公开(公告)号：US09393694B2

公开(公告)日：2016-07-19

申请号：US12780119

申请日：2010-05-14

Applicant: Aaron S. Wallack ,  Lifeng Liu ,  Xiangyun Ye

Inventor： Aaron S. Wallack ,  Lifeng Liu ,  Xiangyun Ye

IPC: G06K9/00 ,  B25J9/16 ,  G06T7/00

CPC classification number: B25J9/1692 ,  B25J9/1607 ,  B25J9/1697 ,  G05B2219/39008 ,  G05B2219/39022 ,  G05B2219/39045 ,  G05B2219/39057 ,  G06T7/80 ,  Y10S901/09

Abstract: A system and method for robustly calibrating a vision system and a robot is provided. The system and method enables a plurality of cameras to be calibrated into a robot base coordinate system to enable a machine vision/robot control system to accurately identify the location of objects of interest within robot base coordinates.

Abstract translation: 提供了用于鲁棒校准视觉系统和机器人的系统和方法。 该系统和方法使得能够将多个摄像机校准成机器人基座坐标系，以使机器视觉/机器人控制系统能够精确地识别机器人基准坐标内的感兴趣物体的位置。

公开(公告)号：US09367725B2

公开(公告)日：2016-06-14

申请号：US13288098

申请日：2011-11-03

Applicant: James Negro ,  Xiangyun Ye

Inventor： James Negro ,  Xiangyun Ye

IPC: G06K9/18 ,  G06K7/14 ,  G06K7/10

CPC classification number: G06K7/1447 ,  G06K7/10722 ,  G06K7/10881 ,  G06K7/1404 ,  G06K7/1417 ,  G06K9/18 ,  G06K19/06037

Abstract: A method and apparatus for decoding codes applied to objects for use with an image sensor that includes a two dimensional field of view (FOV), the method comprising the steps of providing a processor programmed to perform the steps of obtaining an image of the FOV and applying different decode algorithms to code candidates in the obtained image to attempt to decode the code candidates wherein the decode algorithm applied to each candidate is a function of the location of the code candidate in the FOV.

Abstract translation: 一种用于对应用于包括二维视场（FOV）的图像传感器使用的对象的代码进行解码的方法和装置，所述方法包括以下步骤：提供被编程为执行以下步骤的处理器：获得所述FOV的图像;以及 应用不同的解码算法对所获得的图像中的候选进行编码，以尝试对代码候选进行解码，其中应用于每个候选的解码算法是FOV中代码候选的位置的函数。

公开(公告)号：US20140270539A1

公开(公告)日：2014-09-18

申请号：US13843057

申请日：2013-03-15

Applicant: Xianju Wang ,  Xiangyun Ye

Inventor： Xianju Wang ,  Xiangyun Ye

IPC: G06K7/14

CPC classification number: G06K7/1417 ,  G06K7/1491

Abstract: Systems and methods read machine readable symbols, the systems and methods capture multiple images of the symbol and can locate symbol data region(s) from an image even when the symbol data is corrupted and not decodable. Binary matrices are generated of the symbol data regions obtained from the multiple images and can be accumulated to generate a decodable image. A correspondence can be established among multiple images acquired on the same symbol when the symbol has moved from one image to the next.

Abstract translation: 系统和方法读取机器可读符号，系统和方法捕获符号的多个图像，并且可以从图像中定位符号数据区域，即使符号数据已损坏且不可解码。 生成从多个图像获得的符号数据区域的二进制矩阵，并且可以被累积以产生可解码的图像。 当符号已经从一个图像移动到下一个图像时，可以在相同符号上获取的多个图像之间建立对应关系。

