DE4405849A1 - Verfahren zum Aufnehmen drei-dimensionaler Bilder von Ladungen - Google Patents
Verfahren zum Aufnehmen drei-dimensionaler Bilder von LadungenInfo
- Publication number
- DE4405849A1 DE4405849A1 DE4405849A DE4405849A DE4405849A1 DE 4405849 A1 DE4405849 A1 DE 4405849A1 DE 4405849 A DE4405849 A DE 4405849A DE 4405849 A DE4405849 A DE 4405849A DE 4405849 A1 DE4405849 A1 DE 4405849A1
- Authority
- DE
- Germany
- Prior art keywords
- image
- charges
- space
- wedge
- charge
- 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.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000005484 gravity Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 description 7
- 230000000717 retained effect Effects 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2536—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object using several gratings with variable grating pitch, projected on the object with the same angle of incidence
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0092—Image segmentation from stereoscopic image signals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Optics & Photonics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Input (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Holo Graphy (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5062908A JP3028016B2 (ja) | 1993-02-26 | 1993-02-26 | 積荷の三次元画像計測方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
DE4405849A1 true DE4405849A1 (de) | 1994-09-01 |
Family
ID=13213830
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE4405849A Withdrawn DE4405849A1 (de) | 1993-02-26 | 1994-02-23 | Verfahren zum Aufnehmen drei-dimensionaler Bilder von Ladungen |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP3028016B2 (ja) |
DE (1) | DE4405849A1 (ja) |
FR (1) | FR2702055B1 (ja) |
IT (1) | IT1273342B (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10143504A1 (de) * | 2001-09-05 | 2003-03-20 | Sick Ag | Überwachungsverfahren und optoelektronischer Sensor |
DE19525561C2 (de) * | 1994-07-13 | 2003-10-16 | Murata Machinery Ltd | 3D-Meßvorrichtung |
WO2005010840A1 (de) * | 2003-07-25 | 2005-02-03 | Supercomputing Systems Ag | Verfahren zur automatischen absicherung |
CN111439594A (zh) * | 2020-03-09 | 2020-07-24 | 兰剑智能科技股份有限公司 | 基于3d视觉引导的拆垛方法和系统 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3444171B2 (ja) * | 1997-12-17 | 2003-09-08 | 三菱電機株式会社 | 物品認識装置 |
KR100442817B1 (ko) * | 1998-09-09 | 2004-09-18 | 삼성전자주식회사 | 한 장의 2차원 영상에 의한 3차원 물체 인식방법 및 그 모델베이스 생성방법 |
JP3654042B2 (ja) * | 1999-04-21 | 2005-06-02 | 松下電工株式会社 | 物体特定方法及び装置 |
JP2006300929A (ja) * | 2005-03-22 | 2006-11-02 | Jfe Engineering Kk | 物体の3次元位置認識装置およびデパレタイズシステム |
JP5088278B2 (ja) * | 2008-09-17 | 2012-12-05 | 株式会社安川電機 | 物体検出方法と物体検出装置およびロボットシステム |
US20120062725A1 (en) * | 2010-09-10 | 2012-03-15 | Gm Global Technology Operations, Inc. | System for error-proofing manual assembly operations using machine vision |
JP5798318B2 (ja) * | 2010-12-15 | 2015-10-21 | キヤノン株式会社 | 距離データ生成装置、位置姿勢計測装置、距離データ生成装置の制御方法およびプログラム |
CN105953776A (zh) * | 2016-04-28 | 2016-09-21 | 北京派得伟业科技发展有限公司 | 一种基于立体摄影测量获取玉米植株形态参数的方法 |
