JP3849228B2 - 3D position / orientation detection device for circular feature of parts, detection method thereof, and recording medium thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional position / orientation detection device for a circular feature of a component, a detection method thereof, and a recording medium thereof, and is particularly useful when applied to implementation of a model-based matching method in so-called three-dimensional object recognition processing.
[0002]
[Prior art]
Three-dimensional object recognition processing by the model-based matching method is widely used for recognition and processing of industrial parts. Here, many actual industrial parts have circular holes on the surface for inserting bolts, screws, rotating shafts and the like. In addition, since machining is performed with a lathe or the like, there are many cases in which a cylindrical part is present on the part. However, when an industrial part having such a circular shape is captured as an image, these holes and the end points of the cylinder may not become a circle on the image due to the inclination of the industrial part. Therefore, in order to achieve good matching even in this case, a technique has been proposed in which a circular shape is extracted as a closed curve and this closed curve is used for matching (for example, Japanese Patent Application No. 9-102041). This realizes a robust object recognition process.
[0003]
[Problems to be solved by the invention]
However, the closed curve may be formed by spots, shadows, irregularities, etc. on the part surface or background, and it may be difficult to distinguish from the “hole” or “cylindrical end point” by the closed curve alone. In such a case, the number of times of matching increases, so the processing time may increase, or erroneous recognition may occur due to matching with an originally incorrect closed curve.
[0004]
In view of the above-described prior art, the present invention can correctly extract a circular portion such as a “hole” or “end point of a cylinder”, and can detect a position and orientation of a target circular feature correctly. An object of the present invention is to provide a three-dimensional position / orientation detection device for a circular feature, a detection method thereof, and a recording medium storing the same.
[0005]
[Means for Solving the Problems]
The configuration of the present invention that achieves the above object is characterized by the following points.
[0006]
1) A means for extracting a point sequence that is likely to be a circle from the edge data obtained from the input image, a means for measuring the three-dimensional position of the point sequence, and calculating a plane based on the position data of this point sequence Means for performing a circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circles, and detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle A three-dimensional position and orientation detection device for a circular feature of a part having means,
  When measuring the 3D position of the above point sequence, find the angle between the straight line and epipolar line made from several points before and after the point to be measured, and compare that angle with the set value. A point having means for determining whether or not to measure a three-dimensional position.
2) Means for extracting a point sequence that is likely to be a circle from the edge data obtained from the input image, means for measuring the three-dimensional position of the point sequence, and calculating a plane based on the position data of this point sequence Means for performing a circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circles, and detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle A three-dimensional position and orientation detection device for a circular feature of a part having means,
  A point having means for using, as point sequence data used for circular approximation, three-dimensional position data of a point on a circular plane obtained as an intersection of a straight line passing through the camera origin and a target point on the image plane and the circular plane.
3) Means for extracting a point sequence that is likely to be a circle from edge data obtained from the input image, means for measuring the three-dimensional position of the point sequence, and calculating a plane based on the position data of this point sequence Means for performing a circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circles, and detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle A three-dimensional position and orientation detection device for a circular feature of a part having means,
  For circular approximation of point sequence data, a circular plane coordinate system is set so that the circular plane becomes the xy plane, and the 3D position data of all points in the point sequence is converted from the reference coordinate system to the circular plane coordinate system. And a point having means for performing circular approximation on two-dimensional point sequence data of only x and y components with respect to the circular plane coordinate system of the point sequence.
4) A means for extracting a point sequence portion that is likely to be a circle from the edge data obtained from the input image;
  Means for measuring the three-dimensional position of the point sequence;
  Means for calculating a plane based on the position data of this point sequence;
  A means for performing a circle approximation on the point sequence data on the calculated plane, and selecting an approximate circle that matches the setting data;
  Concerning the point sequence data that extracted the arcs near the selected circle and concentric circles, calculated the circle plane again from the 3D position data of the point sequence of the circle and the adjacent arc, and constituted the circle on the circle plane Means for performing circle approximation again, checking again whether the approximated circle matches the setting data, and detecting a three-dimensional position and orientation of the circle feature with respect to the confirmed circle.
5)Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle A circle feature detecting means for detecting a three-dimensional position and orientation of a circle featureIn the three-dimensional position and orientation detection device for the circular feature of parts,
  When extracting the neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and then the point sequence data on the image The arc is approximated, and only the arc whose center falls within the preset range from the center of the circle already extracted is used as the arc on the concentric circle.Configured aspoint.
6)Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Approximate the circle with respect to the point sequence data, and select the one that fits the setting data from the approximated circles. Contour circles that are concentric with the selected circle are extracted, the circle plane is calculated again from the three-dimensional position data of the circle and the neighboring arc point sequence, and the point sequence data that constituted the circle on the circle plane A circle feature detection unit that performs circle approximation again, checks again whether the approximated circle matches the setting data, and detects the three-dimensional position and orientation of the circle feature with respect to the confirmed circleIn the three-dimensional position and orientation detection device for the circular feature of parts,
  When extracting neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and the point sequence data is extracted on those images. Project to the circular plane, then approximate the arc of the projected point sequence data on the circular plane, and only the arc that falls within the preset range from the center of the circle that has already been extracted is the arc on the concentric circle. Use asConfigured aspoint.
[0007]
7) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate the calculated plane Perform a circle approximation on the point sequence data above, select the one that matches the setting data from the approximated circles, and detect the 3D position and orientation of the circle feature for the selected circle. A detection method,
  When measuring the 3D position of the above point sequence, find the angle between the straight line and epipolar line made from several points before and after the point to be measured, and compare that angle with the set value. To determine whether to measure 3D position.
8) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate the calculated plane Perform a circle approximation on the point sequence data above, select the approximate circle that matches the setting data, and detect the 3D position and orientation of the circle feature for the selected circle. A detection method,
  Use the 3D position data of the points on the circle plane obtained as the intersection of the straight line passing through the camera origin and the target point on the image plane and the circle plane for the point sequence data used for the circle approximation.
9) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate the calculated plane Perform a circle approximation on the point sequence data above, select the approximate circle that matches the setting data, and detect the 3D position and orientation of the circle feature for the selected circle. A detection method,
  For circular approximation of point sequence data, a circular plane coordinate system is set so that the circular plane becomes the xy plane, and the 3D position data of all points in the point sequence is converted from the reference coordinate system to the circular plane coordinate system. Then, circular approximation is performed on two-dimensional point sequence data having only x and y components with respect to the circular plane coordinate system of the point sequence.
10) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image,
  Measure the 3D position of the sequence,
  Calculate the plane based on the position data of this point sequence,
  Perform a circle approximation on the point sequence data on the calculated plane, select the approximate circle that matches the setting data,
  Concerning the point sequence data that extracted the arcs near the selected circle and concentric circles, calculated the circle plane again from the 3D position data of the point sequence of the circle and the adjacent arc, and constituted the circle on the circle plane Perform circle approximation again, check again whether the approximate circle matches the setting data, and detect the three-dimensional position and orientation of the circle feature for the confirmed circle.
11)Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle The 3D position and orientation of circular features with respect toIn the three-dimensional position and orientation detection method of the circular feature of the part,
  When extracting the neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and then the point sequence data on the image And only the arc whose center falls within a preset range from the center of the circle already extracted is used as the arc on the concentric circle.
12)Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle Regarding It has a circle feature detection means for detecting the three-dimensional position and orientation of the circle feature.In the three-dimensional position and orientation detection method of the circular feature of the part,
  When extracting neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and the point sequence data is extracted on those images. Project on the circular plane, then approximate the arc of the projected point sequence data on the circular plane, and only the arc that falls within the preset range from the center of the circle that has already been extracted is the arc on the concentric circle. Use as.
[0008]
13) Extracting the point sequence that is likely to be a circle from the edge data obtained from the input image, measuring the 3D position of the point sequence, and calculating the plane based on the position data of this point sequence Procedure, procedure to perform circle approximation on the point sequence data on the calculated plane, select the one that fits the setting data from the approximated circle, and procedure to detect the 3D position and orientation of the circle feature for the selected circle Is stored as a program,
  When measuring the 3D position of the above point sequence, find the angle between the straight line and epipolar line made from several points before and after the point to be measured, and compare that angle with the set value. The procedure for determining whether or not to measure the three-dimensional position is stored as a program.
14) Extracting the point sequence that is likely to be a circle from the edge data obtained from the input image, measuring the 3D position of the point sequence, and calculating the plane based on the position data of this point sequence Procedure, procedure to perform circle approximation on the point sequence data on the calculated plane, select the one that fits the setting data from the approximated circle, and procedure to detect the 3D position and orientation of the circle feature for the selected circle Is stored as a program,
  Stores as a program the procedure to use the 3D position data of the points on the circular plane obtained as the intersection of the straight line passing through the camera origin and the target point on the image plane and the circular plane in the point sequence data used for circular approximation That.
15) Extracting the point sequence that is likely to be a circle from the edge data obtained from the input image, measuring the 3D position of the point sequence, and calculating the plane based on the position data of this point sequence Procedure, procedure to perform circle approximation on the point sequence data on the calculated plane, select the one that fits the setting data from the approximated circle, and procedure to detect the 3D position and orientation of the circle feature for the selected circle Is stored as a program,
  For circular approximation of point sequence data, a circular plane coordinate system is set so that the circular plane becomes the xy plane, and the 3D position data of all points in the point sequence is converted from the reference coordinate system to the circular plane coordinate system. In addition, a procedure for performing circular approximation on two-dimensional point sequence data of only the x and y components related to the circular plane coordinate system of the point sequence is stored as a program.
16) Extracting the point sequence that is likely to be a circle from the edge data obtained from the input image,
  A procedure for measuring the three-dimensional position of the point sequence;
  A procedure for calculating a plane based on the position data of this point sequence,
  Performing a circle approximation on the point sequence data on the calculated plane, and selecting the one that fits the setting data from the approximated circle,
  Concerning the point sequence data that extracted the arcs near the selected circle and concentric circles, calculated the circle plane again from the 3D position data of the point sequence of the circle and the adjacent arc, and constituted the circle on the circle plane Performing circular approximation again, reconfirming whether the approximated circle matches the set data, and storing a procedure for detecting the three-dimensional position and orientation of the circle feature for the confirmed circle as a program.
17)Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle The procedure for detecting the three-dimensional position and orientation of a circle feature is stored as a programIn the recording medium,
  When extracting the neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and then the point sequence data on the image The procedure of using only the arc whose center falls within a preset range from the center of the circle that has been extracted last is stored as a program on the concentric circle.
18)Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle The procedure for detecting the three-dimensional position and orientation of a circle feature is stored as a programIn the recording medium,
  When extracting neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and the point sequence data is extracted on those images. Project to the circular plane, then approximate the arc of the projected point sequence data on the circular plane, and only the arc that falls within the preset range from the center of the circle that has already been extracted is the arc on the concentric circle. The procedure used as is stored as a program.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0010]
(1) Basic concept
An object of the present invention is to detect a three-dimensional position and orientation of a circular feature such as a “hole” or “end point of a cylindrical portion” of an industrial part.
In the present invention, since “holes” and “end points of cylindrical portions” of industrial products are extracted, even if they are not circles on the image even if they are inclined, “holes” and “end points of cylindrical portions” Note that it looks like a circle when viewed from the front.
In the present invention, as the method, a point sequence portion that is likely to be a circle is extracted from the edge data obtained from the input image, and the circle is related to the point sequence data on a plane calculated based on the three-dimensional position data of the point sequence. Approximate.
[0011]
(2) Method of extracting edge point sequence portion as circle candidate
The “hole” and “end point of the cylindrical portion” of the industrial product are represented as “closed convex curve” on the image. Therefore, the following method is used as the method for extracting the edge point sequence portion as a circle candidate from the closed curve extraction method proposed in Japanese Patent Laid-Open No. 9-102041.
(1) A method of extracting “closed curve” or “substantially closed curve” as circle candidates (see FIG. 1).
(2) A method in which the “closed curve portion on the curve” is a circle candidate (see FIG. 2).
{Circle around (3)} A method in which a convex shape among “closed curve”, “substantially closed curve”, and “closed curve portion on the curve” is used as a circle candidate (see FIG. 3).
[0012]
(3) Measuring point selection method in 3D position measurement of circle candidate point sequence
When measuring the three-dimensional position of a circle candidate point sequence by the triangulation method with stereo vision, there is a high possibility of making a mistake in determining the corresponding point of stereo vision at the part overlapping the epipolar line as shown in FIG. In many cases, the measured three-dimensional position data includes a large error. Therefore, when such a problem is large, the angle formed by a straight line made from several points before and after the three-dimensional measurement and the epipolar line is obtained. If the angle is smaller than the set value, the point is converted to the cubic. The original position is not measured.
[0013]
(4) Method of mapping circle candidate point sequence to calculation plane
A point that has been measured three-dimensionally using stereo vision or the like includes a measurement error in the three-dimensional position data, and a point that is determined to be unsuitable for three-dimensional measurement by the method (3) do not have. Therefore, after calculating a plane (hereinafter referred to as “circular plane”) on which the three-dimensional point sequence data is placed by the least square method or the like, all the points of the point sequence that are circle candidates are mapped onto the circular plane. As shown in FIG. 5, the three-dimensional position data obtained by mapping an arbitrary point onto the circular plane is obtained as an intersection of a straight line passing through the camera origin and the target point on the image plane and the circular plane.
[0014]
(5) Yen calculation method
The process of circular approximation of the point sequence data is performed in the following procedure.
(1) Consider a coordinate system in which a circular plane is an xy plane (hereinafter referred to as a “circular plane coordinate system”).
(2) The coordinate transformation of the three-dimensional position data of the point sequence is performed from the reference coordinate system to the circular plane coordinate system.
(3) For a xy plane (two-dimensional) in a circular plane coordinate system, a circle approximation of a point sequence is performed using a least square method or the like.
A flowchart of this process is shown in FIG.
[0015]
(6) Method of judging the validity of the yen
It is necessary to check whether the circle extracted from the input image is correct as the “hole” or “end of the cylindrical portion” of the actual target part. The process is performed according to the following procedure.
(1) Check whether the diameter of the extracted circle falls within a preset range. If it is not within the range, it is determined that it is not a hole.
(2) The sum of the difference between the radius of the extracted circle and the distance from the center of the circle to the point sequence is regarded as an error. If this error is larger than the set value, it is determined that the hole is not a hole.
A flowchart of this process is shown in FIG.
[0016]
(7) 3D position and orientation data structure of circle features
The data indicating the detected circle feature has the following.
(1) Circle center and 3D position.
(2) The radius of the circle.
(3) Normal vector of the circular plane.
[0017]
(8) How to add neighboring arcs used for circular plane calculation
In a part with a hole, the hole part is often cylindrical like a pipe or a bearing part (see FIG. 8). In this case, there are circles and arcs on concentric circles, which may ride on the same plane. The calculation of the plane is generally more accurate as the number of data points becomes larger in the method of least squares, etc., so the arc plane on the concentric circle or the dot sequence data of the circle is added to the original sequence data of the circle, and again the circular plane To improve the calculation accuracy of the circular plane.
[0018]
(8-1) Extraction of neighboring arcs on the image plane
(1) Point sequence data that falls within a preset range from the center of the already extracted circle is set on the image (see FIG. 9).
