JP4569595B2 - 3D position and orientation detection device for circular features - Google Patents

Description

  The present invention relates to so-called object recognition processing. In particular, the present invention provides a means for extracting features used in the model-based matching method.

As a method for extracting a closed curve, Japanese Patent Application No. 8-100974 (hereinafter referred to as Patent Document 1), and as a method for detecting a circle feature, Japanese Patent Application No. 9-136452 (hereinafter referred to as Patent Document 2). As an arc approximation method, there are Japanese Patent Application No. 6-113217 (hereinafter referred to as Patent Document 3) and Japanese Patent Application No. 6-113218 (hereinafter referred to as Patent Document 4).
Japanese Patent Application No.8-110084 Japanese Patent Application No. 9-136452 Japanese Patent Application No. 6-113217 Japanese Patent Application No. 6-113218

In Patent Document 2, the three-dimensional position and orientation of the circular feature of the end point of a hole or cylinder can be detected even if the component is inclined, and it is possible to cope with various installation states of the component.
However, since the closed curve according to the method of Patent Document 1 is used as a circle feature candidate when detecting a circle feature, oil and dust are attached to the surface of the circle feature portion on the part, and the extracted edge line segment is small. A circle feature cannot be detected if it is cut and does not become a closed curve.
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.

  The three-dimensional position / orientation detection device for a circular feature according to claim 1 of the present invention that achieves such an object is limited to an installation state in which the hole of the target component to be detected is not substantially inclined with respect to the optical axis of the camera. When the target part is photographed with a camera and an edge line segment is extracted from the photographed image of the target part as an arc feature that is a part of a circle, only those that fall within a set radius range are extracted with an arc feature. , An extracted arc circle candidate point sequence setting unit that sets a point sequence of the edge line segment that is the origin of the arc extracted by the arc extraction unit as a circle candidate point sequence, and the extracted arc circle candidate point sequence setting unit A circle feature data calculation unit for calculating a circle feature based on the circle candidate point sequence set by the step, and an inclination angle of the circle feature calculated by the circle feature data unit and an allowable value of a preset tilt angle. In comparison, the inclination angle of the circle feature is an allowable value If it is the inner and "right", otherwise and having a circular feature tilt inspection unit that determines as "incorrect".

A circle feature three-dimensional position / orientation detection device according to claim 2 of the present invention that achieves the above object is the circle feature three-dimensional position / orientation detection device according to claim 1, wherein, instead of the circle feature inclination inspection unit, A tilt angle correction unit for setting a vector perpendicular to the plane surrounded by the circle feature calculated by the circle feature data calculation unit vertically upward and recalculating the posture data of the circle feature is provided.

The circle feature three-dimensional position / orientation detection device according to claim 3 of the present invention that achieves the above object is the circle feature three-dimensional position / orientation detection device according to claim 1, wherein the circle feature inclination inspection unit uses the circle feature inclination inspection unit. A tilt angle correction unit that sets a vector perpendicular to the plane surrounded by the detected circle feature vertically upward and recalculates the posture data of the circle feature. It is characterized by having.

  A circle feature three-dimensional position / orientation detection device according to a fourth aspect of the present invention that achieves the above object is the circle feature three-dimensional position / orientation detection device according to claim 3, wherein the extracted arc circle candidate point sequence setting unit includes: Instead, consider a virtual circle having the same data as the center and radius of the arc extracted by the arc extraction unit, calculate the position of the point on the circumference of the virtual circle, and obtain it as the circumference of the virtual circle. An extracted arc virtual circle / circle candidate point sequence setting unit that sets the set point sequence as a circle candidate point sequence and calculates a circle feature based on the set circle candidate point sequence, and the circle feature data calculation unit performs the extraction A circle feature is calculated based on the circle candidate point sequence set by the arc virtual circle circle candidate point sequence setting unit.

