CA2245175A1 - Automation methodology for 3d image metrology systems - Google Patents
Automation methodology for 3d image metrology systems Download PDFInfo
- Publication number
- CA2245175A1 CA2245175A1 CA002245175A CA2245175A CA2245175A1 CA 2245175 A1 CA2245175 A1 CA 2245175A1 CA 002245175 A CA002245175 A CA 002245175A CA 2245175 A CA2245175 A CA 2245175A CA 2245175 A1 CA2245175 A1 CA 2245175A1
- Authority
- CA
- Canada
- Prior art keywords
- targets
- auto
- images
- identifiable
- label
- Prior art date
- Legal status (The legal status 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 status listed.)
- Abandoned
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2004—Aligning objects, relative positioning of parts
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
- Length-Measuring Devices Using Wave Or Particle Radiation (AREA)
Abstract
Method of 3D image metrology using auto-identifiable targets, by determining the exterior orientation of images comprising targets and/or pattern or groups of targets.
Description
Automation methodology for 3 D image metrology systems TECHNICAL FIELD
S The present invention relates to 3D-image metrology with photogrammetric methods.
The invention is applied to 3D Image Metrology but can also be applied to other electro-optical systems. 3D Image Metrology is applicable to all areas where 3D geometric and other information is to be extracted from imagery, imagery being acguired through standard imaging systems or other devices such as imaging radar or sonar. Typical application areas are dimentional measurements to be performed in the industrial process reaching from design, development, production to quality control, in engineering but even in areas such as art and medicine.
BACKGROUND OF THE INVENTION
The background of the invention is methodologies for the automation of so far m~nl~l tasks in 3D image metrology systems.
For exemple, robots today are programmed off line which means a teaching of robots using a computer simulation program. ~ue to technical limits in the mechanical movements of a robot arm, there is a difference between the programmed position of a robot arm and its real position.
This differecne can be measured with the robot calibration system and correction polynoms for the different ankles can be derived. Using such a correction for the simulation, the accuracy of the real robot movement can be increased. Three or four CCD-cameras are mounted in the vinicity of the robot to observe the measurement volume. The cameras detect auto-recognizable targets mounted on and in a specific relation to the tool center point. According to these 1"~ J
Application No. PCT/IB97/00236 lY.u lYY~
- App]icant: Imetric S~A 0224~l75 Isss-07-30BP 97-001 .
detections a calibration process is activated and corrections for the simulation is established.
Targets were designed to facilitate automatic detection and identification. For example, the targets could be designed as a white circle with a concentric ring on a black base.
Around the concentric rin~ there is another concentric ring as a label area in which a ten bit target identi~ication is coded. The central circle has a black dot in the middle to facilitate manual measurement. Black and white are colours chosen to get the maximum contrast.
Therefore, part of the invention, i.e. auto-recognisable targets, is already used.
A large number of attempts to arrive at this goal of automation have been undertaken. All attempts so far have only achieved partial results and/or are not suited for widespread use.
One approach of automatically identifying individual targets was relying on different forms and shapes of the targets. Targets which were made up of various geometric shapes such as circles, rectangles and crosses were used to differentiate between 2D patterns of targets. This approa~h need relatively large targets and does not allow for a large number of different patterns.
Another approach used targets with an additional linear pattern area in the vicinity of circular targets. The pattern was similar to typical bar codes. The code was such not integrated with the target per se and needed relatively much space. These targets were so called "coded" targets and were developed by several groups at that time.
An example of these "coded" targets is described in the document "Robust video object recognition and pose A~1E~ D ~.
lP~ P
2b determination using passive target labels"; SPIE Vol. 182~
Cooperative Intelligent Robotics in Space III (1992), pages 2 - 12. The document discloses a method of 3D image metrology using four targets combined with one label area s with the purpose to compute the orientation of images with these targets which all must be located on one and the same~
plane.
Another approach with "coded" targets uses a bit pattern around the target. The pattern was a binary bit pattern - J~s CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97100236 which was designed to be independent o~ the rotation of the taget. Two major disadvantages were common to these targets. They had too small distance between target and code when used with CCD-cameras and they could only use the labels provided by the code, i.e. typically numbers like 1,2,3 but no alphanumeric labels. The insuf~icient amount of space between target and code degraded the measurement accuracy of the target. Groups with several hundred targets were discernible with that approach. All codes provided only to use the same label for the target as the label which was encoded in the labeling area of the target.
Furthermore, groups of targets were used by some systems to identify one particular group and through that group individual targets of the group. These techniques rely on the particular geometric relationship of all targets in a group which can either be identified in an image and/or in 3D space.
Other approaches to identify an element was to use groups of targets which lie in a particular geometric relationship to eachother and which discern the group from other targets within an image or even within the 3D space. Disadvantages of these techniques ly in the fact that one always needs several targets and that the technique does not allow for a large number of different groups with resonable economic effort and space requirements.
The above approches were furthermore combined with the use of colours in order to increase the number of targets which are discernible.
Another aspect of automation is the establishment of correspondence of targets which are not discernible through their particular individual characteristics such as a label, a colour, a form. Two basic techniques were developed to overcome this problem. One uses the geometric CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97~00236 relation between images from which geometric conditions can be derived, i.e. the so called epipolar line. Using this technique the correspondence between large numbers of targets could be established automatically. A similar approach where the geometric relation between images and images and the object space is used is the Multiphoto Geometrically Constrained Matching. In another approach the 3D relation of points was used directly. Both techniques only adressed part of the problem as they required that the exterior orientation and/or the relative orientation of images had to be known a priori.
The establi~hment of the correspondence of homologous points in images can be performed by the use of the epipolar geometry, as well as using the 3D relation of points.
These approaches of the known solutions to automatically identify individual targets were rather limited and shows disadvantages in the following ways:
l. The targets could not be measured with sufficient accuracy (not ~or all techniques).