公开(公告)号：US08270749B2

公开(公告)日：2012-09-18

申请号：US13164216

申请日：2011-06-20

Applicant: Sateesh Nadabar ,  Xiangyun Ye

Inventor： Sateesh Nadabar ,  Xiangyun Ye

IPC: G06K9/40

CPC classification number: G06K9/44 ,  G06K19/06037

Abstract: A method is presented for processing an image of a two-dimensional (2D) matrix symbol having a plurality of data modules and a discontinuous finder pattern, each distorted by “donut effects”. A resulting processed image contains an image of the 2D matrix symbol having a continuous finder pattern suitable for conventional 2D matrix symbol locating techniques, and having a plurality of data modules, each data module having a center more truly representative of intended data, and suitable for conventional 2D matrix symbol sampling and decoding. The method includes sharpening the distorted image of the 2D matrix symbol to increase a difference between low frequency and high frequency image feature magnitudes, thereby providing a sharpened image, and smoothing the sharpened image using a moving window over the sharpened image so as to provide a smoothed image, the moving window and a module of the 2D matrix code being of substantially similar size.

Abstract translation: 提出了一种用于处理具有多个数据模块和不连续取景器图案的二维（2D）矩阵符号的图像的方法，每个数据模块和不连续取景器图案都被“环形效应”扭曲。 所得到的经处理的图像包含具有适用于常规2D矩阵符号定位技术的连续取景器图案的2D矩阵符号的图像，并且具有多个数据模块，每个数据模块具有更真实地代表预期数据的中心，并且适于 常规2D矩阵符号采样和解码。 该方法包括锐化2D矩阵符号的失真图像以增加低频和高频图像特征量之间的差异，从而提供锐化的图像，并且使用在锐化图像上的移动窗口来平滑锐化的图像，从而提供 平滑的图像，移动窗口和2D矩阵代码的模块具有基本相似的大小。

公开(公告)号：US20110268361A1

公开(公告)日：2011-11-03

申请号：US13164216

申请日：2011-06-20

Applicant: Sateesh Nadabar ,  Xiangyun Ye

Inventor： Sateesh Nadabar ,  Xiangyun Ye

IPC: G06K9/00

CPC classification number: G06K9/44 ,  G06K19/06037

Abstract: A method is presented for processing an image of a two-dimensional (2D) matrix symbol having a plurality of data modules and a discontinuous finder pattern, each distorted by “donut effects”. A resulting processed image contains an image of the 2D matrix symbol having a continuous finder pattern suitable for conventional 2D matrix symbol locating techniques, and having a plurality of data modules, each data module having a center more truly representative of intended data, and suitable for conventional 2D matrix symbol sampling and decoding. The method includes sharpening the distorted image of the 2D matrix symbol to increase a difference between low frequency and high frequency image feature magnitudes, thereby providing a sharpened image, and smoothing the sharpened image using a moving window over the sharpened image so as to provide a smoothed image, the moving window and a module of the 2D matrix code being of substantially similar size.

Abstract translation: 提出了一种用于处理具有多个数据模块和不连续取景器图案的二维（2D）矩阵符号的图像的方法，每个数据模块和不连续取景器图案都被“环形效应”扭曲。 所得到的经处理的图像包含具有适用于常规2D矩阵符号定位技术的连续取景器图案的2D矩阵符号的图像，并且具有多个数据模块，每个数据模块具有更真实地代表预期数据的中心，并且适于 常规2D矩阵符号采样和解码。 该方法包括锐化2D矩阵符号的失真图像以增加低频和高频图像特征量之间的差异，从而提供锐化的图像，并且使用在锐化图像上的移动窗口来平滑锐化的图像，从而提供 平滑的图像，移动窗口和2D矩阵代码的模块具有基本相似的大小。

公开(公告)号：US07878402B2

公开(公告)日：2011-02-01

申请号：US11312703

申请日：2005-12-20

Applicant: Xiangyun Ye ,  Sateesha Nadabar

Inventor： Xiangyun Ye ,  Sateesha Nadabar

IPC: G06K9/80

CPC classification number: G06T3/00 ,  G06K7/14

Abstract: A method is provided for reading distorted optical symbols using known locating and decoding methods, without requiring a separate and elaborate camera calibration procedure, without excessive computational complexity, and without compromised burst noise handling. The invention exploits a distortion-tolerant method for locating and decoding 2D code symbols to provide a correspondence between a set of points in an acquired image and a set of points in the symbol. A coordinate transformation is then constructed using the correspondence, and run-time images are corrected using the coordinate transformation. Each corrected run-time image provides a distortion-free representation of a symbol that can be read by traditional code readers that normally cannot read distorted symbols. The method can handle both optical distortion and printing distortion. The method is applicable to “portable” readers when an incident angle with the surface is maintained, the reader being disposed at any distance from the surface.

