WO2007044629A3 - Methods and apparatus for practical 3d vision system - Google Patents

Methods and apparatus for practical 3d vision system Download PDF

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Publication number
WO2007044629A3
WO2007044629A3 PCT/US2006/039324 US2006039324W WO2007044629A3 WO 2007044629 A3 WO2007044629 A3 WO 2007044629A3 US 2006039324 W US2006039324 W US 2006039324W WO 2007044629 A3 WO2007044629 A3 WO 2007044629A3
Authority
WO
WIPO (PCT)
Prior art keywords
images
pose
camera
space
pixel
Prior art date
Application number
PCT/US2006/039324
Other languages
French (fr)
Other versions
WO2007044629A2 (en
Inventor
Aaron Wallack
David Michael
Original Assignee
Cognex Corp
Aaron Wallack
David Michael
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cognex Corp, Aaron Wallack, David Michael filed Critical Cognex Corp
Priority to DE112006002674.7T priority Critical patent/DE112006002674B4/en
Priority to JP2008534751A priority patent/JP4976402B2/en
Publication of WO2007044629A2 publication Critical patent/WO2007044629A2/en
Publication of WO2007044629A3 publication Critical patent/WO2007044629A3/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation

Abstract

The invention provides inter alia methods and apparatus for determining the pose,e.g., position along x-, y- and z-axes, pitch, roll and yaw (or one or more characteristics of that pose) of an object in three dimensions by triangulation of data gleaned from multiple images of the object. Thus, for example, in one aspect, the invention provides a method for 3D machine vision in which, during a calibration step, multiple cameras disposed to acquire images of the object from different respective viewpoints are calibrated to discern a mapping function that identifies rays in 3D space emanating from each respective camera's lens that correspond to pixel locations in that camera's field of view. In a training step, functionality associated with the cameras is trained to recognize expected patterns in images to be acquired of the object. A runtime step triangulates locations in 3D space of one or more of those patterns from pixel-wise positions of those patterns in images of the object and from the mappings discerned during calibration step.
PCT/US2006/039324 2005-10-07 2006-10-06 Methods and apparatus for practical 3d vision system WO2007044629A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112006002674.7T DE112006002674B4 (en) 2005-10-07 2006-10-06 Methods and apparatus for practical 3D vision system
JP2008534751A JP4976402B2 (en) 2005-10-07 2006-10-06 Method and apparatus for practical 3D vision system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/246,024 2005-10-07
US11/246,024 US8111904B2 (en) 2005-10-07 2005-10-07 Methods and apparatus for practical 3D vision system

Publications (2)

Publication Number Publication Date
WO2007044629A2 WO2007044629A2 (en) 2007-04-19
WO2007044629A3 true WO2007044629A3 (en) 2007-10-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2006/039324 WO2007044629A2 (en) 2005-10-07 2006-10-06 Methods and apparatus for practical 3d vision system

Country Status (4)

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US (1) US8111904B2 (en)
JP (1) JP4976402B2 (en)
DE (1) DE112006002674B4 (en)
WO (1) WO2007044629A2 (en)

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