As described above, according to the present invention, the following effects can be obtained.
(1) In the input image, even when oil or dust adheres to the component surface, it is possible to extract a circular portion such as “hole” or “cylinder end point”.
(2) In the input image, even when oil or dust adheres to the surface of the component, the position and orientation of circular features such as “holes” and “cylindrical end points” on the component can be detected.
(3) In the input image, even when oil or dust adheres to the surface of the part, the part can be recognized using circular features such as “hole” and “end of cylinder” on the part.
(4) In the input image, even when oil or dust adheres to the surface of the component, recognition errors can be reduced by using circular features such as “holes” and “cylindrical end points” on the component.
(5) By extracting the circle feature, it is possible to detect what position the target part is three-dimensionally.

(1) Basic concept In the present invention, the edge line extracted for oil or dust adhering to the part is limited to an installation state in which the hole of the target part to be detected is not substantially inclined with respect to the optical axis of the camera. Even if the minute cuts out and does not become a closed curve, an arc is extracted on the screen by approximating the edge line with an arc, and a circle candidate point sequence is set based on the arc instead of the closed curve of Patent Document 2, To detect circular features.
That is, in Patent Document 2, it is assumed that the target article to be detected is inclined with respect to the optical axis of the camera. Therefore, if the image of the hole of the target article cannot be regarded as a closed curve or a closed curve, The 3D posture could not be detected.
On the other hand, in the present invention, since it is assumed that the hole of the target part to be detected is in an installation state that is not substantially inclined with respect to the optical axis of the camera, the image of the hole of the target part photographed by the camera is Even when the edge line segment is cut into small pieces, it is an arc that is a part of a circle, so that it is possible to extract a circle feature regardless of whether it is a closed curve or not.
As arc approximation, as described in Patent Documents 3 and 4, when approximating a point sequence in image data to a circle or arc, the sum of the two end points of the target point sequence and the other one point Assuming an arc passing through 3 points, and if another point in the sequence is on the assumed arc circumference, it is determined that the points of all elements in the sequence are on the assumed arc circumference Then, the target point sequence is recognized as an assumed circular arc.

(2) Setting of arc radius range When the range (depth) L in which the target part is installed in the field of view of the camera is known, the similarity relationship is used as shown in FIG. 1 from the actual radius of the detected circular feature. The range of the arc radius to be extracted on the screen, that is, the maximum arc radius DMAX and the minimum arc radius DMIN can be set.
When extracting the arc feature, only those within the radius range (allowable error) set in this way are set as the arc feature.

(3) Setting of Circle Candidate Point Sequence In the present invention, a circle candidate point sequence is set using a circular arc feature instead of the closed curve in Patent Document 2 for the circle candidate point sequence.
Specifically, it is carried out by the methods shown in (3.1) to (3.6).
(3.1) Method of Using Extracted Arc as Circle Candidate Point Sequence The point sequence of the edge line segment that is the basis of the extracted arc is set as the circle candidate point sequence.
(3.2) Method of using a point sequence on the virtual circle of the extracted arc as a circle candidate point sequence Considering a virtual circle having the same data as the center and radius of the extracted arc, the points on the circumference of the virtual circle And the point sequence obtained as the circumference of the virtual circle is set as a circle candidate point sequence.
(3.3) Method of using arc group as circle candidate point sequence An arc group is created from the extracted arcs whose center position is near and whose radius is close, and the origin of each arc of the arc group A set of point sequences of the plurality of edge line segments thus obtained is set as a circle candidate point sequence.
(3.4) Method of using point sequence on approximate circle of arc group as circle candidate point sequence An arc group is created from the extracted arcs whose center position is near and whose radius is close, and arc Approximate a circle based on the set of point sequences that are the origin of each arc of the group, calculate the position of the point on the circumference of the approximate circle, and find the circumference of the approximate circle The obtained point sequence is set as a circle candidate point sequence.
(3.5) Method of checking accumulated angle and making arc group as circle candidate point sequence An arc group is created from the extracted arcs whose center position is near and whose radius is close. When the sum of the circumferential angles of the circles is equal to or greater than the set value, a set of point sequences of a plurality of edge line segments that are the origins of the respective arcs of the arc group is set as a circle candidate point sequence.
(3.6) Checking the accumulated angle and using the point sequence on the approximate circle of the arc group as the circle candidate point sequence The arc is determined based on the extracted arc whose center position is near and whose radius is close. When a group is created and the total circumferential angle of each arc is greater than or equal to the set value, a circle approximation is performed based on the set of point sequences of the edge line segments that are the origin of each arc in the arc group. Then, the position of the point on the circumference of the approximate circle is calculated, and the point sequence obtained as the circumference of the approximate circle is set as the circle candidate point sequence.

