公开(公告)号：US20100232682A1

公开(公告)日：2010-09-16

申请号：US12711179

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06K9/00214 ,  G06T7/60 ,  G06T2207/10012 ,  G06T2207/30164

摘要： In the present invention, processing for setting a parameter expressing a measurement condition of three-dimensional measurement to a value necessary to output a proper recognition result is easily performed. The three-dimensional measurement is performed to stereo images of real models WM1 and WM2 of a workpiece using a measurement parameter set by a user, and positions and attitudes of the workpiece models WM1 and WM2 are recognized based on the measurement result. An image expressing the recognition result is displayed, and numerical data indicating the selected recognition result is set to sample data in response to a user manipulation for selecting the recognition result. A setting value of the measurement parameter is changed every time in a predetermined numerical range, the three-dimensional measurement and recognition processing are performed using the setting measurement parameter, and a numerical range of the setting parameter is set to an acceptable range when the recognition result in which an amount of difference with sample data falls within a predetermined value is obtained. An intermediate value of the acceptable range is fixed and registered as an optimum value of the parameter.

摘要翻译： 在本发明中，容易进行用于将表示三维测量的测量条件的参数设置为输出适当的识别结果所需的值的处理。 使用由用户设置的测量参数对工件的实际模型WM1和WM2的立体图像进行三维测量，并且基于测量结果识别工件模型WM1和WM2的位置和姿态。 显示表示识别结果的图像，并且响应于用于选择识别结果的用户操作，将指示所选择的识别结果的数值数据设置为采样数据。 在规定的数值范围内，每次改变测定参数的设定值，使用设定测定参数进行三维测定和识别处理，将该设定参数的数值范围设定为可以接受的范围 导致与采样数据的差异量落在预定值内的结果。 可接受范围的中间值是固定的，并被注册为参数的最佳值。

公开(公告)号：US20100232681A1

公开(公告)日：2010-09-16

申请号：US12711028

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06K9/00 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30164

摘要： An object of the present invention is to enable performing height recognition processing by setting a height of an arbitrary plane to zero for convenience of the recognition processing. A parameter for three-dimensional measurement is calculated and registered through calibration and, thereafter, an image pickup with a stereo camera is performed on a plane desired to be recognized as having a height of zero in actual recognition processing. Further, three-dimensional measurement using the registered parameter is performed on characteristic patterns (marks m1, m2 and m3) included in this plane. Three or more three-dimensional coordinates are obtained through this measurement and, then, a calculation equation expressing a plane including these coordinates is derived. Further, based on a positional relationship between a plane defined as having a height of zero through the calibration and the plane expressed by the calculation equation, a transformation parameter (a homogeneous transformation matrix) for displacing points in the former plane into the latter plane is determined, and the registered parameter is changed using the transformation parameter.

摘要翻译： 本发明的目的是通过将任意平面的高度设置为零来实现高度识别处理，以便于识别处理。 通过校准计算并记录用于三维测量的参数，此后，在实际识别处理中，希望被识别为具有零高度的平面上执行具有立体相机的图像拾取。 此外，对包括在该平面中的特征图案（标记m1，m2和m3）进行使用登记参数的三维测量。 通过该测量获得三个以上的三维坐标，然后导出表示包括这些坐标的平面的计算式。 此外，基于通过校准定义为具有零高度的平面与由计算方程表示的平面之间的位置关系，将用于将前平面中的点移位到后平面中的变换参数（均匀变换矩阵）是 确定，并使用变换参数更改注册参数。

公开(公告)号：US08565515B2

公开(公告)日：2013-10-22

申请号：US12711018

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06K9/00214 ,  G06T7/75 ,  G06T2207/10012 ,  G06T2207/30164

摘要： In the present invention, whether three-dimensional measurement or checking processing with a model is properly performed by setting information and recognition processing result can easily be confirmed. After setting processing is performed to a three-dimensional visual sensor including a stereo camera, a real workpiece is imaged, the three-dimensional measurement is performed to an edge included in a produced stereo image, and restored three-dimensional information is checked with a three-dimensional model to compute a position of the workpiece and a rotation angle for an attitude indicated by the three-dimensional model. Thereafter, perspective transformation of the three-dimensional information on the edge obtained through measurement processing and the three-dimensional model to which coordinate transformation is already performed based on recognition result is performed into a coordinate system of a camera that performs the imaging, and projection images are displayed while being able to be checked with each other.

摘要翻译： 在本发明中，通过设定信息适当地执行模型的三维测量或检查处理，并且可以容易地确认识别处理结果。 在对包括立体相机的三维视觉传感器进行设置处理之后，对实际工件进行成像，对生成的立体图像中包括的边缘进行三维测量，并且用 用于计算工件的位置的三维模型和由三维模型表示的姿态的旋转角度。 此后，通过测量处理获得的边缘上的三维信息和基于识别结果已经执行了坐标变换的三维模型的透视变换被执行到执行成像的相机的坐标系和投影 显示图像，同时能够相互检查。

公开(公告)号：US08295588B2

公开(公告)日：2012-10-23

申请号：US12711028

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06K9/00 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30164

摘要： An object of the present invention is to enable performing height recognition processing by setting a height of an arbitrary plane to zero for convenience of the recognition processing. A parameter for three-dimensional measurement is calculated and registered through calibration and, thereafter, an image pickup with a stereo camera is performed on a plane desired to be recognized as having a height of zero in actual recognition processing. Further, three-dimensional measurement using the registered parameter is performed on characteristic patterns (marks m1, m2 and m3) included in this plane. Three or more three-dimensional coordinates are obtained through this measurement and, then, a calculation equation expressing a plane including these coordinates is derived. Further, based on a positional relationship between a plane defined as having a height of zero through the calibration and the plane expressed by the calculation equation, a transformation parameter (a homogeneous transformation matrix) for displacing points in the former plane into the latter plane is determined, and the registered parameter is changed using the transformation parameter.

摘要翻译： 本发明的目的是通过将任意平面的高度设置为零来实现高度识别处理，以便于识别处理。 通过校准计算并记录用于三维测量的参数，此后，在实际识别处理中，希望被识别为具有零高度的平面上执行具有立体相机的图像拾取。 此外，对包括在该平面中的特征图案（标记m1，m2和m3）进行使用登记参数的三维测量。 通过该测量获得三个以上的三维坐标，然后导出表示包括这些坐标的平面的计算式。 此外，基于通过校准定义为具有零高度的平面与由计算方程表示的平面之间的位置关系，将用于将前平面中的点移位到后平面中的变换参数（均匀变换矩阵）是 确定，并使用变换参数更改注册参数。

公开(公告)号：US20100232647A1

公开(公告)日：2010-09-16

申请号：US12711018

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00 ,  G06T15/00

CPC分类号： G06K9/00214 ,  G06T7/75 ,  G06T2207/10012 ,  G06T2207/30164

摘要： In the present invention, whether three-dimensional measurement or checking processing with a model is properly performed by setting information and recognition processing result can easily be confirmed. After setting processing is performed to a three-dimensional visual sensor including a stereo camera, a real workpiece is imaged, the three-dimensional measurement is performed to an edge included in a produced stereo image, and restored three-dimensional information is checked with a three-dimensional model to compute a position of the workpiece and a rotation angle for an attitude indicated by the three-dimensional model. Thereafter, perspective transformation of the three-dimensional information on the edge obtained through measurement processing and the three-dimensional model to which coordinate transformation is already performed based on recognition result is performed into a coordinate system of a camera that performs the imaging, and projection images are displayed while being able to be checked with each other.

摘要翻译： 在本发明中，通过设定信息适当地执行模型的三维测量或检查处理，并且可以容易地确认识别处理结果。 在对包括立体相机的三维视觉传感器进行设置处理之后，对实际工件进行成像，对生成的立体图像中包括的边缘进行三维测量，并且用 用于计算工件的位置的三维模型和由三维模型表示的姿态的旋转角度。 此后，通过测量处理获得的边缘上的三维信息和基于识别结果已经执行了坐标变换的三维模型的透视变换被执行到执行成像的相机的坐标系和投影 显示图像，同时能够相互检查。

