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1. 发明申请

US20100232681A1 THREE-DIMENSIONAL VISION SENSOR 有权
标题翻译：三维视觉传感器
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。

2. 发明申请

US20100232682A1 METHOD FOR DERIVING PARAMETER FOR THREE-DIMENSIONAL MEASUREMENT PROCESSING AND THREE-DIMENSIONAL VISUAL SENSOR 有权
标题翻译：用于三维测量加工和三维视觉传感器的方法
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。

3. 发明授权

US08648895B2 Method and apparatus for performing three-dimensional measurement 有权
标题翻译：用于进行三维测量的方法和装置
公开(公告)号：US08648895B2
公开(公告)日：2014-02-11
申请号：US12230441
申请日：2008-08-28
申请人： Yasuyuki Ikeda , Shiro Fujieda , Hiroshi Yano
发明人： Yasuyuki Ikeda , Shiro Fujieda , Hiroshi Yano
IPC分类号： H04N13/00 , G01C9/00
CPC分类号： G01B11/03 , G01B11/245
摘要： A control processing unit simultaneously drives cameras to produce images of a measuring object, the control processing unit searches corresponding point on a comparative image produced by one of the cameras for a representative point in a reference image produced by the other camera, and the control processing unit computes a three-dimensional coordinate corresponding to a coordinate using the coordinate of each point correlated by the search. The control processing unit also obtains a shift amount at the corresponding point specified by the search to an epipolar line specified based on a coordinate of a representative point on the reference image side or a parameter indicating a relationship between the cameras, and the control processing unit supplies the shift amount as an evaluation value indicating accuracy of three-dimensional measurement along with three-dimensional measurement result.
摘要翻译：控制处理单元同时驱动摄像机以产生测量对象的图像，控制处理单元搜索由其中一个摄像机产生的比较图像中的对应点，用于由另一摄像机产生的参考图像中的代表点，以及控制处理单位使用通过搜索相关的每个点的坐标来计算对应于坐标的三维坐标。控制处理单元还通过基于参考图像侧的代表点的坐标或表示摄像机之间的关系的参数，将由搜索指定的对应点处的偏移量获得到对准线，并且控制处理单元将三位测量结果作为三维测量精度的评价值作为评价值。

4. 发明授权

US08565515B2 Three-dimensional recognition result displaying method and three-dimensional visual sensor 有权
标题翻译：三维识别结果显示方法和三维视觉传感器
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。

5. 发明授权

US08564655B2 Three-dimensional measurement method and three-dimensional measurement apparatus 有权
公开(公告)号：US08564655B2
公开(公告)日：2013-10-22
申请号：US12230442
申请日：2008-08-28
申请人： Shiro Fujieda , Hiroshi Yano , Yasuyuki Ikeda
发明人： Shiro Fujieda , Hiroshi Yano , Yasuyuki Ikeda
IPC分类号： G03B7/00
CPC分类号： G01B11/0691 , G06T7/0006 , G06T7/593 , G06T2207/10012 , G06T2207/10028 , G06T2207/30164
摘要： Images of a work piece in which measurement object is restricted to a specific point or domain are taken by a camera which takes the image of the work piece from a front-view direction and a camera which takes the image from obliquely above, and a height of each measurement object region is measured. Each pixel of the front-view image used in measurement processing is virtually disposed in a three-dimensional coordinate system including x- and y-axes constituting a coordinate system of the image and a z-axis indicating the height, and a perspective transform is performed to produce a processing result image expressing measurement result. A measurement value is set as the z-coordinate at the pixel which is a height measurement object, and the z-coordinates of other pixels are set at other pixels. A mark for identifying a position and an auxiliary line indicating the height are set at measurement object points and measurement object region in the image.

6. 发明授权

US08295588B2 Three-dimensional vision sensor 有权
标题翻译：三维视觉传感器
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。

7. 发明申请

US20100232647A1 THREE-DIMENSIONAL RECOGNITION RESULT DISPLAYING METHOD AND THREE-DIMENSIONAL VISUAL SENSOR 有权
标题翻译：三维识别结果显示方法和三维视觉传感器
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。

8. 发明授权

US08340355B2 Three-dimensional measurement instrument, image pick-up apparatus and adjusting method for such an image pickup apparatus 有权
标题翻译：用于这种图像拾取装置的三维测量仪器，图像拾取装置和调节方法
公开(公告)号：US08340355B2
公开(公告)日：2012-12-25
申请号：US12234187
申请日：2008-09-19
申请人： Hiroshi Yano , Shiro Fujieda , Yasuyuki Ikeda
发明人： Hiroshi Yano , Shiro Fujieda , Yasuyuki Ikeda
IPC分类号： G06K9/00
CPC分类号： H04N5/247 , H04N13/239 , H04N13/246
摘要： An image pickup apparatus is provided with cameras and string-shaped members. The user is allowed to know working distances based upon the lengths of the string-shaped members. The optical axis direction of the camera is adjusted so that the leading edge of the string-shaped member is included in the viewing field of the camera, and the optical axis direction of the camera is adjusted so that the leading edge of the string-shaped member is included in the viewing field of the camera. Even in the case when no image-pickup object is present, by presuming the position of the image-pickup portion of the object, the working distance from the presumed position can be found by the string-shaped member. Moreover, since the string-shaped members are coupled to each other at the image-pickup position, the directions of the optical axes of the cameras can be determined based upon the extending directions of the string members.
摘要翻译：图像拾取装置具有相机和线状部件。允许使用者基于弦状构件的长度知道工作距离。调整照相机的光轴方向，使得串联构件的前缘被包括在照相机的视野中，并且相机的光轴方向被调节为使得弦状构件的前缘成员被包括在相机的视野中。即使在不存在图像拾取对象的情况下，通过假设对象的图像拾取部分的位置，可以通过线状构件找到与推定位置的工作距离。此外，由于串形构件在图像拾取位置处彼此联接，所以可以基于弦构件的延伸方向来确定摄像机的光轴的方向。

9. 发明授权

US08208718B2 Method for deriving parameter for three-dimensional measurement processing and three-dimensional visual sensor 有权
标题翻译：用于导出三维测量处理参数和三维视觉传感器的方法
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。

10. 发明申请

US20100232684A1 CALIBRATION APPARATUS AND METHOD FOR ASSISTING ACCURACY CONFIRMATION OF PARAMETER FOR THREE-DIMENSIONAL MEASUREMENT 有权
标题翻译：校准装置和方法，用于辅助三维测量参数的精确确定
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。

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