2. Only numeric labels were associated with the targets although in many applications alphanumeric labels are required.
S The present invention relates to 3D-image metrology with photogrammetric methods.
The invention is applied to 3D Image Metrology but can also be applied to other electro-optical systems. 3D Image Metrology is applicable to all areas where 3D geometric and other information is to be extracted from imagery, imagery being acguired through standard imaging systems or other devices such as imaging radar or sonar. Typical application areas are dimentional measurements to be performed in the industrial process reaching from design, development, production to quality control, in engineering but even in areas such as art and medicine.
BACKGROUND OF THE INVENTION
The background of the invention is methodologies for the automation of so far m~nl~l tasks in 3D image metrology systems.
For exemple, robots today are programmed off line which means a teaching of robots using a computer simulation program. ~ue to technical limits in the mechanical movements of a robot arm, there is a difference between the programmed position of a robot arm and its real position.
This differecne can be measured with the robot calibration system and correction polynoms for the different ankles can be derived. Using such a correction for the simulation, the accuracy of the real robot movement can be increased. Three or four CCD-cameras are mounted in the vinicity of the robot to observe the measurement volume. The cameras detect auto-recognizable targets mounted on and in a specific relation to the tool center point. According to these 1"~ J
Application No. PCT/IB97/00236 lY.u lYY~
- App]icant: Imetric S~A 0224~l75 Isss-07-30BP 97-001 .
detections a calibration process is activated and corrections for the simulation is established.
Targets were designed to facilitate automatic detection and identification. For example, the targets could be designed as a white circle with a concentric ring on a black base.
Around the concentric rin~ there is another concentric ring as a label area in which a ten bit target identi~ication is coded. The central circle has a black dot in the middle to facilitate manual measurement. Black and white are colours chosen to get the maximum contrast.
Therefore, part of the invention, i.e. auto-recognisable targets, is already used.
A large number of attempts to arrive at this goal of automation have been undertaken. All attempts so far have only achieved partial results and/or are not suited for widespread use.
One approach of automatically identifying individual targets was relying on different forms and shapes of the targets. Targets which were made up of various geometric shapes such as circles, rectangles and crosses were used to differentiate between 2D patterns of targets. This approa~h need relatively large targets and does not allow for a large number of different patterns.
Another approach used targets with an additional linear pattern area in the vicinity of circular targets. The pattern was similar to typical bar codes. The code was such not integrated with the target per se and needed relatively much space. These targets were so called "coded" targets and were developed by several groups at that time.
An example of these "coded" targets is described in the document "Robust video object recognition and pose A~1E~ D ~.
lP~ P
2b determination using passive target labels"; SPIE Vol. 182~
Cooperative Intelligent Robotics in Space III (1992), pages 2 - 12. The document discloses a method of 3D image metrology using four targets combined with one label area s with the purpose to compute the orientation of images with these targets which all must be located on one and the same~
plane.
Another approach with "coded" targets uses a bit pattern around the target. The pattern was a binary bit pattern - J~s CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97100236 which was designed to be independent o~ the rotation of the taget. Two major disadvantages were common to these targets. They had too small distance between target and code when used with CCD-cameras and they could only use the labels provided by the code, i.e. typically numbers like 1,2,3 but no alphanumeric labels. The insuf~icient amount of space between target and code degraded the measurement accuracy of the target. Groups with several hundred targets were discernible with that approach. All codes provided only to use the same label for the target as the label which was encoded in the labeling area of the target.
Furthermore, groups of targets were used by some systems to identify one particular group and through that group individual targets of the group. These techniques rely on the particular geometric relationship of all targets in a group which can either be identified in an image and/or in 3D space.
Other approaches to identify an element was to use groups of targets which lie in a particular geometric relationship to eachother and which discern the group from other targets within an image or even within the 3D space. Disadvantages of these techniques ly in the fact that one always needs several targets and that the technique does not allow for a large number of different groups with resonable economic effort and space requirements.
The above approches were furthermore combined with the use of colours in order to increase the number of targets which are discernible.
Another aspect of automation is the establishment of correspondence of targets which are not discernible through their particular individual characteristics such as a label, a colour, a form. Two basic techniques were developed to overcome this problem. One uses the geometric CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97~00236 relation between images from which geometric conditions can be derived, i.e. the so called epipolar line. Using this technique the correspondence between large numbers of targets could be established automatically. A similar approach where the geometric relation between images and images and the object space is used is the Multiphoto Geometrically Constrained Matching. In another approach the 3D relation of points was used directly. Both techniques only adressed part of the problem as they required that the exterior orientation and/or the relative orientation of images had to be known a priori.
The establi~hment of the correspondence of homologous points in images can be performed by the use of the epipolar geometry, as well as using the 3D relation of points.
These approaches of the known solutions to automatically identify individual targets were rather limited and shows disadvantages in the following ways:
l. The targets could not be measured with sufficient accuracy (not ~or all techniques).
2. Only numeric labels were associated with the targets although in many applications alphanumeric labels are required.
3. Groups of targets require much more space than a target with an associated label area.
4. Groups of targets are not sufficiently discernible from other targets in applications with large numbers of targets.
The automatically indentifiable targets have priviously been designed with film based 3D image metrology systems in mind. They did not take care of the imaging characteristics of CCD-sensor or other digital imaging systems.
CA 0224~17~ 1998-07-30 WO~7/31336 PCT~B97/00236 The establishment of the correspondence did not use auto-identifiable targets to establish the initial orientation of the images. With respect to a complete system they did not allow to:
Automatically identify the object.
1. Provide ~or a mechanism to automatically load all the relevant data for a particular application.
2. Provide for highest measurement accuracy, ;~ nlty to occlusions, and alph~nl~m~ic labels.
3. Provide for automatic identification of adapters independent of knowledge on their spatial location.
Overall, the existing methods 60 far were only addressing part of the problem.
