WO2011070181A1 - Dispositif et procédé pour l'acquisition et la reconstruction d'objets en volume - Google Patents

Dispositif et procédé pour l'acquisition et la reconstruction d'objets en volume Download PDF

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Publication number
WO2011070181A1
WO2011070181A1 PCT/ES2009/070571 ES2009070571W WO2011070181A1 WO 2011070181 A1 WO2011070181 A1 WO 2011070181A1 ES 2009070571 W ES2009070571 W ES 2009070571W WO 2011070181 A1 WO2011070181 A1 WO 2011070181A1
Authority
WO
WIPO (PCT)
Prior art keywords
image capture
sensors
volume
sensor
acquisition
Prior art date
Application number
PCT/ES2009/070571
Other languages
English (en)
Spanish (es)
Inventor
Juan Carlos Perez Cortes
Sergio SÁEZ BARONA
Original Assignee
Instituto Tecnológico De Informática
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 Instituto Tecnológico De Informática filed Critical Instituto Tecnológico De Informática
Priority to PCT/ES2009/070571 priority Critical patent/WO2011070181A1/fr
Priority to EP09817071.5A priority patent/EP2511653B1/fr
Priority to US13/515,275 priority patent/US8811722B2/en
Priority to ES09817071.5T priority patent/ES2460952T3/es
Publication of WO2011070181A1 publication Critical patent/WO2011070181A1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/08—Volume rendering
    • 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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers

Definitions

  • the object of this invention is a device and a method that allows the acquisition and subsequent reconstruction of objects with volume throughout the outer surface. It characterized the present invention a particu lar ⁇ acquisition mode on the falling object such that there is a support surface that prevents the acquisition surface that would be hidden by such support.
  • ADAS ADAS
  • the acquisition and reconstruction of images in three dimensions is a task widely addressed in the area of "computer vision”.
  • the emple methodologies ⁇ ADAS have been diverse, such as those based on structured light or stereoscopic multi-view, and the most generic volumetric modeling, among which can be distinguished identified by the English terms “Shape from Silohuettes “or” Shape from Voxel Occupancy "and those based on” Shape from Pho- to-Consistency ".
  • the former have as limit the re- construction of the "Visual Cortex” or “Visual Hull” of objects under analysis and the latter can go further, but depend on the existence of points charac ⁇ istic discernible in objects.
  • control and inspection of objects is intended to verify the three - dimensional shape and measures volumetric ⁇ metric and the image surface, it is an important area in the field of " Industrial Vision ".
  • the present invention consists of a device for the acquisition and reconstruction of objects with volume. This device has:
  • These sensors are those that obtain the images of the object from different points providing information on the shape of the object seen from its location;
  • the algorithms and reconstruction means through the object images obtained by sensorimotor res image capture may be any known since the technician to solve the problem is solved by invention to disposing the ras our cam ⁇ and the object in space for the object is ac cessible ⁇ around its outer circumference;
  • the surface has a surface on which image capture sensors are distributed, where this surface limits a volume inside it intended to receive the object to be analyzed and where the sensors are oriented with their optical axes towards the interior volume Of the surface; this surface additionally having an inlet opening and an outlet opening such that they allow the object to be analyzed to pass through a free fall motion through the interior of the surface.
  • the surface along which ⁇ yen distribu sensors image capture ⁇ mind is not necessary a closed surface and may even be defi ⁇ ned only by discrete points defi ⁇ nen the situation in space sensors image capture; and these, be structurally connected only by rods or other light elements.
  • the important thing is that the distribution of sen sors ⁇ establishes an internal volume through which the passage of the object to be analyzed is possible.
  • the passage is carried out by the free fall of the object after its entry into the volume through the entrance opening; and once through the interior of the volume, the object exits through the exit opening.
  • the inlet opening and the outlet opening may be the same, it is sufficient that the object is for example fired into the volume and subsequently falls out again through the same opening, as set out in the claim 7.
  • the system is intended to obtain a recons ⁇ dimensional destruction of an object in the air, fell ⁇ free da or other path provided by a mechanical action on it, through an open inside the device space specifically intended for this finish.
  • the presence of the object triggers the capture ⁇ neously if a certain number of images from an assembly of cameras or image sensors located in an arrangement optimized for subsequent reconstruction of object volume.
  • the object can pass through the ⁇ capture space abandoned in free fall from above by a conveyor belt or be driven or placed thereon by a mechanical, electrical, pneumatic actuator, etc., from any initial position, so that in the time of shooting the object is visi ⁇ ble from all angles provided without any element in contact with the same interrupt visibi- ity.
  • This procedure determines a procedure for acquiring and rebuilding objects with volume according to claim 9, which is incorporated by reference to this description. It is also considered incorporated by referen ⁇ cia the various embodiments of the invention according to the dependent claims 2 to 8 which result in resolution additional they are resolved such technical problems as will be described in exhibitions detailed tion of invention.
  • Figure 1 shows a perspective of a dispo ⁇ sitivo according to an embodiment of the invention wherein one way to set a surface with the inlet and outlet object ana ⁇ Lizar also shows the arrangement of the sensors Image capture
  • a suitable geometry for setting the configuration of the surface on which are distribui ⁇ two sensors (2) image capture in disposi ⁇ tive of the embodiment it is a sphere with center at a point.
  • Sensors (2) image capture is ⁇ they Taran uniformly distributed on the surface of the sphere according to a standard of uniformity, such as stating that the potential energy of a hypothetical system consisting of electrically charged particles distributed in The surface points are minimal. Under this model, points are calculated by minimizing the functional:
  • the minimization of the proposed criteria is simple and can be carried out by simulation and by means of some ⁇ or more efficient descent rates such as the conjugate gradient or GMRES ("Generalized Minimal Residual Method").
  • GMRES conjugate gradient
  • the number of sensors (2) image capture may be less than the number of points to be distributed at the discretion ele ⁇ Gido.
  • An important additional constraint is that the points are not diametrically opposed in pairs, since the silhouettes obtained ⁇ provide little formation (are the same, except for the effect of the perspective transformation through).
  • Another additional restriction according to another embodiment establishes that none of the image capture sensors (2) have another image capture sensor (2) at their viewing angle, that is to say that the area Free visible for each image capture sensor (2) is maximum.
  • DIFF ⁇ tes values and configuration that meets the constraints chosen (in the case seen in Figure 1, for e ample, of), or can be modified slightly meto ⁇ ogy raised ligating to each load another identical diametrically opposite and applying the same to minimization ⁇ tHE PROCEDURE. Then one of the charges of each pair will be neglected.
  • each of the faces (1) of the polyhedron has an image capture sensor (2); Y,
  • the polyhedron contains the sphere used in the calculation of the distribution of the image capture sensors (2) inscribed therein.
  • Each face (2) intersects the polyhedron esfe ⁇ r inscribed in one of the points where the sensor (2) image capture is. The line that passes through the center and crosses the point where the image capture sensor (2) is perpendicular to the plane of the face where said sensor (2) is located.
  • the polyhedron has no parallel faces (1) according to the restrictions outlined above.
  • the polyhedron has at least two vertices and lines with. (The center of the sphere and the two verti ⁇ ces belong to the same line or axis)
  • the number of faces (1) must be, as di ⁇ cho, sufficient for the task and at the same moderate time to avoid incurring in excessive material cost.
  • Figure 1 they are schematically connected each camera with a computer unit (5) constituting the computer for Recon ⁇ volume from the acquired images I Diante ⁇ sensors (2) capture image.
  • a computer unit (5) constituting the computer for Recon ⁇ volume from the acquired images I Diante ⁇ sensors (2) capture image.
  • the device of the exemplary embodiment has a sensor (2) not shown in the figure that determines the moment of simultaneous firing of the image capture sensors (2) for later processing when the object to be analyzed is in a certain region of the volume inside the surface.
  • the sensor array can capture ima ⁇ gene, visible light or any wavelength from the longest in the infrared spectrum to more cor ⁇ tas in the spectrum of X - rays, including lights ⁇ front, side tion, rear, structured or which ⁇ WANT otherwise.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