(2) The circular approximation of the point sequence data is performed on the image (see FIG. 10).
(3) Only arcs whose centers fall within a preset range from the center of the already extracted circle are set as arcs on concentric circles (see FIG. 11).
A flowchart of this process is shown in FIG.
[0019]
(8-2) Extraction of neighboring arcs on a circular plane
(1) Point sequence data that falls within a preset range from the center of the already extracted circle is set on the image (see FIG. 9).
(2) The point sequence data on the image set in (1) is mapped onto the already calculated circular plane using the method (4) (see FIG. 13).
(3) The mapped point sequence data is approximated to a circle on a circular plane (see FIG. 14).
(4) Only arcs that fall within a preset range from the center of the already extracted circle are set as arcs on concentric circles (see FIG. 15).
A flowchart of this process is shown in FIG.
[0020]
In short, as an embodiment of the present invention, the following three-dimensional position / orientation detection device for a circle feature of a component, a detection method thereof, and a recording medium storing the same can be mentioned.
[0021]
(1) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate A third order having circle feature detection means for performing circle approximation on the point sequence data on the selected plane, selecting one of the approximated circles that matches the setting data, and detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle In the original position and orientation detection device,
When measuring the 3D position of the above point sequence, find the angle between the straight line and epipolar line made from several points before and after the point to be measured, and compare that angle with the set value. 3D position / orientation detection apparatus having means for determining whether or not to measure 3D position, 3D position / orientation detection method realized by the apparatus, floppy disk, CD-ROM, etc. Recording media.
[0022]
(2) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the three-dimensional position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate A third order having circle feature detection means for performing circle approximation on the point sequence data on the selected plane, selecting one of the approximated circles that matches the setting data, and detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle In the original position and orientation detection device,
3D position having means to use 3D position data of the point on the circle plane obtained as the intersection of the camera origin and the target point on the image plane and the circle plane as the point sequence data used for circle approximation An attitude detection apparatus, a three-dimensional position / orientation detection method realized by the apparatus, and a recording medium such as a floppy disk or a CD-ROM storing the same as a program.
[0023]
(3) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the three-dimensional position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate A third order having circle feature detection means for performing circle approximation on the point sequence data on the selected plane, selecting one of the approximated circles that matches the setting data, and detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle In the original position and orientation detection device,
In particular, for circle approximation of point sequence data, a circular plane coordinate system is set so that the circular plane becomes the xy plane, and the 3D position data of all points in the point sequence are coordinated from the reference coordinate system to the circular plane coordinate system. 3D position / orientation detection apparatus having means for performing circular approximation on two-dimensional point sequence data of only x and y components with respect to a circular plane coordinate system of the point sequence, and a 3D position / orientation detection method realized by this apparatus And a recording medium such as a floppy disk or a CD-ROM storing the same as a program.
[0024]
(4) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the three-dimensional position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate A third order having circle feature detection means for performing circle approximation on the point sequence data on the selected plane, selecting one of the approximated circles that matches the setting data, and detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle In the original position and orientation detection device,
When selecting an approximate circle that matches the setting data, it is first determined whether or not the approximate circle diameter is within the preset range, and whether or not it is the target circle feature. For the circle feature to be used, the sum of the difference between the circle radius and the distance from the center of the circle to the point sequence is regarded as an error, and the correctness of the detected circle feature is confirmed by comparing this error with a preset value. 3D position / orientation detection apparatus having means, 3D position / orientation detection method realized by the apparatus, and a recording medium such as a floppy disk or CD-ROM storing the same as a program.
[0025]
(5) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate Perform a circle approximation on the point sequence data on the selected plane, select one of the approximated circles that matches the setting data, extract an arc near the circle that is concentric with the selected circle, and create a sequence of points between the circle and the adjacent arc The circle plane is calculated again from the three-dimensional position data, and the circle approximation is performed again on the point sequence data that made up the circle on the circle plane, and it is confirmed again whether the approximate circle matches the set data. 3D position / orientation detection apparatus configured to detect a 3D position / orientation of a circle feature with respect to a circle formed, a 3D position / orientation detection method realized by the apparatus, a floppy disk storing the same as a program, and a CD -ROM Of the recording medium.
[0026]
(6) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the three-dimensional position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate Perform a circle approximation on the point sequence data on the selected plane, select one of the approximated circles that matches the setting data, extract an arc near the circle that is concentric with the selected circle, and create a sequence of points between the circle and the adjacent arc The circle plane is calculated again from the three-dimensional position data, and the circle approximation is performed again on the point sequence data that made up the circle on the circle plane, and it is confirmed again whether the approximate circle matches the set data. In a three-dimensional position and orientation detection apparatus having a circle feature detection means for detecting a three-dimensional position and orientation of a circle feature with respect to a circle that has been made,
When extracting arcs in the vicinity of concentric circles with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and then the point sequence on the image A three-dimensional position / orientation detection device configured to perform an arc approximation of data and use only an arc whose center falls within a preset range from the center of the circle that has already been extracted, as a concentric arc. A three-dimensional position / orientation detection method to be realized and a recording medium such as a floppy disk or a CD-ROM storing the method as a program.