(4) Calculation of circle feature data Circle feature data calculation processing such as three-dimensional position measurement of point sequences, three-dimensional circle calculation, circle feature confirmation, etc. is performed by “ The processing after “point sequence data extraction unit” will be used.
That is, as shown in FIG. 14, a point sequence portion that is likely to be a circle is extracted from the edge data obtained from the input image, and the point sequence data is calculated on the plane calculated based on the three-dimensional position data of the point sequence. 3 is performed to detect the three-dimensional position and orientation of the circle feature.
In addition, as shown in FIG. 15, a point sequence portion that is likely to be a circle is extracted from the edge data obtained from the input image, and in the three-dimensional position measurement of the point sequence, from several points before and after the point to be measured. The angle between the straight line to be created and the epipolar line is obtained, and the angle is compared with the set value to determine whether or not to measure the point in 3D. A circle approximation is performed on the point sequence data on a plane calculated based on the original position data, and the three-dimensional position and orientation of the circle feature is detected.
Further, as shown in FIG. 16, a point sequence portion that is likely to be a circle is extracted from the edge data obtained from the input image, and the point sequence data is calculated on the plane calculated based on the three-dimensional position data of the point sequence. The circle near the circle is extracted, arcs near the extracted circle and concentric circles are extracted, the circle plane is calculated again from the three-dimensional position data of the point sequence of the circle and the nearby arc, and the circle is constructed on the circle plane. The circle approximation is performed again with respect to the point sequence data, and the three-dimensional position and orientation of the circle feature is detected.

(5) Inclination inspection and correction of circle feature When a circle candidate point sequence is set using the methods (3.1) and (3.2), the amount of original data that becomes the data of circle feature data calculation is small. In some cases, the inclination of the detected circle feature is significantly different from the actual one.
In view of this, the inclination angle is inspected and corrected.
(5.1) Inclination angle inspection of circle feature The inclination angle of the detected circle feature is compared with an allowable value of a preset inclination angle. If the inclination angle of the circle feature is within the allowable value, “correct” Otherwise, it is determined as “incorrect”.
(5.2) Inclination angle correction method for circle feature A vector perpendicular to the plane surrounded by the detected circle feature is set vertically upward, and the posture data of the circle feature is recalculated.

(6.1) FIG. 2 shows an example of the device 1 for detecting the three-dimensional position and orientation of the circular feature according to the first embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extracting arc features that fall within the set radius range, and using the extracted arc features as the method of making the extracted arc as a circle candidate point sequence according to (3.1), a point sequence that is likely to be a circle Set the part.
That is, the apparatus includes a point sequence data extraction unit 100 including an arc extraction unit 110 and an extracted arc circle candidate point sequence setting unit 120, as shown in FIG.
When extracting the arc feature, the arc extracting unit 110 sets only those that fall within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc circle candidate point sequence setting unit 120 sets the point sequence of the edge line that is the origin of the extracted arc as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.

(6.2) FIG. 3 shows an example of the device 2 for detecting the three-dimensional position and orientation of the circular feature according to the second embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Using the “Method of making the point sequence on the virtual circle of the extracted arc a circle candidate point sequence” according to (3.2) based on the arc feature extracted from the circle radius feature that falls within the set radius range, Set the point sequence that is likely to become.
That is, the apparatus includes a point sequence data extraction unit 200 including an arc extraction unit 210 and an extracted arc virtual circle circle candidate point sequence setting unit 220 as shown in FIG.
When extracting the arc feature, the arc extracting unit 210 sets only those that fall within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc virtual circle circle candidate point sequence setting unit 220 considers a virtual circle having the same data as the center and radius of the extracted arc, calculates the position of the point on the circumference of the virtual circle, A point sequence obtained as a circumference is set as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.

