Patent application number | Description | Published |
20100231690 | MODEL DISPLAY METHOD FOR THREE-DIMENSIONAL OPTICAL SENSOR AND THREE-DIMENSIONAL OPTICAL SENSOR - The degree of accuracy and the recognition result of a three-dimensional model can be easily, visually confirmed. After a three-dimensional model of a workpiece to be recognized is generated, this three-dimensional model is used to execute a recognition test on three-dimensional information of an actual model of the workpiece. Then, the three-dimensional model is subjected to coordinate transformation processing based on the recognized position and the rotational angle, and the three-dimensional coordinates of the converted three-dimensional model are subjected to the transparent transformation processing onto imaging planes of the cameras A, B, C that take images for the recognition processing. Then, the projected image of the three-dimensional model is displayed in overlaying manner by overlaying on the image of the actual model that is used in the recognition processing and is generated by the cameras A, B, C. | 09-16-2010 |
20100231711 | METHOD FOR REGISTERING MODEL DATA FOR OPTICAL RECOGNITION PROCESSING AND OPTICAL SENSOR - To easily generate model data having high recognition accuracy and being consistent with measurement conditions and installation environment of each of optical sensors. Basic model representing a range in which a workpiece can be optically recognized is inputted, and pieces of processing of imaging and measuring the workpiece under the same condition as that in an actual measurement and matching feature data of the workpiece obtained from this measurement with the basic model are executed for a plurality of number of cycles. Then, in the basic model, information is set as unnecessary information where the information cannot be associated with the feature data of the workpiece in all of the pieces of matching processing, or where the number of times or ratio the information cannot be associated is more than a predetermined reference value, or where the information cannot be associated with the feature data in any one of the pieces of executed matching processing. Then, the unnecessary information is deleted from the basic model, and information after each deletion is identified as model data to be registered and is registered to the memory. | 09-16-2010 |
20100232647 | THREE-DIMENSIONAL RECOGNITION RESULT DISPLAYING METHOD AND THREE-DIMENSIONAL VISUAL SENSOR - 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. | 09-16-2010 |
20100232681 | THREE-DIMENSIONAL VISION SENSOR - 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 m | 09-16-2010 |
20100232682 | METHOD FOR DERIVING PARAMETER FOR THREE-DIMENSIONAL MEASUREMENT PROCESSING AND THREE-DIMENSIONAL VISUAL SENSOR - 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 WM | 09-16-2010 |
20100232683 | Method For Displaying Recognition Result Obtained By Three-Dimensional Visual Sensor And Three-Dimensional Visual Sensor - 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. | 09-16-2010 |
20100232684 | CALIBRATION APPARATUS AND METHOD FOR ASSISTING ACCURACY CONFIRMATION OF PARAMETER FOR THREE-DIMENSIONAL MEASUREMENT - 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. | 09-16-2010 |
20130033580 | THREE-DIMENSIONAL VISION SENSOR - Enabling 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. Three-dimensional measurement using the registered parameter is performed on characteristic patterns (marks m | 02-07-2013 |