[0027]
(7) Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the three-dimensional position of the point sequence, calculate the plane based on the position data of this point sequence, and calculate Perform a circle approximation on the point sequence data on the selected plane, select one of the approximated circles that matches the setting data, extract an arc near the circle that is concentric with the selected circle, and create a sequence of points between the circle and the adjacent arc The circle plane is calculated again from the three-dimensional position data, and the circle approximation is performed again on the point sequence data that made up the circle on the circle plane, and it is confirmed again whether the approximate circle matches the set data. In a three-dimensional position and orientation detection apparatus having a circle feature detection means for detecting a three-dimensional position and orientation of a circle feature with respect to a circle that has been made,
In particular, when extracting neighboring arcs on the concentric circle with the extracted circle, first, point sequence data that falls within a preset range from the center of the already extracted circle is extracted on the image, and the point sequence data is extracted on those images. Is projected onto a circular plane, then the projected point sequence data is approximated by an arc on the circular plane, and only the arc whose center falls within the preset range from the center of the circle that has been extracted last is concentric. A three-dimensional position / orientation detection apparatus configured to be used as an arc, a three-dimensional position / orientation detection method realized by the apparatus, and a recording medium such as a floppy disk or a CD-ROM storing the same as a program.
[0028]
【Example】
The above-described embodiment can be realized by the following examples.
[0029]
1) FIG. 17 shows an embodiment of a basic apparatus for detecting a three-dimensional position and orientation of a circle feature according to the present invention. This device extracts a point sequence that is likely to be a circle from the edge data obtained from the input image, and performs a circle neighborhood on the point sequence data on a plane calculated based on the three-dimensional position data of the point sequence. The three-dimensional position and orientation of a circle feature is detected.
[0030]
2) FIG. 18 shows an embodiment of an apparatus for selecting a three-dimensional position measurement point of a circle candidate point sequence according to the present invention. This device calculates the angle between a straight line created from several points before and after the point to be measured for 3D position and the epipolar line, and compares that angle with the set value to measure the 3D position. It is determined whether or not.
[0031]
3) FIG. 19 shows an embodiment of an apparatus for mapping circle candidate point sequences on a circular plane according to the present invention. This device sets the 3D position data of a point on a circular plane, which is obtained as the intersection of a straight line passing through the camera origin and the target point on the image plane, and the circular plane as the 3D position data of the target point. It is.
[0032]
4) FIG. 20 shows an embodiment of an apparatus for circular approximation of point sequence data according to the present invention. This apparatus sets a circular plane coordinate system in which the circular plane is an xy plane, converts the three-dimensional position data of all points of the point sequence from the reference coordinate system to the circular plane coordinate system, and converts the circular plane. For the two-dimensional point sequence converted above, a circle approximation of the point sequence is performed using a least square method or the like.
[0033]
5) FIG. 21 shows an embodiment of an apparatus for confirming a detected circle according to “(6) Method for determining validity of circle” of the present invention. This device first determines whether or not the extracted circle diameter is a target circle feature depending on whether it falls within a preset range, and then determines the radius of the circle with respect to the target circle feature. The sum of the difference in distance from the center of the circle to the points in the point sequence is taken as an error, and the validity of the detected circle feature is confirmed by comparing this error with a preset value.
[0034]
6) FIG. 22 shows an embodiment of an apparatus for setting circle feature data according to the present invention. This device sets circle feature data from the three-dimensional position of the circle center, the radius of the circle, and the normal vector of the circle plane.
[0035]
7) FIG. 23 shows an embodiment of an apparatus for extracting a neighborhood arc according to “(8-1) Method for extracting neighborhood arc on image plane” of the present invention. This device first extracts point sequence data that falls within a preset range from the center of the already extracted circle on the image, then performs arc approximation of the point sequence data on the image, and finally already extracted. Only arcs whose centers fall within a preset range from the center of the circle are set as concentric circles.
[0036]
8) FIG. 24 shows an embodiment of an apparatus for extracting a neighboring arc according to “(8-2) Method for extracting a neighboring arc in a circular plane” of the present invention. This apparatus first extracts point sequence data that falls within a preset range from the center of an already extracted circle on the image, and maps the point sequence data on those images onto a circular plane. Next, the mapped point sequence data is approximated by an arc on a circular plane, and only the arc whose center falls within a preset range from the center of the circle already extracted is set as a concentric arc. .
[0037]
9) FIG. 25 shows an embodiment of an apparatus for detecting a three-dimensional position and orientation of a circular feature obtained by adding the function of the apparatus (2) shown in FIG. 18 to the apparatus (1) shown in FIG. This device extracts a point sequence that is likely to be a circle from the edge data obtained from the input image, and in the three-dimensional position measurement of the point sequence, straight lines and epipolar lines formed from several points before and after the point to be measured By determining the angle formed by the line and comparing the angle with the set value, it is determined whether or not the point is to be measured in 3D position, and the 3D position data of the point sequence measured through the determination is used as the basis. The circle approximation is performed on the point sequence data on the plane calculated in (1), and the three-dimensional position and orientation of the circle feature is detected.