(6.3) FIG. 4 shows an example of the device 3 for detecting the three-dimensional position and orientation of the circle feature according to the third embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extract arc features that fall within the set radius range, and use the arc feature to select a point sequence that is likely to be a circle, using the method described in (3.3). Set.
That is, the apparatus includes a point sequence data extraction unit 300 including an arc extraction unit 310, an arc group setting unit 320, and an arc group circle candidate point sequence setting unit 330, as shown in FIG.
When extracting the arc feature, the arc extracting unit 310 sets only an arc feature that falls within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The arc group setting unit 320 creates an arc group based on the extracted arcs whose center positions are in the vicinity and whose radius is close.
The arc group circle candidate point sequence setting unit 330 sets a set of point sequences of a plurality of edge line segments that are the origin of each arc of the arc group as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.

(6.4) An example of the device 4 for detecting the three-dimensional position and orientation of the circular feature according to the fourth embodiment of the present invention is shown in FIG.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extracting arc features that fall within the set radius range, and using the arc feature as a circle candidate point sequence based on the arc feature (3.4) Set the sequence of possible dot sequences.
That is, as shown in FIG. 5, the apparatus includes a point sequence data extraction unit 400 including an arc extraction unit 410, an arc group setting unit 420, and an arc group approximate circle candidate point sequence setting unit 430.
When the arc extraction unit 410 extracts an arc feature, only an arc feature that falls within the set radius range is used as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The arc group setting unit 420 creates an arc group based on the extracted arcs whose center position is in the vicinity and whose radius is close.
The arc group approximate circle / circle candidate point sequence setting unit 430 performs circle approximation based on a set of point sequences of a plurality of edge line segments that are the origin of each arc of the arc group, and on the circumference of the approximate circle The point positions are calculated, and the point sequence obtained as the circumference of the approximate circle is set as the circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.

(6.5) FIG. 6 shows an example of the device 5 for detecting the three-dimensional position and orientation of the circular feature according to the fifth embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). An arc feature that falls within the set radius range is extracted, and based on the arc feature, it is likely to be a circle by using the method of (3.5) Checking the accumulated angle and making the arc group a circle candidate point sequence Set the point sequence part.
That is, this apparatus includes a point sequence data extraction unit 500 including an arc extraction unit 510, an arc group setting unit 520, an integrated angle inspection unit 530, and an arc group circle candidate point sequence setting unit 540, as shown in FIG.
When extracting the arc feature, the arc extracting unit 510 sets only those that fall within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The arc group setting unit 520 creates an arc group based on the extracted arcs whose center position is in the vicinity and whose radius is close.
The accumulated angle inspection unit 530 performs an accumulated angle check by confirming that the total circumferential angle of each arc is equal to or greater than a set value.
The arc group circle candidate point sequence setting unit 540 sets a set of point sequences of a plurality of edge line segments that are the origin of each arc of the arc group as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.

(6.6) FIG. 7 shows an example of the device 6 for detecting the three-dimensional position and orientation of the circle feature according to the sixth embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extract the arc features that fall within the set radius range, and based on the arc features, use “3.6 to check the accumulated angle and make the point sequence on the approximate circle of the arc group a circle candidate point sequence” Use to set the point sequence that is likely to be a circle.
That is, as shown in FIG. 7, this apparatus includes a point sequence data extraction unit 600 including an arc extraction unit 610, an arc group setting unit 620, an integrated angle setting unit 630, and an arc group approximate circle / circle candidate point sequence setting unit 640. Prepare.
When extracting the arc feature, the arc extracting unit 610 determines only those that fall within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The arc group setting unit 620 creates an arc group based on the extracted arcs whose center position is in the vicinity and whose radius is close.
The integrated angle setting unit 630 performs an integrated angle check by confirming that the total of the circumferential angles of the respective arcs is equal to or greater than a set value.
The arc group circle candidate point sequence setting unit 640 performs a circle approximation based on a set of point sequences of a plurality of edge line segments that are the origins of the respective arcs of the arc group, and calculates points on the circumference of the approximate circle. The position is calculated, and the point sequence obtained as the circumference of the approximate circle is set as the circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.