公开(公告)号：US08447097B2

公开(公告)日：2013-05-21

申请号：US12711814

申请日：2010-02-24

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00 ,  G06K9/36

CPC分类号： G06T7/85

摘要： When computation of a three-dimensional measurement processing parameter is completed, accuracy of a computed parameter can easily be confirmed. After a parameter for three-dimensional measurement is computed through calibration processing using a calibration workpiece in which plural feature points whose positional relationship is well known can be extracted from an image produced by imaging, three-dimensional coordinate computing processing is performed using the computed parameter for the plural feature points included in the stereo image used to compute the parameter. Perspective transformation of each computed three-dimensional coordinate is performed to produce a projection image in which each post-perspective-transformation three-dimensional coordinate is expressed by a predetermined pattern, and the projection image is displayed on a monitor device.

摘要翻译： 当三维测量处理参数的计算完成时，可以容易地确认计算参数的精度。 在通过使用校准工件的校准处理来计算用于三维测量的参数之后，其中可以从通过成像产生的图像中提取其位置关系是众所周知的多个特征点的三维坐标计算处理，使用所计算的参数 用于包括在用于计算参数的立体图像中的多个特征点。 执行每个计算的三维坐标的透视变换以产生投影图像，其中每个后视角转换三维坐标由预定图案表示，并且将投影图像显示在监视器设备上。

公开(公告)号：US08280151B2

公开(公告)日：2012-10-02

申请号：US12711196

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06T15/20 ,  G06T7/344 ,  G06T7/75 ,  G06T2207/10012 ,  G06T2207/30164

摘要： Display suitable to an actual three-dimensional model or a recognition-target object is performed when stereoscopic display of a three-dimensional model is performed while correlated to an image used in three-dimensional recognition processing. After a position and a rotation angle of a workpiece are recognized through recognition processing using the three-dimensional model, coordinate transformation of the three-dimensional model is performed based on the recognition result, and a post-coordinate-transformation Z-coordinate is corrected according to an angle (elevation angle f) formed between a direction of a line of sight and an imaging surface. Then perspective transformation of the post-correction three-dimensional model into a coordinate system of a camera of a processing object is performed, and a height according to a pre-correction Z-coordinate at a corresponding point of the pre-coordinate-transformation three-dimensional model is set to each point of a produced projection image. Projection processing is performed from a specified direction of a line of sight to a point group that is three-dimensionally distributed by the processing, thereby producing a stereoscopic image of the three-dimensional model.

摘要翻译： 当与三维识别处理中使用的图像相关联时，执行三维模型的立体显示时，执行适合于实际的三维模型或识别目标对象的显示。 在通过使用三维模型的识别处理来识别工件的位置和旋转角度之后，基于识别结果执行三维模型的坐标变换，并且校正后坐标变换Z坐标 根据在视线方向和成像面之间形成的角度（仰角f）。 然后，执行校正后三维模型的视角变换为处理对象的照相机的坐标系，并且根据预坐标变换3的对应点处的预校正Z坐标的高度 将维度模型设置为所生成的投影图像的每个点。 从指定的视线方向到通过处理三维分布的点组进行投影处理，从而产生三维模型的立体图像。

公开(公告)号：US20100232683A1

公开(公告)日：2010-09-16

申请号：US12711196

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06T15/20 ,  G06T7/344 ,  G06T7/75 ,  G06T2207/10012 ,  G06T2207/30164

摘要： Display suitable to an actual three-dimensional model or a recognition-target object is performed when stereoscopic display of a three-dimensional model is performed while correlated to an image used in three-dimensional recognition processing. After a position and a rotation angle of a workpiece are recognized through recognition processing using the three-dimensional model, coordinate transformation of the three-dimensional model is performed based on the recognition result, and a post-coordinate-transformation Z-coordinate is corrected according to an angle (elevation angle f) formed between a direction of a line of sight and an imaging surface. Then perspective transformation of the post-correction three-dimensional model into a coordinate system of a camera of a processing object is performed, and a height according to a pre-correction Z-coordinate at a corresponding point of the pre-coordinate-transformation three-dimensional model is set to each point of a produced projection image. Projection processing is performed from a specified direction of a line of sight to a point group that is three-dimensionally distributed by the processing, thereby producing a stereoscopic image of the three-dimensional model.

