公开(公告)号：US11776137B2

公开(公告)日：2023-10-03

申请号：US17678113

申请日：2022-02-23

申请人： Cognex Corporation

发明人： Marcus Große ,  Bastian Harendt

IPC分类号： G06T7/246 ,  G06T7/285 ,  G06T7/00

CPC分类号： G06T7/248 ,  G06T7/285 ,  G06T7/97 ,  G06T2207/10012 ,  G06T2207/20076

摘要： In some aspects, the techniques described herein relate to systems, methods, and computer readable media for detecting movement in a scene. A first temporal pixel image is generated based on a first set of images of a scene over time, and a second temporal pixel image is generated based on a second set of images. One or more derived values are determined based on values of the temporal pixels in the first temporal pixel image, the second temporal pixel image, or both. Correspondence data is determined based on the first temporal pixel image and the second temporal pixel image indicative of a set of correspondences between image points of the first set of images and image points of the second set of images. An indication of whether there is a likelihood of motion in the scene is determined based on the one or more derived values and the correspondence data.

公开(公告)号：US20190325590A1

公开(公告)日：2019-10-24

申请号：US16392302

申请日：2019-04-23

申请人： Cognex Corporation

发明人： Marcus Große

IPC分类号： G06T7/32 ,  G06T7/593 ,  G06T7/521 ,  G06T7/90 ,  H04N13/00

摘要： In some aspects, the techniques described herein relate to systems, methods, and computer readable media for data pre-processing for stereo-temporal image sequences to improve three-dimensional data reconstruction. In some aspects, the techniques described herein relate to systems, methods, and computer readable media for improved correspondence refinement for image areas affected by oversaturation. In some aspects, the techniques described herein relate to systems, methods, and computer readable media configured to fill missing correspondences to improve three-dimensional (3-D) reconstruction. The techniques include identifying image points without correspondences, using existing correspondences and/or other information to generate approximated correspondences, and cross-checking the approximated correspondences to determine whether the approximated correspondences should be used for the image processing.

公开(公告)号：US11288819B2

公开(公告)日：2022-03-29

申请号：US16457881

申请日：2019-06-28

申请人： Cognex Corporation

发明人： Marcus Große ,  Bastian Harendt

IPC分类号： G06T7/00 ,  G06T7/246 ,  G06T7/285

摘要： In some aspects, the techniques described herein relate to systems, methods, and computer readable media for detecting movement in a scene. A first temporal pixel image is generated based on a first set of images of a scene over time, and a second temporal pixel image is generated based on a second set of images. One or more derived values are determined based on values of the temporal pixels in the first temporal pixel image, the second temporal pixel image, or both. Correspondence data is determined based on the first temporal pixel image and the second temporal pixel image indicative of a set of correspondences between image points of the first set of images and image points of the second set of images. An indication of whether there is a likelihood of motion in the scene is determined based on the one or more derived values and the correspondence data.

公开(公告)号：US11074700B2

公开(公告)日：2021-07-27

申请号：US16392289

申请日：2019-04-23

申请人： Cognex Corporation

发明人： Marcus Große ,  Martin Schaffer ,  Bastian Harendt

IPC分类号： G06K9/00 ,  G06T7/32 ,  G06T7/593 ,  G06T7/521 ,  H04N13/00 ,  G06T7/90 ,  G06T7/536 ,  H04N13/139 ,  H04N13/122 ,  G06K9/62 ,  G06T1/00

摘要： In some aspects, the techniques described herein relate to systems, methods, and computer readable media for generating, based on a set of images, a temporal pixel image comprising a set of temporal pixels, where each temporal pixel in the set of temporal pixels comprises a set of pixel values at an associated position from each image of the set of images. For a first temporal pixel from the set of temporal pixels, saturation data comprising a set of saturation values is generated, where each saturation value of the set of saturation values is associated with a pixel value of the set of pixel values of the first temporal pixel, and each pixel value is compared to a metric to determine a corresponding saturation value.

公开(公告)号：US20210092300A1

公开(公告)日：2021-03-25

申请号：US17035657

申请日：2020-09-28

申请人： Cognex Corporation

发明人： Robert Wolff ,  Thomas Penny ,  Marcus Große

IPC分类号： H04N5/232 ,  G03B21/14 ,  G06T5/00 ,  H04N5/225

摘要： The techniques described herein relate to methods, apparatus, and computer readable media configured to determine parameters for image acquisition. One or more image sensors are each arranged to capture a set of images of a scene, and each image sensor comprises a set of adjustable imaging parameters. A projector is configured to project a moving pattern on the scene, wherein the projector comprises a set of adjustable projector parameters. The set of adjustable projector parameters and the set of adjustable imaging parameters are determined, based on a set of one or more constraints, to reduce noise in 3D data generated based on the set of images.