Abstract translation: 提供了一种使用已知的定位和解码方法来读取失真的光学符号的方法，而不需要单独的精心设计的相机校准过程，而没有过多的计算复杂度，并且没有受到破坏的突发噪声处理。 本发明利用了一种用于定位和解码2D码符号以提供所获取的图像中的一组点与符号中的一组点之间的对应关系的容错方法。 然后使用对应关系构建坐标变换，并使用坐标变换校正运行时图像。 每个校正的运行时间图像提供了可以由通常不能读取失真的符号的传统代码读取器读取的符号的无失真表示。 该方法可以处理光学失真和打印失真。 当与表面的入射角保持时，该方法适用于“便携式”读取器，读取器被布置在与表面相距的任何距离处。

公开(公告)号：US20090090781A1

公开(公告)日：2009-04-09

申请号：US11312703

申请日：2005-12-20

Applicant: Xiangyun Ye ,  Sateesha Nadabar

Inventor： Xiangyun Ye ,  Sateesha Nadabar

IPC: G06K7/10 ,  G06K9/40

CPC classification number: G06T3/00 ,  G06K7/14

Abstract: A method is provided for reading distorted optical symbols using known locating and decoding methods, without requiring a separate and elaborate camera calibration procedure, without excessive computational complexity, and without compromised burst noise handling. The invention exploits a distortion-tolerant method for locating and decoding 2D code symbols to provide a correspondence between a set of points in an acquired image and a set of points in the symbol. A coordinate transformation is then constructed using the correspondence, and run-time images are corrected using the coordinate transformation. Each corrected run-time image provides a distortion-free representation of a symbol that can be read by traditional code readers that normally cannot read distorted symbols. The method can handle both optical distortion and printing distortion. The method is applicable to “portable” readers when an incident angle with the surface is maintained, the reader being disposed at any distance from the surface.

Abstract translation: 提供了一种使用已知的定位和解码方法来读取失真的光学符号的方法，而不需要单独的精心设计的相机校准过程，而没有过多的计算复杂度，并且没有受到破坏的突发噪声处理。 本发明利用了一种用于定位和解码2D码符号以提供所获取的图像中的一组点与符号中的一组点之间的对应关系的容错方法。 然后使用对应关系构建坐标变换，并使用坐标变换校正运行时图像。 每个校正的运行时间图像提供了可以由通常不能读取失真的符号的传统代码读取器读取的符号的无失真表示。 该方法可以处理光学失真和打印失真。 当与表面的入射角保持时，该方法适用于“便携式”读取器，读取器被布置在与表面相距的任何距离处。

公开(公告)号：US09734419B1

公开(公告)日：2017-08-15

申请号：US12346773

申请日：2008-12-30

Applicant: Xiangyun Ye ,  Aaron S. Wallack ,  Guruprasad Shivaram ,  Cyril C. Marrion ,  David Y. Li

Inventor： Xiangyun Ye ,  Aaron S. Wallack ,  Guruprasad Shivaram ,  Cyril C. Marrion ,  David Y. Li

IPC: G06K9/20

CPC classification number: G06K9/209 ,  G06T7/85

Abstract: This invention provides a system and method to validate the accuracy of camera calibration in a single or multiple-camera embodiment, utilizing either 2D cameras or 3D imaging sensors. It relies upon an initial calibration process that generates and stores camera calibration parameters and residual statistics based upon images of a first calibration object. A subsequent validation process (a) acquires images of the first calibration object or a second calibration object having a known pattern and dimensions; (b) extracts features of the images of the first calibration object or the second calibration object; (c) predicts positions expected of features of the first calibration object or the second calibration object using the camera calibration parameters; and (d) computes a set of discrepancies between positions of the extracted features and the predicted positions of the features. The validation process then uses the computed set of discrepancies in a decision process that determines whether at least one of the discrepancies exceeds a predetermined threshold value. If so, recalibration is required. Where multiple cameras are employed, extrinsic parameters are determined and used in conjunction with the intrinsics.