(6.7) An example of the device 7 for detecting the three-dimensional position and orientation of the circle feature according to the seventh embodiment of the present invention is shown in FIG.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extract the arc features that fall within the set radius range, and use the “method to make the extracted arc as a circle candidate point sequence” according to (3.1) based on the arc features, After setting and calculating the circle feature data, the “circle feature tilt angle inspection” according to (5.1) is performed.
That is, this apparatus includes a point sequence data extraction unit 700 including an arc extraction unit 710 and an extracted arc circle candidate point sequence setting unit 720, as shown in FIG.
When extracting the arc feature, the arc extracting unit 710 sets only those that fall within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc circle candidate point sequence setting unit 720 sets the point sequence of the edge line segment that is the origin of the extracted arc as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.
Furthermore, after calculating the circle feature data, compare the detected tilt angle of the circle feature with the preset tilt angle tolerance value, and if the circle feature tilt angle is within the tolerance value, it is “correct”. In other cases, a circle feature inclination inspection unit 730 that determines “incorrect” is provided.

(6.8) An example of the device 8 for detecting the three-dimensional position and orientation of the circular feature according to the eighth embodiment of the present invention is shown in FIG.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extracting arc features that fall within the set radius range, and using the “circular point sequence on the virtual circle of the extracted arc as a circle candidate point sequence” according to (3.2) based on the arc features, A point sequence portion that is likely to be set is set, and circle feature data is calculated. Then, “inclination angle inspection of circle feature” according to (5.1) is performed.
That is, this apparatus includes a point sequence data extraction unit 800 including an arc extraction unit 810 and an extracted arc virtual circle / circle candidate point sequence setting unit 820, as shown in FIG.
When the arc extraction unit 810 extracts an arc feature, only an arc feature that falls within the set radius range is used as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc virtual circle circle candidate point sequence setting unit 820 considers a virtual circle having the same data as the center and radius of the extracted arc, calculates the position of the point on the circumference of the virtual circle, A point sequence obtained as a circumference is set as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.
Furthermore, after calculating the circle feature data, compare the detected tilt angle of the circle feature with the preset tilt angle tolerance value, and if the circle feature tilt angle is within the tolerance value, it is “correct”. In other cases, a circle feature inclination inspection unit 830 that determines “incorrect” is provided.

(6.9) FIG. 10 shows an example of a device 9 for detecting a three-dimensional position and orientation of a circle feature according to the ninth embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the 3D position / orientation detection device for a circular feature of Patent Document 2, the present apparatus sets “arc radius range setting” according to (2). The point that is likely to be a circle by extracting the arc feature that falls within the set radius range and using the “method of making the extracted arc as a circle candidate point sequence” according to (3.1) based on the arc feature. After setting the column part and calculating the circle feature data, the “circle angle correction of circle feature” according to (5.2) is performed.
That is, this apparatus includes a point sequence data extraction unit 900 including an arc extraction unit 910 and an extracted arc circle candidate point sequence setting unit 920 as shown in FIG.
When extracting the arc feature, the arc extracting unit 910 sets only those that fall within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc circle candidate point sequence setting unit 920 sets the point sequence of the edge line segment that is the origin of the extracted arc as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.
Further, a tilt angle correction unit 930 is provided that sets a vector perpendicular to the plane surrounded by the detected circle feature vertically upward and recalculates the posture data of the circle feature.

