IT1273342B - Metodo per riprendere immagini tridimensionali di carichi - Google Patents

Metodo per riprendere immagini tridimensionali di carichi

Info

Publication number
IT1273342B
IT1273342B ITMI940346A ITMI940346A IT1273342B IT 1273342 B IT1273342 B IT 1273342B IT MI940346 A ITMI940346 A IT MI940346A IT MI940346 A ITMI940346 A IT MI940346A IT 1273342 B IT1273342 B IT 1273342B
Authority
IT
Italy
Prior art keywords
loads
image
space
stack
cuneiform
Prior art date
Application number
ITMI940346A
Other languages
English (en)
Inventor
Tatsuo Hayashi
Original Assignee
Murata Machinery Ltd
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 Murata Machinery Ltd filed Critical Murata Machinery Ltd
Publication of ITMI940346A0 publication Critical patent/ITMI940346A0/it
Publication of ITMI940346A1 publication Critical patent/ITMI940346A1/it
Application granted granted Critical
Publication of IT1273342B publication Critical patent/IT1273342B/it

Links

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

Abstract

Metodo per riprendere immagini tridimensionali di carichi, comprendente un processo di ottenimento di un'immagine codificata a spazio dell'intera pila di carichi, ed un processo di acquisizione, da tale immagine codificata a spazio, di un'immagine dei carichi superiori nella pila di carichi. Uno spazio bersaglio contenente i carichi viene suddiviso in regioni di misurazione cuneiformi disposte a strati una sopra l'altra e codici di spazio vengono assegnati sequenzialmente alle regioni cuneiformi suddivise. Si ottiene in tal modo l'immagine codificata a spazio della pila di carichi, l'immagine essendo un'immagine ripresa da una camera ed includendo i codici di spazio come suoi elementi d'immagine. Da ciascuna sequenza di elementi d'immagine in una direzione prefissata nell'ambito dell'immagine codificata a spazio, l'immagine dei carichi nello strato superiore della pila di carichi viene acquisita eliminando tutti gli elementi d'immagine eccettuati gli elementi che comprendono i codici di spazio rappresentativi delle regioni cuneiformi che vanno da una avente angolo massimo ad una avente un angolo prefissato.
ITMI940346A 1993-02-26 1994-02-25 Metodo per riprendere immagini tridimensionali di carichi IT1273342B (it)

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 (3)

Publication Number Publication Date
ITMI940346A0 ITMI940346A0 (it) 1994-02-25
ITMI940346A1 ITMI940346A1 (it) 1994-08-27
IT1273342B true IT1273342B (it) 1997-07-08

Family

ID=13213830

Family Applications (1)

Application Number Title Priority Date Filing Date
ITMI940346A IT1273342B (it) 1993-02-26 1994-02-25 Metodo per riprendere immagini tridimensionali di carichi

Country Status (4)

Country Link
JP (1) JP3028016B2 (it)
DE (1) DE4405849A1 (it)
FR (1) FR2702055B1 (it)
IT (1) IT1273342B (it)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2692603B2 (ja) * 1994-07-13 1997-12-17 村田機械株式会社 三次元計測方法
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
DE10143504A1 (de) 2001-09-05 2003-03-20 Sick Ag Überwachungsverfahren und optoelektronischer Sensor
CH697014A5 (de) * 2003-07-25 2008-03-14 Supercomputing Systems Ag Absicherung und/oder Ueberwachung von Systemen.
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
WO2020181525A1 (zh) * 2019-03-13 2020-09-17 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
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
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

Family Cites Families (4)

* Cited by examiner, † Cited by third party
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
FR2643707B1 (fr) * 1989-02-24 1993-01-15 Syspro Dispositif de reconnaissance de position d'objets
DE4115445C2 (de) * 1990-07-05 1994-02-17 Reinhard Malz Verfahren zum Aufnehmen eines dreidimensionalen Bildes eines Objektes nach dem aktiven Triangulationsprinzip und Vorrichtung hierzu

Also Published As

Publication number Publication date
FR2702055A1 (fr) 1994-09-02
DE4405849A1 (de) 1994-09-01
ITMI940346A0 (it) 1994-02-25
ITMI940346A1 (it) 1994-08-27
JP3028016B2 (ja) 2000-04-04
JPH06249631A (ja) 1994-09-09
FR2702055B1 (fr) 1995-08-04

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