[0038]
10) An embodiment of an apparatus for detecting a three-dimensional position and orientation of a circular feature obtained by adding the function of the apparatus of (7) shown in FIG. 23 or the apparatus of (8) shown in FIG. 24 to the apparatus of (1) shown in FIG. It shows in FIG. This device extracts a point sequence that is likely to be a circle from the edge data obtained from the input image, and performs a circle neighborhood on the point sequence data on a plane calculated based on the three-dimensional position data of the point sequence. , Extract the arc near the extracted circle and concentric circles, calculate the circle plane again from the 3D position data of the circle and the adjacent arc point sequence, and the point sequence data that constituted the circle on the circle plane The circle approximation is performed again for the three-dimensional position and orientation of the circle feature.
[0039]
【The invention's effect】
As specifically described above with the embodiment, the present invention has the following effects.
(1) Even if there are spots, shadows, irregularities, etc. on the part surface or background in the input image, it is possible to correctly extract a circular portion such as “hole” or “end point of cylinder”.
(2) In the input image, even if there are spots, shadows, irregularities, etc. on the surface or background of the part, the position and orientation of the target circular feature such as “hole” or “end of cylinder” on the part are correctly detected. be able to.
(3) Even if there are spots, shadows, irregularities, etc. on the surface or background of the part in the input image, recognition errors can be reduced by using circular features such as “holes” and “cylindrical end points” on the part. it can.
(4) In the input image, even when there are spots, shadows, irregularities, etc. on the part surface or background, it is possible to correctly extract the circular features such as “holes” and “end points of the cylinder”. The number of times the model is applied in the matching is reduced, and the recognition processing time can be shortened.
(5) Even when a circular feature such as a “hole” or “end point of a cylinder” is tilted, the circular feature can be extracted.
(6) The position and orientation of the circular feature can be detected even when the circular feature portion such as “hole” or “cylindrical end point” is tilted.
(7) It is possible to detect in which direction the three-dimensionally directed portions that are circular features such as “holes” and “cylindrical end points” are directed.
(8) By extracting the circle feature, it is possible to detect the position of the target part.
(9) By extracting the circle feature, it is possible to detect in which direction the target part is facing.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing “closed curve” and “substantially closed curve” as circle candidates used in an embodiment of the present invention.
FIG. 2 is an explanatory diagram showing a “closed curve portion on a curve” that is a circle candidate used in the embodiment of the present invention.
FIG. 3 is an explanatory diagram showing a “convex curve” that is a circle candidate used in the embodiment of the present invention. .
FIG. 4 is an explanatory diagram showing a curve portion overlapping with an epipolar line used in an embodiment of the present invention.
FIG. 5 is an explanatory diagram showing a mode in which an arbitrary point on a curve used in the embodiment of the present invention is mapped to a circular plane.
FIG. 6 is a flowchart showing a circle calculation procedure according to the embodiment of the present invention.
FIG. 7 is a flowchart showing a procedure of an extraction circle inspection according to the embodiment of the present invention.
FIG. 8 is an explanatory view showing a part having a cylindrical portion for carrying out the present invention.
FIG. 9 is an explanatory diagram showing a range set on an image plane in order to find a nearby arc in the embodiment of the present invention.
FIG. 10 is an explanatory diagram showing an aspect when a circle is approximated for an object that falls within a set range on an image plane in the embodiment of the present invention.
FIG. 11 is an explanatory diagram showing an aspect in the case where an arc whose center falls within a set range on the image plane is set as a neighborhood arc in the embodiment of the present invention.
FIG. 12 is a flowchart showing a procedure for extracting a neighboring arc according to the embodiment of the present invention.
FIG. 13 is an explanatory diagram showing an aspect in which a portion that falls within a set range on the image plane is mapped to a circular plane in the embodiment of the present invention.
FIG. 14 is an explanatory diagram showing an aspect in a case where an arc is approximated on a circular plane in the embodiment of the present invention.
FIG. 15 is an explanatory diagram showing an aspect in a case where an arc whose center falls within a set range on a circular plane is set as a neighborhood arc in the embodiment of the present invention.
FIG. 16 is a flowchart showing a procedure for extracting a neighboring arc according to the embodiment of the present invention.
FIG. 17 is a block diagram showing an embodiment of a basic apparatus for detecting a three-dimensional position and orientation of a circle feature according to the present invention.
FIG. 18 is a block diagram showing an embodiment of an apparatus for selecting a three-dimensional position measurement point of a circle candidate point sequence according to the present invention.
FIG. 19 is a block diagram showing an embodiment of an apparatus for mapping circle candidate point sequences onto a circular plane according to the present invention.
FIG. 20 is a block diagram showing an embodiment of an apparatus for circular approximation of point sequence data according to the present invention.
FIG. 21 is a block diagram showing an embodiment of an apparatus for confirming a detected circle according to the “circle validity judging method” of the present invention.
FIG. 22 is a block diagram showing an embodiment of an apparatus for setting circle feature data according to the present invention.
FIG. 23 is a block diagram showing an embodiment of an apparatus for extracting a neighboring arc by the “neighboring arc extracting method on the image plane” of the present invention.
FIG. 24 is a block diagram showing an embodiment of an apparatus for extracting a neighboring arc by the “neighboring arc extracting method in a circular plane” of the present invention.