(6.10) FIG. 11 shows an example of the apparatus 10 for detecting the three-dimensional position and orientation of the circular feature according to the tenth embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extracting arc features that fall within the set radius range, and using the “circular point sequence on the virtual circle of the extracted arc as a circle candidate point sequence” according to (3.2) based on the arc features, The point sequence portion that is likely to be set is set, and the circle feature data is calculated. Then, the “circular feature tilt angle correction” according to (5.2) is performed.
That is, this apparatus includes a point sequence data extraction unit 1000 including an arc extraction unit 1010 and an extracted arc virtual circle / circle candidate point sequence setting unit 1020, as shown in FIG.
When extracting the arc feature, the arc extracting unit 1010 sets only those that fall within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc virtual circle circle candidate point sequence setting unit 1020 considers a virtual circle having the same data as the center and radius of the extracted arc, calculates the position of the point on the circumference of the virtual circle, A point sequence obtained as a circumference is set as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.
Furthermore, a tilt angle correction unit 1030 is provided that sets a line vector perpendicular to the plane surrounded by the detected circle feature vertically upward and recalculates the posture data of the circle feature.

(6.11) FIG. 12 shows an example of the device 11 for detecting the three-dimensional position and orientation of the circle feature according to the eleventh embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extract the arc features that fall within the set radius range, and use the “method to make the extracted arc as a circle candidate point sequence” according to (3.1) based on the arc features, After setting and calculating the circle feature data, “circle feature tilt angle check” according to (5.1) is performed, and when the circle feature tilt angle is determined to be incorrect “circle” according to (5.2) “Characteristic tilt angle correction”.
That is, this apparatus includes a point sequence data extraction unit 1100 including an arc extraction unit 1110 and an extracted arc circle candidate point sequence setting unit 1120 as shown in FIG.
When extracting the arc feature, the arc extracting unit 1110 sets only an arc feature that falls within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc circle candidate point sequence setting unit 1120 sets, as a circle candidate point sequence, the point sequence of the edge line segment that is the origin of the extracted arc.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.
Also, after calculating the circle feature data, compare the detected tilt angle of the circle feature with the preset tilt angle tolerance value, and if the circle feature tilt angle is within the tolerance value, it will be “correct” In other cases, a circle feature inclination inspection unit 1130 that determines “incorrect” is provided.
Furthermore, when it is determined that the inclination angle of the circle feature is not correct, a vector perpendicular to the plane surrounded by the detected circle feature is set vertically upward, and the inclination angle correction is performed to recalculate the orientation data of the circle feature. Part 1140 is provided.

(6.12) FIG. 13 shows an example of the device 12 for detecting the three-dimensional position and orientation of the circle feature according to the twelfth embodiment of the present invention.
In the point sequence data extraction unit “extracts a point sequence portion that is likely to be a circle” of the circle feature three-dimensional position and orientation detection device of Patent Document 2, this device performs “arc radius range setting” in (2). Extracting arc features that fall within the set radius range, and using the “circular point sequence on the virtual circle of the extracted arc as a circle candidate point sequence” according to (3.2) based on the arc features, After setting the likely sequence of points and calculating the circle feature data, perform “circle feature tilt angle inspection” according to (5.1) and determine that the circle feature tilt angle is incorrect ( 5. Perform “Circular feature tilt angle correction” according to 5.2).
That is, as shown in FIG. 13, the apparatus includes a point sequence data extraction unit 1200 that includes an arc extraction unit 1210 and an extracted arc virtual circle / circle candidate point sequence setting unit 1220.
When extracting the arc feature, the arc extracting unit 1210 sets only the feature within the set radius range as the arc feature.
The arc radius range is set in advance by the arc radius range calculation unit 20 using the similarity shown in FIG. 1, and the value is stored in the memory 30.
The extracted arc virtual circle circle candidate point sequence setting unit 1220 considers a virtual circle having the same data as the center and radius of the extracted arc, calculates the position of the point on the circumference of the virtual circle, A point sequence obtained as a circumference is set as a circle candidate point sequence.
Based on the set circle candidate point sequence, the circle feature data calculation unit 40 calculates a circle feature.
Also, after calculating the circle feature data, compare the detected tilt angle of the circle feature with the preset tilt angle tolerance value, and if the circle feature tilt angle is within the tolerance value, it will be “correct” In other cases, a circle feature inclination inspection unit 1230 that determines “incorrect” is provided.
Furthermore, when it is determined that the inclination angle of the circle feature is not correct, a vector perpendicular to the plane surrounded by the detected circle feature is set vertically upward, and the inclination angle correction is performed to recalculate the orientation data of the circle feature. Part 1240 is provided.