公开(公告)号：US20190325598A1

公开(公告)日：2019-10-24

申请号：US16392289

申请日：2019-04-23

申请人： Cognex Corporation

发明人： Marcus Große ,  Martin Schaffer ,  Bastian Harendt

IPC分类号： G06T7/593 ,  G06T7/521 ,  G06T7/90 ,  H04N13/00

摘要： In some aspects, the techniques described herein relate to systems, methods, and computer readable media for data pre-processing for stereo-temporal image sequences to improve three-dimensional data reconstruction. In some aspects, the techniques described herein relate to systems, methods, and computer readable media for improved correspondence refinement for image areas affected by oversaturation. In some aspects, the techniques described herein relate to systems, methods, and computer readable media configured to fill missing correspondences to improve three-dimensional (3-D) reconstruction. The techniques include identifying image points without correspondences, using existing correspondences and/or other information to generate approximated correspondences, and cross-checking the approximated correspondences to determine whether the approximated correspondences should be used for the image processing.

公开(公告)号：US20230222707A1

公开(公告)日：2023-07-13

申请号：US18099544

申请日：2023-01-20

申请人： Cognex Corporation

发明人： Martin Schaffer ,  Marcus Große

IPC分类号： G06T11/00 ,  H04N13/243 ,  H04N5/72 ,  H04N13/296 ,  H04N13/00

CPC分类号： G06T11/003 ,  H04N13/243 ,  H04N5/72 ,  H04N13/296 ,  H04N2013/0074

摘要： Methods, systems, and computer readable media for generating a three-dimensional reconstruction of an object with reduced distortion are described. In some aspects, a system includes at least two image sensors, at least two projectors, and a processor. Each image sensor is configured to capture one or more images of an object. Each projector is configured to illuminate the object with an associated optical pattern and from a different perspective. The processor is configured to perform the acts of receiving, from each image sensor, for each projector, images of the object illuminated with the associated optical pattern and generating, from the received images, a three-dimensional reconstruction of the object. The three-dimensional reconstruction has reduced distortion due to the received images of the object being generated when each projector illuminates the object with an associated optical pattern from the different perspective.

公开(公告)号：US11017540B2

公开(公告)日：2021-05-25

申请号：US16392302

申请日：2019-04-23

申请人： Cognex Corporation

发明人： Marcus Große

IPC分类号： G06K9/00 ,  G06T7/32 ,  G06T7/593 ,  G06T7/521 ,  H04N13/00 ,  G06T7/90 ,  G06T7/536 ,  H04N13/139 ,  H04N13/122 ,  G06K9/62 ,  G06T1/00

摘要： In some aspects, the techniques described herein relate to systems, methods, and computer readable media for data pre-processing for stereo-temporal image sequences to improve three-dimensional data reconstruction. In some aspects, the techniques described herein relate to systems, methods, and computer readable media for improved correspondence refinement for image areas affected by oversaturation. In some aspects, the techniques described herein relate to systems, methods, and computer readable media configured to fill missing correspondences to improve three-dimensional (3-D) reconstruction. The techniques include identifying image points without correspondences, using existing correspondences and/or other information to generate approximated correspondences, and cross-checking the approximated correspondences to determine whether the approximated correspondences should be used for the image processing.

公开(公告)号：US20200082605A1

公开(公告)日：2020-03-12

申请号：US16556005

申请日：2019-08-29

申请人： Cognex Corporation

发明人： Marcus Große ,  Martin Schaffer ,  Simon Willeke ,  Bastian Harendt

IPC分类号： G06T15/20 ,  G06T7/593 ,  G06K9/00 ,  H04N13/243 ,  H04N13/239

摘要： The techniques described herein relate to methods, apparatus, and computer readable media for efficiently processing data of initial correspondence assignments, e.g., for three-dimensional reconstruction of an object. In some aspects, the system includes a processor configured to perform the acts of receiving a first set of images of a scene and a second set of images of the scene, determining a first pixel fingerprint based on the first set of images and a second pixel fingerprint based on the second set of images, generating a first binary pixel fingerprint based on the first pixel fingerprint and a second binary pixel fingerprint based on the second pixel fingerprint, and determining whether there exists a stereo correspondence between the first pixel fingerprint and the second pixel fingerprint at least in part based on comparing the first binary pixel fingerprint and the second binary pixel fingerprint.

公开(公告)号：US20190325594A1

公开(公告)日：2019-10-24

申请号：US16392262

申请日：2019-04-23

申请人： Cognex Corporation

发明人： Marcus Große ,  Martin Schaffer ,  Simon Willeke

IPC分类号： G06T7/536 ,  G06K9/62 ,  H04N13/122 ,  H04N13/139 ,  G06T1/00 ,  G06T7/593 ,  G06T7/521

摘要： In some aspects, the techniques described herein relate to systems, methods, and computer readable media for data pre-processing for stereo-temporal image sequences to improve three-dimensional data reconstruction. In some aspects, the techniques described herein relate to systems, methods, and computer readable media for improved correspondence refinement for image areas affected by oversaturation. In some aspects, the techniques described herein relate to systems, methods, and computer readable media configured to fill missing correspondences to improve three-dimensional (3-D) reconstruction. The techniques include identifying image points without correspondences, using existing correspondences and/or other information to generate approximated correspondences, and cross-checking the approximated correspondences to determine whether the approximated correspondences should be used for the image processing.