25 is a block diagram showing an embodiment of an apparatus for detecting a three-dimensional position and orientation of a circular feature obtained by adding the function of the apparatus shown in FIG. 18 to the apparatus shown in FIG.
26 is a block diagram showing an embodiment of an apparatus for detecting a three-dimensional position and orientation of a circular feature obtained by adding the function of the apparatus shown in FIG. 23 or FIG. 24 to the apparatus shown in FIG.

Claims (18)

Means for extracting a point sequence portion that is likely to be a circle from edge data obtained from the input image, means for measuring the three-dimensional position of the point sequence, and means for calculating a plane based on the position data of the point sequence And means for performing a circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circle, and a means for detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle A three-dimensional position and orientation detection device for a circular feature of a part having
When measuring the 3D position of the above point sequence, find the angle between the straight line and epipolar line made from several points before and after the point to be measured, and compare that angle with the set value. A three-dimensional position and orientation detection device for a circular feature of a part, characterized by having means for determining whether or not to measure a three-dimensional position. Means for extracting a point sequence portion that is likely to be a circle from edge data obtained from the input image, means for measuring the three-dimensional position of the point sequence, and means for calculating a plane based on the position data of the point sequence And means for performing a circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circle, and a means for detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle A three-dimensional position and orientation detection device for a circular feature of a part having
The point sequence data used for the circular approximation has means for using the three-dimensional position data of the point on the circular plane obtained as the intersection of the straight line passing through the camera origin and the target point on the image plane and the circular plane. A three-dimensional position and orientation detection device for the circular feature of a part. Means for extracting a point sequence portion that is likely to be a circle from edge data obtained from the input image, means for measuring the three-dimensional position of the point sequence, and means for calculating a plane based on the position data of the point sequence And means for performing a circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circle, and a means for detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle A three-dimensional position and orientation detection device for a circular feature of a part having
For circular approximation of point sequence data, a circular plane coordinate system is set so that the circular plane becomes the xy plane, and the 3D position data of all points in the point sequence is converted from the reference coordinate system to the circular plane coordinate system. A device for detecting a three-dimensional position and orientation of a circle feature of a part, comprising means for performing a circle approximation on two-dimensional point sequence data having only x and y components with respect to a circular plane coordinate system of the point sequence. Means for extracting a point sequence portion that is likely to be a circle from the edge data obtained from the input image;
Means for measuring the three-dimensional position of the point sequence;
Means for calculating a plane based on the position data of this point sequence;
A means for performing a circle approximation on the point sequence data on the calculated plane, and selecting an approximate circle that matches the setting data;
Concerning the point sequence data that extracted the arcs near the selected circle and concentric circles, calculated the circle plane again from the 3D position data of the point sequence of the circle and the adjacent arc, and constituted the circle on the circle plane A circle approximation is performed again, and it is confirmed again whether the approximate circle matches the setting data, and a means for detecting the three-dimensional position and orientation of the circle feature with respect to the confirmed circle is included. 3D position and orientation detection device. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle In the three-dimensional position and orientation detection device for a circular feature of a part having a circle feature detection means for detecting a three-dimensional position and orientation of a circle feature
When extracting the neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and then the point sequence data on the image deeds arc approximation, tertiary finally already only arc centered fall within a preset range from the center of the circle that is extracted, the circular feature of the parts, characterized by being configured for use as an arc of a concentric Original position and orientation detection device. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle In the three-dimensional position and orientation detection device for a circular feature of a part having a circle feature detection means for detecting a three-dimensional position and orientation of a circle feature
When extracting neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and the point sequence data is extracted on those images. Project to the circular plane, then approximate the arc of the projected point sequence data on the circular plane, and only the arc that falls within the preset range from the center of the circle that has already been extracted is the arc on the concentric circle. A three-dimensional position / orientation detection device for a circular feature of a component, characterized in that the device is configured to be used as: Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Approximate a circle with respect to point sequence data in, select one of the approximated circles that matches the setting data, and detect the 3D position and orientation of the circle feature for the selected circle. A method,
When measuring the 3D position of the above point sequence, find the angle between the straight line and epipolar line made from several points before and after the point to be measured, and compare that angle with the set value. 3D position and orientation detection method of a circle feature of a part, which determines whether or not to measure a three-dimensional position. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Approximate a circle with respect to point sequence data in, select one of the approximated circles that matches the setting data, and detect the 3D position and orientation of the circle feature for the selected circle. A method,
A component characterized by using three-dimensional position data of a point on a circular plane obtained as an intersection of a straight line passing through the camera origin and the target point on the image plane and the circular plane as point sequence data used for circular approximation 3D position and orientation detection method for circle features. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Approximate a circle with respect to point sequence data in, select one of the approximated circles that matches the setting data, and detect the 3D position and orientation of the circle feature for the selected circle. A method,
For circular approximation of point sequence data, a circular plane coordinate system is set so that the circular plane becomes the xy plane, and the 3D position data of all points in the point sequence is converted from the reference coordinate system to the circular plane coordinate system. A method for detecting a three-dimensional position and orientation of a circle feature of a component, wherein circle approximation is performed on two-dimensional point sequence data having only x and y components related to a circular plane coordinate system of the point sequence. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image,