  The present invention relates to so-called object recognition processing, and in particular, can be widely used industrially as means for extracting features used in a model-based matching method.

It is explanatory drawing which shows the setting of an arc radius range. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature which concerns on Example 1 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 2 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 3 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 4 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 5 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 6 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 7 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 8 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 9 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 10 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 11 of this invention. It is a block diagram which shows the apparatus which detects the three-dimensional position and orientation of the circular feature based on Example 12 of this invention. It is explanatory drawing which shows the example of calculation of circle feature data. It is explanatory drawing which shows the example of calculation of circle feature data. It is explanatory drawing which shows the example of calculation of circle feature data.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Apparatus which detects 3D position and orientation 20 Arc radius range calculation part 30 Memory 40 Circle feature data calculation part 100 Point sequence data extraction part 110 Arc extraction part 120 Extraction arc circle candidate point setting part

Claims (4)

The target part is photographed with the camera only in an installation state in which the hole of the target part to be detected is not substantially inclined with respect to the optical axis of the camera, and an edge line segment is extracted from the photographed image of the target part. When extracting as an arc feature that is a part, an arc extracting unit that uses only an arc feature that falls within the set radius range, and a point sequence of the edge line segment that is the origin of the arc extracted by the arc extracting unit is a circle. An extracted arc circle candidate point sequence setting unit set as a candidate point sequence, a circle feature data calculation unit that calculates a circle feature based on the circle candidate point sequence set by the extracted arc circle candidate point sequence setting unit, and the circle Compare the inclination angle of the circle feature calculated by the feature data section with the preset tolerance value of the inclination angle. If the inclination angle of the circle feature is within the tolerance value, "correct", otherwise Is a circle feature that determines that it is not correct Three-dimensional position and orientation detecting device of the circle feature characterized by having an inspection unit can. The three-dimensional position / orientation detection apparatus for a circle feature according to claim 1, wherein a vector perpendicular to a plane surrounded by the circle feature calculated by the circle feature data calculation unit is vertically upward instead of the circle feature inclination inspection unit. And a circle feature three-dimensional position and orientation detection device comprising an inclination angle correction unit configured to recalculate the orientation data of the circle feature. The three-dimensional position / orientation detection device for a circle feature according to claim 1, wherein the circle feature inclination inspection unit determines that the inclination angle of the circle feature is “incorrect” on a plane surrounded by the detected circle feature. vertically upward to set, three-dimensional position and orientation detecting device of the circle feature characterized by having a tilt angle correcting unit to recalculate the position data of a circle, wherein the vector perpendicular against. The three-dimensional position / orientation detection device for a circle feature according to claim 3, wherein instead of the extracted arc circle candidate point sequence setting unit, a virtual data having the same data as the center and radius of the arc extracted by the arc extraction unit is provided. Consider a circle, calculate the position of the point on the circumference of the virtual circle, set the point sequence obtained as the circumference of the virtual circle as the circle candidate point sequence, and based on the set circle candidate point sequence An extracted arc virtual circle / circle candidate point sequence setting unit for calculating a feature is provided, and the circle feature data calculation unit calculates a circle feature based on the circle candidate point sequence set by the extracted arc / virtual circle / circle candidate point sequence setting unit. A three-dimensional position / orientation detection device for a circle feature.

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