公开(公告)号：US20150347802A1

公开(公告)日：2015-12-03

申请号：US14821920

申请日：2015-08-10

Applicant: Xianju Wang ,  Xiangyun Ye ,  James A. Negro ,  David Vekony ,  Robb Robles ,  Jozsef Borovszki ,  Steven G. Webster

Inventor： Xianju Wang ,  Xiangyun Ye ,  James A. Negro ,  David Vekony ,  Robb Robles ,  Jozsef Borovszki ,  Steven G. Webster

IPC: G06K7/14

CPC classification number: G06K7/1491 ,  G06K7/1417 ,  H01L21/00

Abstract: Systems and methods are described for acquiring and decoding a plurality of images. First images are acquired and then processed to attempt to decode a symbol. Contributions of the first images to the decoding attempt are identified. An updated acquisition-settings order is determined based at least partly upon the contributions of the first images to the decoding attempt. Second images are acquired or processed based at least partly upon the updated acquisition-settings order.

Abstract translation: 描述了用于获取和解码多个图像的系统和方法。 获取第一图像，然后处理以尝试对符号进行解码。 识别第一图像对解码尝试的贡献。 至少部分地基于第一图像对解码尝试的贡献来确定更新的采集设置顺序。 至少部分地基于更新的采集设置顺序来获取或处理第二图像。

公开(公告)号：US08442304B2

公开(公告)日：2013-05-14

申请号：US12345130

申请日：2008-12-29

Applicant: Cyril C. Marrion ,  Nigel J. Foster ,  Lifeng Liu ,  David Y. Li ,  Guruprasad Shivaram ,  Aaron S. Wallack ,  Xiangyun Ye

Inventor： Cyril C. Marrion ,  Nigel J. Foster ,  Lifeng Liu ,  David Y. Li ,  Guruprasad Shivaram ,  Aaron S. Wallack ,  Xiangyun Ye

IPC: G06K9/00

CPC classification number: G06K9/00214 ,  G06K9/6211

Abstract: This invention provides a system and method for determining the three-dimensional alignment of a modeled object or scene. A 3D (stereo) sensor system views the object to derive a runtime 3D representation of the scene containing the object. Rectified images from each stereo head are preprocessed to enhance their edge features. 3D points are computed for each pair of cameras to derive a 3D point cloud. The amount of 3D data from the point cloud is reduced by extracting higher-level geometric shapes (HLGS), such as line segments. Found HLGS from runtime are corresponded to HLGS on the model to produce candidate 3D poses. A coarse scoring process prunes the number of poses. The remaining candidate poses are then subjected to a further more-refined scoring process. These surviving candidate poses are then verified whereby the closest match is the best refined three-dimensional pose.

Abstract translation: 本发明提供了一种用于确定建模对象或场景的三维对准的系统和方法。 3D（立体声）传感器系统查看对象以导出包含对象的场景的运行时3D表示。 来自每个立体声头的整流图像被预处理以增强其边缘特征。 为每对相机计算3D点以导出3D点云。 通过提取诸如线段的较高级几何形状（HLGS）来减少来自点云的3D数据量。 从运行时发现的HLGS对应于模型上的HLGS，以产生候选的3D姿势。 粗略的评分过程会减少姿势的数量。 然后，剩下的候选姿势进一步进行更精细的评分过程。 然后验证这些存活的候选姿势，从而最接近的匹配是最好的精制三维姿态。