Measure the 3D position of the sequence,
Calculate the plane based on the position data of this point sequence,
Perform a circle approximation on the point sequence data on the calculated plane, select the approximate circle that matches the setting data,
Concerning the point sequence data that extracted the arcs near the selected circle and concentric circles, calculated the circle plane again from the 3D position data of the point sequence of the circle and the adjacent arc, and constituted the circle on the circle plane Perform the circle approximation again, check again whether the approximate circle matches the set data, and detect the 3D position and orientation of the circle feature for the confirmed circle. Detection method. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle In the method for detecting the three-dimensional position and orientation of a circular feature of a component,
When extracting the neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and then the point sequence data on the image 3D position and orientation detection of the circular feature of a part, characterized in that only the arc whose center falls within a preset range from the center of the circle already extracted is used as a concentric arc. Method. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle In the three-dimensional position / orientation detection method for a circle feature of a part having a circle feature detection means for detecting the three-dimensional position / orientation of a circle feature with respect to
When extracting neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and the point sequence data is extracted on those images. Project to the circular plane, then approximate the arc of the projected point sequence data on the circular plane, and only the arc that falls within the preset range from the center of the circle that has already been extracted is the arc on the concentric circle. A method for detecting a three-dimensional position and orientation of a circular feature of a part, characterized by being used as: A procedure for extracting a point sequence that is likely to be a circle from the edge data obtained from the input image, a procedure for measuring the three-dimensional position of the point sequence, and a procedure for calculating a plane based on the position data of this point sequence And a procedure for performing circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circle, and a procedure for detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle Is stored as a program,
When measuring the 3D position of the above point sequence, find the angle between the straight line and epipolar line made from several points before and after the point to be measured, and compare that angle with the set value. A recording medium storing a procedure for determining whether or not to measure a three-dimensional position as a program. A procedure for extracting a point sequence that is likely to be a circle from the edge data obtained from the input image, a procedure for measuring the three-dimensional position of the point sequence, and a procedure for calculating a plane based on the position data of this point sequence And a procedure for performing circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circle, and a procedure for detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle Is stored as a program,
Stores as a program the procedure to use the 3D position data of the points on the circular plane obtained as the intersection of the straight line passing through the camera origin and the target point on the image plane and the circular plane in the point sequence data used for circular approximation A recording medium. A procedure for extracting a point sequence that is likely to be a circle from the edge data obtained from the input image, a procedure for measuring the three-dimensional position of the point sequence, and a procedure for calculating a plane based on the position data of this point sequence And a procedure for performing circle approximation on the point sequence data on the calculated plane, selecting a circle that matches the setting data from the approximated circle, and a procedure for detecting the three-dimensional position and orientation of the circle feature with respect to the selected circle Is stored as a program,
For circular approximation of point sequence data, a circular plane coordinate system is set so that the circular plane becomes the xy plane, and the 3D position data of all points in the point sequence is converted from the reference coordinate system to the circular plane coordinate system. A recording medium storing a procedure for performing circular approximation on two-dimensional point sequence data of only x and y components related to a circular plane coordinate system of a point sequence as a program. A procedure to extract a point sequence that is likely to be a circle from the edge data obtained from the input image,
A procedure for measuring the three-dimensional position of the point sequence;
A procedure for calculating a plane based on the position data of this point sequence,
Performing a circle approximation on the point sequence data on the calculated plane, and selecting the one that fits the setting data from the approximated circle,
Concerning the point sequence data that extracted the arcs near the selected circle and concentric circles, calculated the circle plane again from the 3D position data of the point sequence of the circle and the adjacent arc, and constituted the circle on the circle plane Performing circular approximation again, reconfirming whether the approximated circle matches the set data, and storing a procedure for detecting the three-dimensional position and orientation of the circular feature for the confirmed circle as a program recoding media. Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle In a recording medium storing a procedure for detecting a three-dimensional position and orientation of a circular feature with respect to
When extracting the neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and then the point sequence data on the image A recording medium which stores, as a program, a procedure in which only an arc whose center falls within a preset range from the center of a circle that has already been extracted is stored as a concentric arc . Extract the point sequence that is likely to be a circle from the edge data obtained from the input image, measure the 3D position of the point sequence, calculate the plane based on the position data of this point sequence, Perform a circle approximation on the point sequence data in, select the one that fits the setting data from the approximated circles, extract the neighboring arcs on the concentric circle with the selected circle, and 3D of the point sequence of the circles and the neighboring arcs Calculate the circle plane again from the position data, perform circle approximation again on the point sequence data that made up the circle on the circle plane, check again whether the approximate circle matches the set data, and the confirmed circle In a recording medium storing a procedure for detecting a three-dimensional position and orientation of a circular feature with respect to
When extracting neighboring arcs on the concentric circle with the extracted circle, first, the point sequence data that falls within the preset range from the center of the already extracted circle is extracted on the image, and the point sequence data is extracted on those images. Project to the circular plane, then approximate the arc of the projected point sequence data on the circular plane, and only the arc that falls within the preset range from the center of the circle that has already been extracted is the arc on the concentric circle. A recording medium storing a procedure used as a program.

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