OB~ECT OF THE Il~VENTION
The object of the invention, in parts or total, is to provide to partial and/or complete automation for dimentional measurements with image metrology. Most important are systems where 3D image metrology is to perform fully automatically, such as in automated production systems where robots or other manufacturing systems are to be guided, e.g. for machln;ng, fitting, moving.
An other object of the invention is to provide for a higher degree or even total automation in 3D image metrology and/or other applications where such systems are used.
SUMMARY OF THE INVENTION
The invention applies to the following su~tasks:
- Finding targets for the purpose of automatically determining the exterior orientation of images.
CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 - Finding targets in several images for the purpose of establishing homologous point in these images.
- Finding targets from different views in an electro-optical system in order to establish their relation.
- Identifying targets which serve as references for the definition of a coordinate system.
- Identifying measurement adapters in order to identi~y the particular adapter and its geometric and/or other characteristics.
Examples for such adapters are:
- Individual targets for which some of~sets and other geometric parameters are known.
- Two or more targets forming a straight line with another spatial location which they refer to.
- Three or more targets which are in a ~patial relation to one or more other spatial locations.
Examples thereof are:
- Adapters consisting of three or more visible targets and three or more half spheres which lie on an object surface. The visible targets and the other locations are in a known relative spatial relation.
- Adapters consisting of three or more visible targets which are in relation to one or more locations. The visible targets and the other locations are in a known relative spatial relation.
Physical examples are the DigiPen, which is a touchprobe o~ the Imetrics systems, or a spindle and the targets on the spindle holder in a TI2 ~ystem.
- LUT
The invention will be part of a future improvement of a 3D
image metrology system. It is applicable to other systems.
CA 0224~17~ 1998-07-30 WO97131336 PCT~B97/00236 It will also be u~ed in an industrial manufacturing system.
DESCRIPTION OF THE INVENTION
The invention uses the following steps in the current i~plementation either on an individual basis or as in any combination of the individual techniques.
1. Measurement Accuracy: The design of the auto-identifiable targets is such that the distance between the central target and the label area, which is used to identify the target, i.e. the area with a binary code or other code, is sufficiently large in order not to degrade the accuracy with which the central target can be located. This distance was determined to be at least equal to the diameter of the central target when the central target was designed to provide for an optimum measurement accuracy, i.e. to be imaged on typically 6 pixels in diameter.
2. Immunity to partial occlusions of label area: In many applications, part of the area containing the label can be occluded from other objects lying between the imaging system and the label area. Techniques using a redundancy in the code, additional areas such as a border around the label, and a-priori knowledge on which auto-identifiable targets were used, can be used individually or in combinations to circumvent this problem.
3. Labeling Freedom: ~o overcome the problem of having to apply particular targets on particular points which one would li~e to label differently, a translation between the label of the target and its physical label is used.
Such an auto-identifiable target with the label "11" can be used as a target with a label "A". This can for example be implemented using a look up table where a "user" label is connected to each physical label of a CA 0224~17~ 1998-07-30 WO97/31336 PCTnB97/00236 target. This look up table can be user de~inable or ~ixed. Furthermore a double look up table can be used, i.e. a table where the label provided by the label area i8 first translated into another label and later is finally related to a label to be used in the further processing. For example, the label on the target contains the label Illl". On the target, the name "A" can be used to identify it to a person, but in the particular application the target is to be used as target "X". This helps to reduce the number of auto-identifiable targets physically required in order to fullfill a large number o~ di~ferent applications.
4. Identification of the Measurement Object: Here, one or l~ more labels of auto-identifiable targets are used to identify a particular object. For example, the hood of model A of a car will have auto-identifiable targets with label "K" and the hood of model B of a car will have auto-identifiable targets with label "Y". One or more labels can be used. Based on this information, data related to the particular object can be automatically selected. Use of such an object identification as a safe guard (for example in manufacturing, but also when per~orming quality inspection) and/or to load data related to the particular object.
The automatically indentifiable targets have priviously been designed with film based 3D image metrology systems in mind. They did not take care of the imaging characteristics of CCD-sensor or other digital imaging systems.
CA 0224~17~ 1998-07-30 WO~7/31336 PCT~B97/00236 The establishment of the correspondence did not use auto-identifiable targets to establish the initial orientation of the images. With respect to a complete system they did not allow to:
Automatically identify the object.
1. Provide ~or a mechanism to automatically load all the relevant data for a particular application.
2. Provide for highest measurement accuracy, ;~ nlty to occlusions, and alph~nl~m~ic labels.
3. Provide for automatic identification of adapters independent of knowledge on their spatial location.
Overall, the existing methods 60 far were only addressing part of the problem.
OB~ECT OF THE Il~VENTION
The object of the invention, in parts or total, is to provide to partial and/or complete automation for dimentional measurements with image metrology. Most important are systems where 3D image metrology is to perform fully automatically, such as in automated production systems where robots or other manufacturing systems are to be guided, e.g. for machln;ng, fitting, moving.
An other object of the invention is to provide for a higher degree or even total automation in 3D image metrology and/or other applications where such systems are used.
SUMMARY OF THE INVENTION
The invention applies to the following su~tasks:
- Finding targets for the purpose of automatically determining the exterior orientation of images.
CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 - Finding targets in several images for the purpose of establishing homologous point in these images.
- Finding targets from different views in an electro-optical system in order to establish their relation.
- Identifying targets which serve as references for the definition of a coordinate system.
- Identifying measurement adapters in order to identi~y the particular adapter and its geometric and/or other characteristics.
Examples for such adapters are:
- Individual targets for which some of~sets and other geometric parameters are known.
- Two or more targets forming a straight line with another spatial location which they refer to.
- Three or more targets which are in a ~patial relation to one or more other spatial locations.
Examples thereof are:
- Adapters consisting of three or more visible targets and three or more half spheres which lie on an object surface. The visible targets and the other locations are in a known relative spatial relation.
