JP2015005093A5

JP2015005093A5 -

Info

Publication number: JP2015005093A5
Application number: JP2013129408A
Authority: JP
Filing date: 2013-06-20
Publication date: 2016-07-21
Anticipated expiration: 2033-06-20

Description

本発明は、検出対象を撮影可能なカメラと、前記検出対象のテンプレート画像と、前記カメラにより撮影された前記検出対象を含む撮影画像と、に基づいた画像同士でパターンマッチングを実行する演算部と、を備えるパターンマッチング装置において、前記演算部は、前記テンプレート画像を前記撮影画像に対してパターンマッチング可能に補正する補正パラメータを利用して、前記テンプレート画像から補正テンプレート画像を生成し、前記補正テンプレート画像と前記撮影画像とでパターンマッチングし、前記補正パラメータは、前記カメラの前記検出対象に対する傾斜を補正する前記撮影画像の歪情報を含むことを特徴とする。 The present invention provides a camera capable of capturing a detection target, a template image of the detection target, and a calculation unit that performs pattern matching between images based on the captured image including the detection target captured by the camera; The calculation unit generates a correction template image from the template image using a correction parameter that corrects the template image so that pattern matching can be performed on the captured image, and the correction template. Pattern matching is performed between the image and the captured image, and the correction parameter includes distortion information of the captured image that corrects the tilt of the camera with respect to the detection target .

また、本発明は、検出対象のテンプレート画像と、カメラにより撮影された前記検出対象を含む撮影画像と、に基づいた画像同士でパターンマッチングを実行するパターンマッチング方法において、演算部が、前記テンプレート画像を前記撮影画像に対してパターンマッチング可能に補正する補正パラメータを利用して、前記テンプレート画像から補正テンプレート画像を生成する補正画像生成工程と、前記演算部が、前記補正テンプレート画像と前記撮影画像とでパターンマッチングするパターンマッチング工程と、を備え、前記補正パラメータは、前記カメラの前記検出対象に対する傾斜を補正する前記撮影画像の歪情報を含むことを特徴とする。

Further, the present invention provides a pattern matching method for performing pattern matching between images based on a template image to be detected and a captured image including the detection target captured by a camera. A correction image generation step of generating a correction template image from the template image using correction parameters for correcting the captured image so as to allow pattern matching, and the calculation unit includes the correction template image and the captured image. And a pattern matching step for pattern matching , wherein the correction parameter includes distortion information of the captured image for correcting an inclination of the camera with respect to the detection target .

Claims

A camera capable of shooting the detection target;
In a pattern matching device comprising: a calculation unit that performs pattern matching between images based on the template image of the detection target and a captured image including the detection target captured by the camera;
The calculation unit generates a correction template image from the template image using a correction parameter that corrects the template image so that pattern matching can be performed on the captured image, and a pattern is generated between the correction template image and the captured image. matching,
The correction parameter includes distortion information of the captured image that corrects an inclination of the camera with respect to the detection target.
A pattern matching device.

  A robot body capable of working on the detection target;
  A pattern matching device according to claim 1, wherein the position and orientation of the detection target are calculated based on a result of executing the pattern matching by the pattern matching device, and based on the obtained position and orientation of the detection target A controller for controlling the operation of the robot body,
  A robot apparatus characterized by that.

A production apparatus capable of working on the detection target;
Has a pattern matching apparatus according to claim 1, by the pattern matching device based on the result of executing the pattern matching, and a control unit for controlling the operation of the production apparatus,
Production equipment characterized by that.

  In a pattern matching method for performing pattern matching between images based on a detection target template image and a captured image including the detection target captured by a camera,
  A correction image generating step for generating a correction template image from the template image using a correction parameter for correcting the template image so that pattern matching can be performed on the captured image;
  The calculation unit includes a pattern matching step for pattern matching between the correction template image and the captured image,
  The correction parameter includes distortion information of the captured image that corrects an inclination of the camera with respect to the detection target.
  A pattern matching method characterized by that.

The program for making a computer perform each process of the pattern matching method of Claim 4.

A computer-readable recording medium on which a program for causing a computer to execute each step of the pattern matching method according to claim 5 is recorded.