JP6319395B2 (ja) * | 2016-10-14 | 2018-05-09 | オムロン株式会社 | 3次元測定装置および3次元測定方法 |
CN110062870B (zh) * | 2019-03-13 | 2021-08-13 | 深圳市汇顶科技股份有限公司 | 编码阵列的确定方法、初始化方法、结构光编码方法、光学装置以及三维测量装置 |
JP7280655B2 (ja) * | 2019-08-30 | 2023-05-24 | 株式会社日立オートメーション | 移載対象ワーク高さ計測システム |
CN112541896B (zh) * | 2020-12-14 | 2023-04-07 | 湖南镭目科技有限公司 | 一种炉口堆渣情况辨识方法及系统 |
KR102463034B1 (ko) * | 2021-03-31 | 2022-11-03 | 한국로봇융합연구원 | Rgb-d 카메라를 이용한 적재 화물의 레이어 분리 장치 및 방법 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0388339A2 (fr) * | 1989-02-24 | 1990-09-19 | Syspro | Dispositif de reconnaissance de position d'objets |
DE4115445A1 (de) * | 1990-07-05 | 1992-01-23 | Reinhard Malz | Verfahren zum aufnehmen eines dreidimensionalen bildes eines objektes nach dem aktiven triangulationsprinzip und vorrichtung hierzu |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2606871B1 (fr) * | 1986-11-13 | 1990-11-09 | Imajesa | Dispositif de reconnaissance d'objets disposes sur un plan, et systeme de depalettisation mettant en oeuvre un tel dispositif |
CA1313040C (en) * | 1988-03-31 | 1993-01-26 | Mitsuaki Uesugi | Method and apparatus for measuring a three-dimensional curved surface shape |
-
1993
- 1993-02-26 JP JP5062908A patent/JP3028016B2/ja not_active Expired - Fee Related
-
1994
- 1994-02-23 DE DE4405849A patent/DE4405849A1/de not_active Withdrawn
- 1994-02-25 IT ITMI940346A patent/IT1273342B/it active IP Right Grant
- 1994-02-25 FR FR9402208A patent/FR2702055B1/fr not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0388339A2 (fr) * | 1989-02-24 | 1990-09-19 | Syspro | Dispositif de reconnaissance de position d'objets |
DE4115445A1 (de) * | 1990-07-05 | 1992-01-23 | Reinhard Malz | Verfahren zum aufnehmen eines dreidimensionalen bildes eines objektes nach dem aktiven triangulationsprinzip und vorrichtung hierzu |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19525561C2 (de) * | 1994-07-13 | 2003-10-16 | Murata Machinery Ltd | 3D-Meßvorrichtung |
DE10143504A1 (de) * | 2001-09-05 | 2003-03-20 | Sick Ag | Überwachungsverfahren und optoelektronischer Sensor |
EP1300691A2 (de) * | 2001-09-05 | 2003-04-09 | Sick AG | Überwachungsverfahren und optoelektronischer Sensor |
EP1300691A3 (de) * | 2001-09-05 | 2004-06-30 | Sick AG | Überwachungsverfahren und optoelektronischer Sensor |
US6940060B2 (en) | 2001-09-05 | 2005-09-06 | Sick Ag | Monitoring method and optoelectronic sensor |
WO2005010840A1 (de) * | 2003-07-25 | 2005-02-03 | Supercomputing Systems Ag | Verfahren zur automatischen absicherung |
CN111439594A (zh) * | 2020-03-09 | 2020-07-24 | 兰剑智能科技股份有限公司 | 基于3d视觉引导的拆垛方法和系统 |
CN111439594B (zh) * | 2020-03-09 | 2022-02-18 | 兰剑智能科技股份有限公司 | 基于3d视觉引导的拆垛方法和系统 |
Also Published As
Publication number | Publication date |
---|---|
JP3028016B2 (ja) | 2000-04-04 |
IT1273342B (it) | 1997-07-08 |
FR2702055B1 (fr) | 1995-08-04 |
ITMI940346A0 (it) | 1994-02-25 |
FR2702055A1 (fr) | 1994-09-02 |
JPH06249631A (ja) | 1994-09-09 |
ITMI940346A1 (it) | 1994-08-27 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OP8 | Request for examination as to paragraph 44 patent law | ||
8139 | Disposal/non-payment of the annual fee |