JP6080407B2 - ３次元計測装置及びロボット装置 - Google Patents

３次元計測装置及びロボット装置 Download PDF

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Publication number
JP6080407B2
JP6080407B2 JP2012149596A JP2012149596A JP6080407B2 JP 6080407 B2 JP6080407 B2 JP 6080407B2 JP 2012149596 A JP2012149596 A JP 2012149596A JP 2012149596 A JP2012149596 A JP 2012149596A JP 6080407 B2 JP6080407 B2 JP 6080407B2
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Japan
Prior art keywords
image
edge
line
dimensional
workpiece
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Expired - Fee Related
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JP2012149596A
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English (en)
Japanese (ja)
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JP2014013147A5 (enExample
JP2014013147A (ja
Inventor
鈴木　秀明
秀明 鈴木
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Canon Inc
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Canon Inc
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Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2012149596A priority Critical patent/JP6080407B2/ja
Priority to US13/927,269 priority patent/US9715730B2/en
Priority to EP13174626.5A priority patent/EP2682710B1/en
Publication of JP2014013147A publication Critical patent/JP2014013147A/ja
Publication of JP2014013147A5 publication Critical patent/JP2014013147A5/ja
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/564—Depth or shape recovery from multiple images from contours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37567—3-D vision, stereo vision, with two cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Cameras In General (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Image Processing (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
JP2012149596A 2012-07-03 2012-07-03 ３次元計測装置及びロボット装置 Expired - Fee Related JP6080407B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2012149596A JP6080407B2 (ja) 2012-07-03 2012-07-03 ３次元計測装置及びロボット装置
US13/927,269 US9715730B2 (en) 2012-07-03 2013-06-26 Three-dimensional measurement apparatus and robot system
EP13174626.5A EP2682710B1 (en) 2012-07-03 2013-07-02 Apparatus and method for three-dimensional measurement and robot system comprising said apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012149596A JP6080407B2 (ja) 2012-07-03 2012-07-03 ３次元計測装置及びロボット装置

Publications (3)

Publication Number Publication Date
JP2014013147A JP2014013147A (ja) 2014-01-23
JP2014013147A5 JP2014013147A5 (enExample) 2015-08-20
JP6080407B2 true JP6080407B2 (ja) 2017-02-15

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US (1) US9715730B2 (enExample)
EP (1) EP2682710B1 (enExample)
JP (1) JP6080407B2 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019110598A1 (de) 2018-06-01 2019-12-05 Shinmei Industry Co., Ltd. Achsgeometrie-einstellsystem

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US9607239B2 (en) 2010-01-20 2017-03-28 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9628775B2 (en) 2010-01-20 2017-04-18 Faro Technologies, Inc. Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations
US9879976B2 (en) 2010-01-20 2018-01-30 Faro Technologies, Inc. Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features
DK2982625T3 (en) * 2014-08-08 2019-03-11 Sanovo Tech Italia S R L PACKAGING DEVICE FOR EGGS
DE112015004196T5 (de) * 2014-09-15 2017-06-08 Faro Technologies, Inc. Gelenkarm-koordinatenmessgerät mit einer 2d-kamera und verfahren zum erhalten von 3d-darstellungen
US10126115B2 (en) 2014-09-18 2018-11-13 Nec Corporation Triangulation device, triangulation method, and recording medium recording program therefor
JP5987073B2 (ja) * 2015-02-12 2016-09-06 ファナック株式会社 撮像部を用いたワークの位置決め装置
WO2018009981A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
CN111095355B (zh) 2017-07-05 2023-10-20 快砖知识产权私人有限公司 实时定位和定向跟踪器
WO2019033165A1 (en) 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd CONFIGURATION OF INTERACTION SYSTEM
EP3669138B1 (en) 2017-08-17 2023-05-24 Fastbrick IP Pty Ltd Laser tracker with improved roll angle measurement
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith
AU2019305681A1 (en) 2018-07-16 2021-02-04 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
EP3823796A4 (en) 2018-07-16 2022-04-27 Fastbrick IP Pty Ltd ACTIVE DAMPING SYSTEM
CN109493378B (zh) * 2018-10-29 2021-05-28 宁波研新工业科技有限公司 一种基于单目视觉与双目视觉相结合的垂直度检测方法
CN114026384B (zh) * 2019-07-26 2023-12-22 欧姆龙株式会社 计算机视觉系统的校准方法及用于该方法的基准立体物
WO2021133183A1 (ru) * 2019-12-23 2021-07-01 федеральное государственное автономное образовательное учреждение высшего образования "Московский физико-технический институт (национальный исследовательский университет)" Способ управления роботизированным манипулятором
CN115443363A (zh) 2020-04-22 2022-12-06 快砖知识产权私人有限公司 块传送装置及用于与其一起使用的改进的夹紧组件
WO2022006635A1 (en) 2020-07-08 2022-01-13 Fastbrick Ip Pty Ltd Adhesive application system
CN115113627B (zh) * 2022-07-27 2024-11-19 深圳市普渡科技有限公司 机器人、路径规划方法和计算机可读存储介质
CN120101671B (zh) * 2025-05-08 2025-08-01 嘉兴创奇电缆有限公司 一种用于湿绕组耐水电缆生产的在线监控方法及系统

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KR100356016B1 (ko) 1999-12-21 2002-10-18 한국전자통신연구원 영상인식에 의한 소포우편물 부피계측시스템 및부피계측방법
JP3870255B2 (ja) 2002-02-25 2007-01-17 独立行政法人産業技術総合研究所 ３次元復元方法及び装置
JP2006003157A (ja) * 2004-06-16 2006-01-05 Nippon Telegr & Teleph Corp <Ntt> 位置検出システム
WO2006121088A1 (ja) 2005-05-10 2006-11-16 Olympus Corporation 画像処理装置、画像処理方法および画像処理プログラム
JP4599515B2 (ja) * 2005-05-27 2010-12-15 コニカミノルタセンシング株式会社 ３次元形状データの位置合わせ方法および装置
JP2010117223A (ja) * 2008-11-12 2010-05-27 Fanuc Ltd ロボットに取付けられたカメラを用いた三次元位置計測装置
JP2010121999A (ja) * 2008-11-18 2010-06-03 Omron Corp ３次元モデルの作成方法および物体認識装置
JP5713624B2 (ja) * 2009-11-12 2015-05-07 キヤノン株式会社 三次元計測方法
JP2011185650A (ja) * 2010-03-05 2011-09-22 Omron Corp モデル作成装置およびモデル作成プログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019110598A1 (de) 2018-06-01 2019-12-05 Shinmei Industry Co., Ltd. Achsgeometrie-einstellsystem
US11077529B2 (en) 2018-06-01 2021-08-03 Toyota Jidosha Kabushiki Kaisha Wheel alignment adjustment system

Also Published As

Publication number Publication date
EP2682710A1 (en) 2014-01-08
US9715730B2 (en) 2017-07-25
US20140009582A1 (en) 2014-01-09
EP2682710B1 (en) 2016-02-03
JP2014013147A (ja) 2014-01-23

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