern finding tool that initially detects a pattern, a neural network classifier can then determine whether it has found the correct pattern. The neural network can also reconstruct/clean-up an imaged shape, and/or to eliminate pixels less relevant to the shape of interest, therefore reducing the search time, as well significantly increasing the chance of lock on the correct shapes.
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公开(公告)号：US11599978B2
公开(公告)日：2023-03-07
申请号：US17127868
申请日：2020-12-18
申请人： Cognex Corporation
发明人： Yu Feng Hsu , Lowell D. Jacobson , David Y. Li
摘要： This invention provides a system and method for finding multiple line features in an image. Two related steps are used to identify line features. First, the process computes x and y-components of the gradient field at each image location, projects the gradient field over a plurality subregions, and detects a plurality of gradient extrema, yielding a plurality of edge points with position and gradient. Next, the process iteratively chooses two edge points, fits a model line to them, and if edge point gradients are consistent with the model, computes the full set of inlier points whose position and gradient are consistent with that model. The candidate line with greatest inlier count is retained and the set of remaining outlier points is derived. The process then repeatedly applies the line fitting operation on this and subsequent outlier sets to find a plurality of line results. The process can be exhaustive RANSAC-based.
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公开(公告)号：US20210148694A1
公开(公告)日：2021-05-20
申请号：US17001018
申请日：2020-08-24
申请人： Cognex Corporation
发明人： David Y. Li , Li Sun , Lowell D. Jacobson , Lei Wang
摘要： This invention provides a system and method for selecting the correct profile from a range of peaks generated by analyzing a surface with multiple exposure levels applied at discrete intervals. The cloud of peak information is resolved by comparison to a model profile into a best candidate to represent an accurate representation of the object profile. Illustratively, a displacement sensor projects a line of illumination on the surface and receives reflected light at a sensor assembly at a set exposure level. A processor varies the exposure level setting in a plurality of discrete increments, and stores an image of the reflected light for each of the increments. A determination process combines the stored images and aligns the combined images with respect to a model image. Points from the combined images are selected based upon closeness to the model image to provide a candidate profile of the surface.
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