摘要翻译： 当与三维识别处理中使用的图像相关联时，执行三维模型的立体显示时，执行适合于实际的三维模型或识别目标对象的显示。 在通过使用三维模型的识别处理来识别工件的位置和旋转角度之后，基于识别结果执行三维模型的坐标变换，并且校正后坐标变换Z坐标 根据在视线方向和成像面之间形成的角度（仰角f）。 然后，执行校正后三维模型的透视变换为处理对象的照相机的坐标系，并且根据预坐标变换3的对应点处的预校正Z坐标的高度 将维度模型设置为所生成的投影图像的每个点。 从指定的视线方向到通过处理三维分布的点组进行投影处理，从而产生三维模型的立体图像。

公开(公告)号：US08208718B2

公开(公告)日：2012-06-26

申请号：US12711179

申请日：2010-02-23

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06K9/00214 ,  G06T7/60 ,  G06T2207/10012 ,  G06T2207/30164

摘要： In the present invention, processing for setting a parameter expressing a measurement condition of three-dimensional measurement to a value necessary to output a proper recognition result is easily performed. The three-dimensional measurement is performed to stereo images of real models WM1 and WM2 of a workpiece using a measurement parameter set by a user, and positions and attitudes of the workpiece models WM1 and WM2 are recognized based on the measurement result. An image expressing the recognition result is displayed, and numerical data indicating the selected recognition result is set to sample data in response to a user manipulation for selecting the recognition result. A setting value of the measurement parameter is changed every time in a predetermined numerical range, the three-dimensional measurement and recognition processing are performed using the setting measurement parameter, and a numerical range of the setting parameter is set to an acceptable range when the recognition result in which an amount of difference with sample data falls within a predetermined value is obtained. An intermediate value of the acceptable range is fixed and registered as an optimum value of the parameter.

摘要翻译： 在本发明中，容易进行用于将表示三维测量的测量条件的参数设置为输出适当的识别结果所需的值的处理。 使用由用户设置的测量参数对工件的实际模型WM1和WM2的立体图像进行三维测量，并且基于测量结果识别工件模型WM1和WM2的位置和姿态。 显示表示识别结果的图像，并且响应于用于选择识别结果的用户操作，将指示所选择的识别结果的数值数据设置为采样数据。 在规定的数值范围内，每次改变测定参数的设定值，使用设定测定参数进行三维测定和识别处理，将该设定参数的数值范围设定为可以接受的范围 导致与采样数据的差异量落在预定值内的结果。 可接受范围的中间值是固定的，并被注册为参数的最佳值。

公开(公告)号：US20100232684A1

公开(公告)日：2010-09-16

申请号：US12711814

申请日：2010-02-24

申请人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

发明人： Shiro Fujieda ,  Atsushi Taneno ,  Hiroshi Yano ,  Yasuyuki Ikeda

IPC分类号： G06K9/00

CPC分类号： G06T7/85

摘要： When computation of a three-dimensional measurement processing parameter is completed, accuracy of a computed parameter can easily be confirmed. After a parameter for three-dimensional measurement is computed through calibration processing using a calibration workpiece in which plural feature points whose positional relationship is well known can be extracted from an image produced by imaging, three-dimensional coordinate computing processing is performed using the computed parameter for the plural feature points included in the stereo image used to compute the parameter. Perspective transformation of each computed three-dimensional coordinate is performed to produce a projection image in which each post-perspective-transformation three-dimensional coordinate is expressed by a predetermined pattern, and the projection image is displayed on a monitor device.

摘要翻译： 当三维测量处理参数的计算完成时，可以容易地确认计算参数的精度。 在通过使用校准工件的校准处理来计算用于三维测量的参数之后，其中可以从通过成像产生的图像中提取其位置关系是众所周知的多个特征点的三维坐标计算处理，使用所计算的参数 用于包括在用于计算参数的立体图像中的多个特征点。 执行每个计算的三维坐标的透视变换以产生投影图像，其中每个后视角转换三维坐标由预定图案表示，并且将投影图像显示在监视器设备上。