WO2001071280A3 - Self-calibrating, multi-camera machine vision measuring system - Google Patents

Self-calibrating, multi-camera machine vision measuring system Download PDF

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Publication number
WO2001071280A3
WO2001071280A3 PCT/US2001/008584 US0108584W WO0171280A3 WO 2001071280 A3 WO2001071280 A3 WO 2001071280A3 US 0108584 W US0108584 W US 0108584W WO 0171280 A3 WO0171280 A3 WO 0171280A3
Authority
WO
WIPO (PCT)
Prior art keywords
camera
machine vision
measuring system
vision measuring
calibration
Prior art date
Application number
PCT/US2001/008584
Other languages
French (fr)
Other versions
WO2001071280A2 (en
Inventor
David A Jackson
Michael J Robb
Donald L Walchuk
Original Assignee
Snap On Tech 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=26923227&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2001071280(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from US09/576,442 external-priority patent/US6968282B1/en
Application filed by Snap On Tech Inc filed Critical Snap On Tech Inc
Priority to AU2001245834A priority Critical patent/AU2001245834A1/en
Priority to EP01918796A priority patent/EP1266188B1/en
Priority to JP2001569222A priority patent/JP4849757B2/en
Priority to DE60119708T priority patent/DE60119708T2/en
Publication of WO2001071280A2 publication Critical patent/WO2001071280A2/en
Publication of WO2001071280A3 publication Critical patent/WO2001071280A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • 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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/12—Method or fixture for calibrating the wheel aligner
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/143—One or more cameras on each side of a vehicle in the main embodiment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/30—Reference markings, reflector, scale or other passive device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/30—Reference markings, reflector, scale or other passive device
    • G01B2210/303—Reference markings, reflector, scale or other passive device fixed to the ground or to the measuring station

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Manufacturing & Machinery (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

An apparatus and method for calibrating machine vision measuring systems that have more than one camera are disclosed. A first calibration target is mounted in a fixed relationship to a first camera of the machine vision measuring system. A third camera mounted in a fixed relationship to a second camera of the machine vision measuring system. Second and third calibration targets are mounted in a fixed relationship to one another and viewable by the first camera and by the third camera. A data processor is programmed to compute calibration of the first camera and the second camera, based on a position of the second calibration target relative to the third calibration target and based on a position of the first camera with respect to the third camera. The apparatus and method provide a way to continuously measure the positions of two or more cameras used in the measuring system, and to use such measurements to calibrate the system. If the cameras move with respect to each other, their respective positions are calculated and used in subsequent measurements. The apparatus and method enable a machine vision measuring system to be used without field calibration at the time of installation.
PCT/US2001/008584 2000-03-23 2001-03-16 Self-calibrating, multi-camera machine vision measuring system WO2001071280A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
AU2001245834A AU2001245834A1 (en) 2000-03-23 2001-03-16 Self-calibrating, multi-camera machine vision measuring system
EP01918796A EP1266188B1 (en) 2000-03-23 2001-03-16 Apparatus and method for calibrating the relative position between two measuring devices of a measuring system
JP2001569222A JP4849757B2 (en) 2000-03-23 2001-03-16 Self-calibrating multi-camera machine vision measurement system
DE60119708T DE60119708T2 (en) 2000-03-23 2001-03-16 DEVICE AND METHOD FOR CALIBRATING THE RELATIVES OF TWO MEASURING DEVICES OF A MEASURING SYSTEM

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US22936200P 2000-03-23 2000-03-23
US60/229,362 2000-03-23
US09/576,442 US6968282B1 (en) 2000-05-22 2000-05-22 Self-calibrating, multi-camera machine vision measuring system
US09/576,442 2000-05-22

Publications (2)

Publication Number Publication Date
WO2001071280A2 WO2001071280A2 (en) 2001-09-27
WO2001071280A3 true WO2001071280A3 (en) 2002-02-21

Family

ID=26923227

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2001/008584 WO2001071280A2 (en) 2000-03-23 2001-03-16 Self-calibrating, multi-camera machine vision measuring system

Country Status (7)

Country Link
US (1) US6959253B2 (en)
EP (1) EP1266188B1 (en)
JP (1) JP4849757B2 (en)
CN (1) CN1224824C (en)
AU (1) AU2001245834A1 (en)
DE (1) DE60119708T2 (en)
WO (1) WO2001071280A2 (en)

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Also Published As

Publication number Publication date
DE60119708T2 (en) 2007-01-11
US6959253B2 (en) 2005-10-25
CN1464970A (en) 2003-12-31
AU2001245834A1 (en) 2001-10-03
JP2003528304A (en) 2003-09-24
EP1266188B1 (en) 2006-05-17
EP1266188A2 (en) 2002-12-18
DE60119708D1 (en) 2006-06-22
WO2001071280A2 (en) 2001-09-27
JP4849757B2 (en) 2012-01-11
CN1224824C (en) 2005-10-26
US20030225536A1 (en) 2003-12-04

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