- Adapters consisting of three or more visible targets which are in relation to one or more locations. The visible targets and the other locations are in a known relative spatial relation.
Physical examples are the DigiPen, which is a touchprobe o~ the Imetrics systems, or a spindle and the targets on the spindle holder in a TI2 ~ystem.
- LUT
The invention will be part of a future improvement of a 3D
image metrology system. It is applicable to other systems.
CA 0224~17~ 1998-07-30 WO97131336 PCT~B97/00236 It will also be u~ed in an industrial manufacturing system.
DESCRIPTION OF THE INVENTION
The invention uses the following steps in the current i~plementation either on an individual basis or as in any combination of the individual techniques.
1. Measurement Accuracy: The design of the auto-identifiable targets is such that the distance between the central target and the label area, which is used to identify the target, i.e. the area with a binary code or other code, is sufficiently large in order not to degrade the accuracy with which the central target can be located. This distance was determined to be at least equal to the diameter of the central target when the central target was designed to provide for an optimum measurement accuracy, i.e. to be imaged on typically 6 pixels in diameter.
2. Immunity to partial occlusions of label area: In many applications, part of the area containing the label can be occluded from other objects lying between the imaging system and the label area. Techniques using a redundancy in the code, additional areas such as a border around the label, and a-priori knowledge on which auto-identifiable targets were used, can be used individually or in combinations to circumvent this problem.
3. Labeling Freedom: ~o overcome the problem of having to apply particular targets on particular points which one would li~e to label differently, a translation between the label of the target and its physical label is used.
Such an auto-identifiable target with the label "11" can be used as a target with a label "A". This can for example be implemented using a look up table where a "user" label is connected to each physical label of a CA 0224~17~ 1998-07-30 WO97/31336 PCTnB97/00236 target. This look up table can be user de~inable or ~ixed. Furthermore a double look up table can be used, i.e. a table where the label provided by the label area i8 first translated into another label and later is finally related to a label to be used in the further processing. For example, the label on the target contains the label Illl". On the target, the name "A" can be used to identify it to a person, but in the particular application the target is to be used as target "X". This helps to reduce the number of auto-identifiable targets physically required in order to fullfill a large number o~ di~ferent applications.
4. Identification of the Measurement Object: Here, one or l~ more labels of auto-identifiable targets are used to identify a particular object. For example, the hood of model A of a car will have auto-identifiable targets with label "K" and the hood of model B of a car will have auto-identifiable targets with label "Y". One or more labels can be used. Based on this information, data related to the particular object can be automatically selected. Use of such an object identification as a safe guard (for example in manufacturing, but also when per~orming quality inspection) and/or to load data related to the particular object.
5. Default Project Strategy: A methodology used in connection with the auto-identifiable targets where the data pertaining to a particular task (e.g. coordinates o~ reference locations, compensation ~or adapters, measurements to be performed) is collected in a "default project". This can be a collection of ~iles containing the pertinent data or a particular access to a data base or some other technique to store and access the relevant data.
6. Automated Orientation:
CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 A procedure where in the setup of a measurement system auto-identifiable target~ are used to automatically compute the exterior orientation and/or relative orie~tation of one or more cameras/images.
.,~;
A procedure where during measurements auto-identifiable targets are used to automatically compute the exterior orientation of one or more cameras/images in order to account for eventual changes in the relation between the object~s) on which the auto-identifiable targets are fixed and the camera (8) and/or to perform other measurements.
Any procedure where three or more auto-identifiable targets are used to establish a particular coordinate system.
In all these procedures, the 3D coordinates of at least three auto-identifiable targets must be known.
CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 A procedure where in the setup of a measurement system auto-identifiable target~ are used to automatically compute the exterior orientation and/or relative orie~tation of one or more cameras/images.
.,~;
A procedure where during measurements auto-identifiable targets are used to automatically compute the exterior orientation of one or more cameras/images in order to account for eventual changes in the relation between the object~s) on which the auto-identifiable targets are fixed and the camera (8) and/or to perform other measurements.
Any procedure where three or more auto-identifiable targets are used to establish a particular coordinate system.
In all these procedures, the 3D coordinates of at least three auto-identifiable targets must be known.
7. Automated Measurement:
Procedures where auto-identifiable targets are used to establish the geometric relation of images with respect to a coordinate system related to the auto-identifiable targets (exterior orientation) or to some arbitrary coordinate system, for example related to one or more of the cameras/images (relative orientation) in order to be able to establish the correspondence between standard targets in two or more images.
Determining the exterior orientation o~ individual images using for at least three auto-identifiable targets of which the 3D spatial coordinates in some 3D
coordinate system are known, either prior to start of measurements or which were determined in the course of the measurements.
CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 Determining homologous points in images. This can for example be used to compute the relative orientation of these images.
Combination of auto-identifiable targets and standard targets. ~his technique allows to establish the spatial geometric relation of the images, i.e. either their exterior orientation~ or their relative orientations, through auto-identifiable targets and eventual other targets which were already located in the images but not identified (i.e. the relation between a particu~ar target in an image and its origin in object space and/or its corresponding image in another image is not known), and to establish the correspondence between homologous targets imaged in different images using the geometric relation of these images (i.e. their exterior orientations or their relative orientations) and/or the 3D geometry of the targets to be identified which becomes computable using the geometric relation of the images in which they were imaged.
Targets can be retro-reflective targets but also any other feature of an object which can be located in an image or a group of images.
Procedures where auto-identifiable targets are used to establish the geometric relation of images with respect to a coordinate system related to the auto-identifiable targets (exterior orientation) or to some arbitrary coordinate system, for example related to one or more of the cameras/images (relative orientation) in order to be able to establish the correspondence between standard targets in two or more images.
Determining the exterior orientation o~ individual images using for at least three auto-identifiable targets of which the 3D spatial coordinates in some 3D
coordinate system are known, either prior to start of measurements or which were determined in the course of the measurements.
CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 Determining homologous points in images. This can for example be used to compute the relative orientation of these images.
Combination of auto-identifiable targets and standard targets. ~his technique allows to establish the spatial geometric relation of the images, i.e. either their exterior orientation~ or their relative orientations, through auto-identifiable targets and eventual other targets which were already located in the images but not identified (i.e. the relation between a particu~ar target in an image and its origin in object space and/or its corresponding image in another image is not known), and to establish the correspondence between homologous targets imaged in different images using the geometric relation of these images (i.e. their exterior orientations or their relative orientations) and/or the 3D geometry of the targets to be identified which becomes computable using the geometric relation of the images in which they were imaged.
Targets can be retro-reflective targets but also any other feature of an object which can be located in an image or a group of images.
8. Scale Bar: The use of one or more auto-identifiable targets to identify a particular scale bar in order to obtain its calibrated distance or distances (if more than two points are located on the scale bar). The following elements are part of the techni~ue:
1) Identify the particular scale bar 2) Help in the search for others targets on the scale bar 3) Use several known distances on one scale bar for the purpose of improved accuracy and reliability.
They can be applied individually or in combinations.
q. Particular adapters or object are identified by using CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 either one or more of the labels. Using a single or a group of adapters is then in turn used.
One or more labels are used to identify a particular object. Such an object can be:
- An individal point ~ith or without some given characteristics such as XYZ-coordinates for the purpose of orientation. Using the label, the 3D
spatial coordinates of a point can be taken from a data base in order to compute exterior orientations, to compute spatial position of an object with respect to some coordinate system through a spatial similarity trans~ormation.
- An individual label serving to identify an adapter with its characteristics. These can for example be the offset of a button target, the vector distances for reductions of double vector targets or hidden point bars.
- A multi-point adapter where the label is used to find the geometric relation between visible targets and another point or points which are in particular geometric relation to the targets.
- A particular scale bar.
- A particular touch probe or other device such as a 2~ spindle or other manufacturing device and other objects which are to be identified.
Adapters are any technique where one or more auto-identifiable targets on any sort of adapter i9 to:
- Identify the particular adapter to derive geometric parameters of the adapter.
- Identi~y the particular adapter to retrieve its J spatial coordinates from a data base or other storage mechanism.
- Identify the particular adapter to control the software such that it performs a particular measurement sequence or other process.
CA 0224~17~ 1998-07-30 WO97131336 PCT~B97/00236 Examples:
a) The system finds a double vector target and computes automatically the mechanical point related to the two optical targets.
b) The system finds a particulat target group and com~n~ a robot to go and grab the piece.
The following first defines a number of adapters and then defines the use of the auto-identifiable targets with these adapters.
Single Polnt Adapter: A "Single Point Adapter" is a device consisting of one optically visible target, e.g.
a retro-reflective target or LED, and one or more 1~ mechanical points, e.g. the location of a shank, the center of a sphere where the relation of the optical and mechanical targets are known and usually fixed.
Typical examples are:
- A "Button Target" which consists of one optical target sitting on a mechanical piece with a shank adapted to tooling holes. The target is in the centre of the shank axis but at a certain distance from a mechanical interface.
- Target integrated into a partial sphere as for example targets integrated into a Taylor Hobson sphere.
The auto-identifiable target is used to identify an individual "Single Point Adapter" and to extract some generally geometrical characteristics from a data base.
Such information can be the offset of the optical target and the one or more mechanical points. This allows to use adapters with various offsets in one measurement task without requiring the user to identify the adapter and without relying on applying one particular adapter with a particular offset to specific locations.
CA 0224~17~ 1998-07-30 WO97/31336 pcTnss7/oo236 The auto-identi~iable target is used to ~ind the 3D
reference coordinates of the "Single Point Adapter", i.e. either of the optical target or the reference location.
A "Two Point Adapter" is a device consisting of two or more optically visible targets and one or more mechanical or virtual point~. The differentiation between "Two Point Adapters" and "Multi-Point Adapters"
is the fact that the first one does not allow to establish a 3D relation between the optically visible targets and the mechanical or virtual points without additional knowledge on the spatial location of the "Two Point Adapter". In geometric terms, the points of the "Two Points Adapter" cannot be used to determine a 3D
spatial similarity transformation with six parameters.
Usually the point(s) to be computed using a "Two Point Adapter" are on a 3D line with two optical targets.
Typical examples of 'ITwo Point Adapters" are:
"Double Vector Targets". This adapter consists typically of two optically visible targets. The mechanical or virtual point of interest is on a spatial line with the two optically visible targets and its (spatial) distance from one or both targets is known or it may be in the geometric centre of the two optically visible targets.
One or more auto-identifiable targets are used to identify a particular "Two Point Adapter~ in order to:
- Identify the adapter and obtain its geometric parameters and/or the naming convention for the one or more points to be computed.
- Identify the adapter to retrieve the spatial coordinates of one or more optical targets and/or one or more re~erence locations of the adapter.
- Identify the adapter ~o control particular software functions or to indicate certain actions by the -CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 system.
A "Multi-Point Adapter" is a device consisting of three or more optically visible targets which are in a geometric relation to an object and/or one or more mechanical or virtual points. The "Multi-Point Adapter"
can for example be used to determine the spatial position and orientation of the adapter or an object physically connected to the adapter. Furthermore, it can be used to derive the spatial location of one or more points on the adapter or another object physically connected with the adapter.
Examples of "Multi-Point Adapters" are:
- V-Plates: A device consisting of three optical targets and three half spheres.
- Robot Calibration Fixtures: Devices fixed to robots for the purpose of calibrating robots.
- Touch Probes such as the DigiPen and other devices consisting of three or more optical targets connected to a CMM touch probe for the purpose of determ;n;ng the 3D spatial coordinates of the probe.
- Tooling Fixtures: Any device on a tool which serves to position a piece in a manufacturing production process. Adapters can be built to position tooling fixtures.
- Tool holders or Tools (drills, grippers, cutters and other end effectors): These can be on manufacturing systems such as robots or robot arms, CNC machines, but also on hand-held devices.
The use of auto-identifiable target(s) for:
- Identi~ying the particular adapter to derieve its geometric characteristics and/or to retrieve its spatial reference coordinates.
- Identifying the particular adapter to initiate particular actions or computations to be performed CA 0224~17~ 1998-07-30 such as to automatically compute the invisible targets.
q Notes:
- Targets to be mounted in tooling holes or other places with a target that can automatically be identified, labeled and measured by a computer program.
- Automatically measuring targets for the purpose o~
determining the orientation of one or more cameras automatically for the purpose of orienting cameras.
- Update orientation.
- Tool with three or four targets to automatically orient cameras.
- Devices with three or more points that are automatically identifiable and are used to derive 1. the position and/or attitude of the device that they are attached to in space 2. the position of one or more other points physically connected with these points in space.
Tool to perform an automatic orientation and to automatically compute approximations for object points.
Method where points are labeled by indicating their label in one image only.
Coded targets to position other devices such as robots, CMMs, CNC machines.
r~ J~,
1) Identify the particular scale bar 2) Help in the search for others targets on the scale bar 3) Use several known distances on one scale bar for the purpose of improved accuracy and reliability.
They can be applied individually or in combinations.
q. Particular adapters or object are identified by using CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 either one or more of the labels. Using a single or a group of adapters is then in turn used.
One or more labels are used to identify a particular object. Such an object can be:
- An individal point ~ith or without some given characteristics such as XYZ-coordinates for the purpose of orientation. Using the label, the 3D
spatial coordinates of a point can be taken from a data base in order to compute exterior orientations, to compute spatial position of an object with respect to some coordinate system through a spatial similarity trans~ormation.
- An individual label serving to identify an adapter with its characteristics. These can for example be the offset of a button target, the vector distances for reductions of double vector targets or hidden point bars.
- A multi-point adapter where the label is used to find the geometric relation between visible targets and another point or points which are in particular geometric relation to the targets.
- A particular scale bar.
- A particular touch probe or other device such as a 2~ spindle or other manufacturing device and other objects which are to be identified.
Adapters are any technique where one or more auto-identifiable targets on any sort of adapter i9 to:
- Identify the particular adapter to derive geometric parameters of the adapter.
- Identi~y the particular adapter to retrieve its J spatial coordinates from a data base or other storage mechanism.
- Identify the particular adapter to control the software such that it performs a particular measurement sequence or other process.
CA 0224~17~ 1998-07-30 WO97131336 PCT~B97/00236 Examples:
a) The system finds a double vector target and computes automatically the mechanical point related to the two optical targets.
b) The system finds a particulat target group and com~n~ a robot to go and grab the piece.
The following first defines a number of adapters and then defines the use of the auto-identifiable targets with these adapters.
Single Polnt Adapter: A "Single Point Adapter" is a device consisting of one optically visible target, e.g.
a retro-reflective target or LED, and one or more 1~ mechanical points, e.g. the location of a shank, the center of a sphere where the relation of the optical and mechanical targets are known and usually fixed.
Typical examples are:
- A "Button Target" which consists of one optical target sitting on a mechanical piece with a shank adapted to tooling holes. The target is in the centre of the shank axis but at a certain distance from a mechanical interface.
- Target integrated into a partial sphere as for example targets integrated into a Taylor Hobson sphere.
The auto-identifiable target is used to identify an individual "Single Point Adapter" and to extract some generally geometrical characteristics from a data base.
Such information can be the offset of the optical target and the one or more mechanical points. This allows to use adapters with various offsets in one measurement task without requiring the user to identify the adapter and without relying on applying one particular adapter with a particular offset to specific locations.
CA 0224~17~ 1998-07-30 WO97/31336 pcTnss7/oo236 The auto-identi~iable target is used to ~ind the 3D
reference coordinates of the "Single Point Adapter", i.e. either of the optical target or the reference location.
A "Two Point Adapter" is a device consisting of two or more optically visible targets and one or more mechanical or virtual point~. The differentiation between "Two Point Adapters" and "Multi-Point Adapters"
is the fact that the first one does not allow to establish a 3D relation between the optically visible targets and the mechanical or virtual points without additional knowledge on the spatial location of the "Two Point Adapter". In geometric terms, the points of the "Two Points Adapter" cannot be used to determine a 3D
spatial similarity transformation with six parameters.
Usually the point(s) to be computed using a "Two Point Adapter" are on a 3D line with two optical targets.
Typical examples of 'ITwo Point Adapters" are:
"Double Vector Targets". This adapter consists typically of two optically visible targets. The mechanical or virtual point of interest is on a spatial line with the two optically visible targets and its (spatial) distance from one or both targets is known or it may be in the geometric centre of the two optically visible targets.
One or more auto-identifiable targets are used to identify a particular "Two Point Adapter~ in order to:
- Identify the adapter and obtain its geometric parameters and/or the naming convention for the one or more points to be computed.
- Identify the adapter to retrieve the spatial coordinates of one or more optical targets and/or one or more re~erence locations of the adapter.
- Identify the adapter ~o control particular software functions or to indicate certain actions by the -CA 0224~17~ 1998-07-30 WO97/31336 PCT~B97/00236 system.
A "Multi-Point Adapter" is a device consisting of three or more optically visible targets which are in a geometric relation to an object and/or one or more mechanical or virtual points. The "Multi-Point Adapter"
can for example be used to determine the spatial position and orientation of the adapter or an object physically connected to the adapter. Furthermore, it can be used to derive the spatial location of one or more points on the adapter or another object physically connected with the adapter.
Examples of "Multi-Point Adapters" are:
- V-Plates: A device consisting of three optical targets and three half spheres.
