JPS649307A - Object recognition equipment - Google Patents

Object recognition equipment

Info

Publication number
JPS649307A
JPS649307A JP62162493A JP16249387A JPS649307A JP S649307 A JPS649307 A JP S649307A JP 62162493 A JP62162493 A JP 62162493A JP 16249387 A JP16249387 A JP 16249387A JP S649307 A JPS649307 A JP S649307A
Authority
JP
Japan
Prior art keywords
image
inspected
circuit
attitude
projected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP62162493A
Other languages
Japanese (ja)
Other versions
JPH0749935B2 (en
Inventor
Shigeru Yamada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP62162493A priority Critical patent/JPH0749935B2/en
Publication of JPS649307A publication Critical patent/JPS649307A/en
Publication of JPH0749935B2 publication Critical patent/JPH0749935B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

PURPOSE:To obtain an object recognition equipment which is capable of recognizing the type, attitude and direction of an object to be inspected, by comparing distance information of a standard attitude memory means and distance information at the measurement by a specified computation. CONSTITUTION:This apparatus is made up of a memory 16 for an image of an object to be inspected, a light projection pattern image memory 17, a image difference circuit 18, an expansion/reduction circuit 19, a dot extraction circuit A, a corresponding point searching circuit 25 and the like. A difference 18 of an image 17 with not dot pattern DP is obtained from an image 16 of an object 13 to be inspected with the DP projected thereon and to remove an isolating noise, an expansion/reduction processing 19 is performed. The number of DPs is counted by a labeling processing 20 and when the number thereof is below a prescribed value, the processing is done again varying conditions of a spatial filter to prevent 21 connection of adjacent DPs. Then, a corresponding point is searched 25 from center of gravity coordinates of dots projected on the object 13 being inspected and center of gravity coordinates of dots previously projected on a reference surface 12 to determine a pixel deviation and thus, the type, attitude and direction of the object 13 are extracted 26 from a difference in the histogram of a distance distribution.
JP62162493A 1987-07-01 1987-07-01 Object recognition device Expired - Fee Related JPH0749935B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62162493A JPH0749935B2 (en) 1987-07-01 1987-07-01 Object recognition device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62162493A JPH0749935B2 (en) 1987-07-01 1987-07-01 Object recognition device

Publications (2)

Publication Number Publication Date
JPS649307A true JPS649307A (en) 1989-01-12
JPH0749935B2 JPH0749935B2 (en) 1995-05-31

Family

ID=15755667

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62162493A Expired - Fee Related JPH0749935B2 (en) 1987-07-01 1987-07-01 Object recognition device

Country Status (1)

Country Link
JP (1) JPH0749935B2 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011179910A (en) * 2010-02-26 2011-09-15 Canon Inc Device and method for measuring position and attitude, and program
US8718405B2 (en) 2010-02-26 2014-05-06 Canon Kabushiki Kaisha Position and orientation measurement apparatus, position and orientation measurement method, and program
CN105627934A (en) * 2014-10-30 2016-06-01 宁波舜宇光电信息有限公司 Vision proportionality coefficient obtaining method based on machine vision
JP2016180708A (en) * 2015-03-24 2016-10-13 キヤノン株式会社 Distance measurement device, distance measurement method and program

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59606A (en) * 1982-06-26 1984-01-05 Machida Oputo Giken:Kk Discriminating method of distance, shape or the like using fiber grating
JPS62135980A (en) * 1985-12-10 1987-06-18 Canon Inc Three-dimensional information processing system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59606A (en) * 1982-06-26 1984-01-05 Machida Oputo Giken:Kk Discriminating method of distance, shape or the like using fiber grating
JPS62135980A (en) * 1985-12-10 1987-06-18 Canon Inc Three-dimensional information processing system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011179910A (en) * 2010-02-26 2011-09-15 Canon Inc Device and method for measuring position and attitude, and program
US8711214B2 (en) 2010-02-26 2014-04-29 Canon Kabushiki Kaisha Position and orientation measurement apparatus, position and orientation measurement method, and storage medium
US8718405B2 (en) 2010-02-26 2014-05-06 Canon Kabushiki Kaisha Position and orientation measurement apparatus, position and orientation measurement method, and program
CN105627934A (en) * 2014-10-30 2016-06-01 宁波舜宇光电信息有限公司 Vision proportionality coefficient obtaining method based on machine vision
CN105627934B (en) * 2014-10-30 2019-01-01 宁波舜宇光电信息有限公司 A kind of vision proportionality coefficient acquisition methods based on machine vision
JP2016180708A (en) * 2015-03-24 2016-10-13 キヤノン株式会社 Distance measurement device, distance measurement method and program

Also Published As

Publication number Publication date
JPH0749935B2 (en) 1995-05-31

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Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees