JP3028016B2 - 積荷の三次元画像計測方法 - Google Patents

積荷の三次元画像計測方法

Info

Publication number
JP3028016B2
JP3028016B2 JP5062908A JP6290893A JP3028016B2 JP 3028016 B2 JP3028016 B2 JP 3028016B2 JP 5062908 A JP5062908 A JP 5062908A JP 6290893 A JP6290893 A JP 6290893A JP 3028016 B2 JP3028016 B2 JP 3028016B2
Authority
JP
Japan
Prior art keywords
image
cargo
code
uppermost
spatial code
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.)
Expired - Fee Related
Application number
JP5062908A
Other languages
English (en)
Japanese (ja)
Other versions
JPH06249631A (ja
Inventor
達雄 林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
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
Priority to JP5062908A priority Critical patent/JP3028016B2/ja
Priority to DE4405849A priority patent/DE4405849A1/de
Priority to FR9402208A priority patent/FR2702055B1/fr
Priority to ITMI940346A priority patent/IT1273342B/it
Publication of JPH06249631A publication Critical patent/JPH06249631A/ja
Application granted granted Critical
Publication of JP3028016B2 publication Critical patent/JP3028016B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Input (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Holo Graphy (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)
JP5062908A 1993-02-26 1993-02-26 積荷の三次元画像計測方法 Expired - Fee Related JP3028016B2 (ja)

Priority Applications (4)

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
DE4405849A DE4405849A1 (de) 1993-02-26 1994-02-23 Verfahren zum Aufnehmen drei-dimensionaler Bilder von Ladungen
FR9402208A FR2702055B1 (fr) 1993-02-26 1994-02-25 Procédé permettant de prendre des images tridimensionnelles de charges.
ITMI940346A IT1273342B (it) 1993-02-26 1994-02-25 Metodo per riprendere immagini tridimensionali di carichi

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 (2)

Publication Number Publication Date
JPH06249631A JPH06249631A (ja) 1994-09-09
JP3028016B2 true JP3028016B2 (ja) 2000-04-04

Family

ID=13213830

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5062908A Expired - Fee Related JP3028016B2 (ja) 1993-02-26 1993-02-26 積荷の三次元画像計測方法

Country Status (4)

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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Families Citing this family (16)

* 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
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
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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Also Published As

Publication number Publication date
FR2702055A1 (fr) 1994-09-02
IT1273342B (it) 1997-07-08
ITMI940346A0 (it) 1994-02-25
JPH06249631A (ja) 1994-09-09
ITMI940346A1 (it) 1994-08-27
FR2702055B1 (fr) 1995-08-04
DE4405849A1 (de) 1994-09-01

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