- Robot Calibration Fixtures: Devices fixed to robots for the purpose of calibrating robots.
- Touch Probes such as the DigiPen and other devices consisting of three or more optical targets connected to a CMM touch probe for the purpose of determ;n;ng the 3D spatial coordinates of the probe.
- Tooling Fixtures: Any device on a tool which serves to position a piece in a manufacturing production process. Adapters can be built to position tooling fixtures.
- Tool holders or Tools (drills, grippers, cutters and other end effectors): These can be on manufacturing systems such as robots or robot arms, CNC machines, but also on hand-held devices.
The use of auto-identifiable target(s) for:
- Identi~ying the particular adapter to derieve its geometric characteristics and/or to retrieve its spatial reference coordinates.
- Identifying the particular adapter to initiate particular actions or computations to be performed CA 0224~17~ 1998-07-30 such as to automatically compute the invisible targets.
q Notes:
- Targets to be mounted in tooling holes or other places with a target that can automatically be identified, labeled and measured by a computer program.
- Automatically measuring targets for the purpose o~
determining the orientation of one or more cameras automatically for the purpose of orienting cameras.
- Update orientation.
- Tool with three or four targets to automatically orient cameras.
- Devices with three or more points that are automatically identifiable and are used to derive 1. the position and/or attitude of the device that they are attached to in space 2. the position of one or more other points physically connected with these points in space.
Tool to perform an automatic orientation and to automatically compute approximations for object points.
Method where points are labeled by indicating their label in one image only.
Coded targets to position other devices such as robots, CMMs, CNC machines.
r~ J~,
Claims (20)
1. Method of 3D image metrology using auto-identifiable targets, characterized by applying a label area with a label, located around and/or adjoining a central target, at a distance from the central target, the distance being set at a value at least equal to the diameter of the central target when designed for an optimum measurement accuracy in order not to degrade the accuracy with which the central target can be located.
2. A method as claimed in claim 1, characterized in that the distance is determined as a result of the central target to be imaged on typically 6 pixels in diameter.
3. A method as claimed in any of the claims 1-2, characterized by establishing immunity to partial occlusions of label area, for example techniques using a redundancy in the code, additional areas such as a border around the label, or a-priori knowledge on which auto-identifiable targets, can be used individually or in combinations.
4. A method as claimed in any of the claims 1-3, characterized in that a translation between the label of the target and its physical label is made in order to establish a labelling freedom to apply particular targets on particular points which one would like to label differently.
5. A method as claimed in any of the claims 1-4, characterized by using one or more labels of auto-identifiable targets to identify a particular object.
6. A method as claimed in any of the claims 1-5, characterized in that data, e.g. coordinates of reference locations, compensation for adapters, measurements to be performed, pertaining to a particular task, is collected in files containing the pertinent data or a particular access to a data base to store and access the relevant data.
7. A method as claimed in any of the claims 1-6, were the 3D coordinates of at least tree auto-identifiable targets is known, characterized by establishing an automated orientation by a procedure where in the setup of a measurement system auto-identifiable targets are used to automatically compute the orientation and/or relative orientation of one or more cameras/images.
8. A method as claimed in any of the claims 1-7, characterized by establishing an automated orientation by a procedure where during measurements auto-identifiable targets are used to automatically compute the orientation of one or more cameras/images in order to account for eventual changes in the relation between the object(s) on which the auto-identifiable targets are fixed and the camera(s) and/or to perform other measurements.
9. A method as claimed in any of the claims 1-8, characterized by establishing an automated orientation by a procedure where three or more auto-identifiable targets are used to establish a particular coordinate system.
10. A method as claimed in any of the claims 1-9, characterized in that an automated measurement is achieved by procedures where auto-identifiable targets are used to establish the geometric relation of images with respect to a coordinate system related to the auto-identifiable targets or to some arbitrary coordinate system, for example related to one or more of the cameras/images in order to be able to establish the correspondence between standard targets in two or more images.
11. A method as claimed in any of the claims 1-10, characterized in that an automated measurement is achieved by determining the orientation of individual images using at least tree auto-identifiable targets of which the 3D
spatial coordinates in some 3D coordinate system are known, either prior to start of measurements or which were determined in the course of the measurements.
spatial coordinates in some 3D coordinate system are known, either prior to start of measurements or which were determined in the course of the measurements.
12. A method as claimed in any of the claims 1-11, characterized in that an automated measurement is achieved by determining homologous points in images.
13. A method as claimed in any of the claims 1-12, characterized in that an automated measurement is achieved by establishing the spatial geometric relation of the images, through auto-identifiable targets and eventual other targets which were already located in the images but not identified and to establish the correspondence between homologous targets imaged in different images using the geometric relation of these images and/or the 3D geometry of the targets to be identified which becomes computable using the geometric relation of the images in which they were imaged.
14. A method as claimed in any of the claims 1-13, characterized by identifying auto-identifiable targets which are defined as a reference for the definition of a coordinate system.
15. A method as claimed in any of the claims 1-16, characterized by identifying a particular adapter with its characteristics.
16. A method as claimed in any of the claims 1-15, characterized by identifying a particular scale bar in order to obtain its calibrated distance or distances.
17. A method as claimed in any of the claims 1-16, characterized by applying one or more auto-identifiable targets on any sort of adapter.
18. A method as claimed in any of the claims 1-17, characterized by identifying the particular adapter to derive geometric parameters of the adapter.
19. A method as claimed in any of the claims 1-18, characterized by identifying the particular adapter to retrieve its spatial coordinates from a data base or other storage mechanism.
20. A method as claimed in any of the claims 1-19, characterized by identifying the particular adapter to control the software such that it performs a particular measurement sequence or some other process.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE9600623-4 | 1996-02-20 | ||
| SE9600623A SE9600623L (en) | 1996-02-20 | 1996-02-20 | Automation methodology for metrology systems in 3D images |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2245175A1 true CA2245175A1 (en) | 1997-08-28 |
Family
ID=20401459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002245175A Abandoned CA2245175A1 (en) | 1996-02-20 | 1997-02-17 | Automation methodology for 3d image metrology systems |
Country Status (11)
| Country | Link |
|---|---|
| EP (1) | EP0882276A1 (en) |
| JP (1) | JP2000505548A (en) |
| KR (1) | KR19990082673A (en) |
| CN (1) | CN1212064A (en) |
| AU (1) | AU2226397A (en) |
| BR (1) | BR9707593A (en) |
| CA (1) | CA2245175A1 (en) |
| DE (1) | DE882276T1 (en) |
| RU (1) | RU98117236A (en) |
| SE (1) | SE9600623L (en) |
| WO (1) | WO1997031336A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2166275B1 (en) * | 1999-07-30 | 2003-04-01 | Univ Zaragoza | OPTICAL VEHICLE CHASSIS MEASUREMENT SYSTEM. |
| US7113633B2 (en) | 2001-07-02 | 2006-09-26 | Photoinaphoto.Com, Inc. | System and method for discovering and categorizing attributes of a digital image |
| US7173691B2 (en) * | 2003-12-22 | 2007-02-06 | Qed Technologies International, Inc. | Method for calibrating the geometry of a multi-axis metrology system |
| US8341848B2 (en) * | 2005-09-28 | 2013-01-01 | Hunter Engineering Company | Method and apparatus for vehicle service system optical target assembly |
| CN105976366B (en) * | 2016-04-29 | 2019-03-26 | 浙江大华技术股份有限公司 | A kind of method and device of scoring ring line positioning |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2270435A (en) * | 1992-09-05 | 1994-03-09 | Ibm | Stereogrammetry |
| DE19502459A1 (en) * | 1995-01-28 | 1996-08-01 | Wolf Henning | Three dimensional optical measurement of surface of objects |
-
1996
- 1996-02-20 SE SE9600623A patent/SE9600623L/en not_active Application Discontinuation
-
1997
- 1997-02-17 CN CN97192418A patent/CN1212064A/en active Pending
- 1997-02-17 DE DE0882276T patent/DE882276T1/en active Pending
- 1997-02-17 EP EP97905342A patent/EP0882276A1/en not_active Withdrawn
- 1997-02-17 RU RU98117236/09A patent/RU98117236A/en not_active Application Discontinuation
- 1997-02-17 CA CA002245175A patent/CA2245175A1/en not_active Abandoned
- 1997-02-17 KR KR1019980706419A patent/KR19990082673A/en not_active Application Discontinuation
- 1997-02-17 JP JP9529943A patent/JP2000505548A/en not_active Ceased
- 1997-02-17 WO PCT/IB1997/000236 patent/WO1997031336A1/en not_active Application Discontinuation
- 1997-02-17 AU AU22263/97A patent/AU2226397A/en not_active Abandoned
- 1997-02-17 BR BR9707593-0A patent/BR9707593A/en not_active Application Discontinuation
Also Published As
| Publication number | Publication date |
|---|---|
| DE882276T1 (en) | 1999-08-19 |
| RU98117236A (en) | 2000-06-27 |
| SE9600623D0 (en) | 1996-02-20 |
| WO1997031336A1 (en) | 1997-08-28 |
| CN1212064A (en) | 1999-03-24 |
| SE9600623L (en) | 1997-08-21 |
| EP0882276A1 (en) | 1998-12-09 |
| KR19990082673A (en) | 1999-11-25 |
| AU2226397A (en) | 1997-09-10 |
| JP2000505548A (en) | 2000-05-09 |
| BR9707593A (en) | 2000-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107590836B (en) | Kinect-based charging pile dynamic identification and positioning method and system | |
| Chakravarty et al. | Characteristic views as a basis for three-dimensional object recognition | |
| US7557936B2 (en) | Digitizer adapter | |
| CN106651752A (en) | Three-dimensional point cloud data registration method and stitching method | |
| US20030090682A1 (en) | Positioning in computer aided manufacturing by measuring both parts (cameras, retro reflectors) | |
| US7298890B2 (en) | Method and arrangement for the photographically detecting the spatial form of an object | |
| KR100821431B1 (en) | Information processing method and apparatus | |
| US20050058336A1 (en) | Measuring the location of objects arranged on a surface, using multi-camera photogrammetry | |
| EP1472052A2 (en) | Method and apparatus for single camera 3d vision guided robotics | |
| US20080123110A1 (en) | Multifaceted digitizer adapter | |
| US4937766A (en) | Acquiring dimensions of a large object | |
| Zhuang et al. | Robot calibration by mobile camera systems | |
| CA2245175A1 (en) | Automation methodology for 3d image metrology systems | |
| CN213999507U (en) | Mobile robot system | |
| Pajor et al. | Intelligent machine tool–vision based 3D scanning system for positioning of the workpiece | |
| Maas | Concepts of real-time photogrammetry | |
| CN107330936B (en) | Monocular vision-based double-circular marker positioning method and system | |
| Nashman et al. | Unique sensor fusion system for coordinate-measuring machine tasks | |
| CN109815966A (en) | A kind of mobile robot visual odometer implementation method based on improvement SIFT algorithm | |
| Gąska et al. | Simple optical coordinate measuring system, based on fiducial markers detection, and its accuracy assessment | |
| Nashman et al. | The use of vision and touch sensors for dimensional inspection tasks | |
| Mark | A Monocular Vision-based System Using Markers for a Real-Time 6D Pose Estimation of a Trailer | |
| Marchewka et al. | An approach to an intelligent scanning of the machine tool workspace | |
| Bauer et al. | Accuracy Analysis of Alignment Methods based on Reference Features for Robot-Based Optical Inspection Systems | |
| US20240078698A1 (en) | Method for determining a three-dimensional pose of an object |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued | ||
| FZDE | Discontinued |
Effective date: 20010219 |