La présente invention porte sur un dispositif et sur un procédé qui permettent l'acquisition et la reconstruction postérieure d'objets en volume sur toute la surface extérieure. La présente invention est caractérisée par un mode d'acquisition particulier sur l'objet en chute libre, de telle sorte qu'il n'existe pas de surface d'appui empêchant l'acquisition de la surface qui, sinon, resterait cachée par ledit appui. L'invention est également caractérisée par des modes spéciaux de distribution des appareils de prise de vue qui optimisent la capture d'images et fournissent des informations utiles pour la reconstruction postérieure du volume à l'aide de moyens informatiques.
PCT/ES2009/070571 2009-12-10 2009-12-10 Dispositif et procédé pour l'acquisition et la reconstruction d'objets en volume WO2011070181A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/ES2009/070571 WO2011070181A1 (fr) 2009-12-10 2009-12-10 Dispositif et procédé pour l'acquisition et la reconstruction d'objets en volume
EP09817071.5A EP2511653B1 (fr) 2009-12-10 2009-12-10 Dispositif et procédé pour l'acquisition et la reconstruction d'objets en volume
US13/515,275 US8811722B2 (en) 2009-12-10 2009-12-10 Device and method for acquisition and reconstruction of objects
ES09817071.5T ES2460952T3 (es) 2009-12-10 2009-12-10 Dispositivo y método para la adquisición y reconstrucción de objetos

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/ES2009/070571 WO2011070181A1 (fr) 2009-12-10 2009-12-10 Dispositif et procédé pour l'acquisition et la reconstruction d'objets en volume

Publications (1)

Publication Number Publication Date
WO2011070181A1 true WO2011070181A1 (fr) 2011-06-16

Family

ID=42111652

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2009/070571 WO2011070181A1 (fr) 2009-12-10 2009-12-10 Dispositif et procédé pour l'acquisition et la reconstruction d'objets en volume

Country Status (4)

Country Link
US (1) US8811722B2 (fr)
EP (1) EP2511653B1 (fr)
ES (1) ES2460952T3 (fr)
WO (1) WO2011070181A1 (fr)

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US9266148B2 (en) 2014-06-27 2016-02-23 Key Technology, Inc. Method and apparatus for sorting
CN108351637B (zh) 2015-09-11 2021-08-24 伯克希尔格雷股份有限公司 用于识别和处理各种物体的机器人系统和方法
EP3789837B1 (fr) 2015-12-04 2023-06-21 Berkshire Grey Operating Company, Inc. Systèmes et procédés de traitement dynamique d'objets
US10730078B2 (en) 2015-12-04 2020-08-04 Berkshire Grey, Inc. Systems and methods for dynamic sortation of objects
US9937532B2 (en) 2015-12-18 2018-04-10 Berkshire Grey Inc. Perception systems and methods for identifying and processing a variety of objects
JP6878781B2 (ja) 2016-06-30 2021-06-02 オムロン株式会社 検査システム
CA3168675C (fr) 2016-11-08 2024-03-26 Berkshire Grey Operating Company, Inc. Systemes et procedes de traitement d'objets
EP4299490A3 (fr) 2016-11-28 2024-03-20 Berkshire Grey Operating Company, Inc. Système permettant d'assurer une séparation d'objets destinés à un traitement
EP3551553A1 (fr) 2016-12-06 2019-10-16 Berkshire Grey Inc. Systèmes et procédés pour permettre le traitement d'objets dans des véhicules
US11055504B2 (en) 2017-04-18 2021-07-06 Berkshire Grey, Inc. Systems and methods for separating objects using a vacuum roller with one or more object processing systems
US11373134B2 (en) 2018-10-23 2022-06-28 Berkshire Grey Operating Company, Inc. Systems and methods for dynamic processing of objects with data verification
US11416695B2 (en) 2017-04-18 2022-08-16 Berkshire Grey Operating Company, Inc. Systems and methods for distributing induction of objects to a plurality of object processing systems
US11200390B2 (en) 2017-04-18 2021-12-14 Berkshire Grey, Inc. Systems and methods for separating objects using drop conveyors with one or more object processing systems
CA3060257C (fr) 2017-04-18 2023-03-07 Berkshire Grey, Inc. Systemes et procedes de traitement d'objets comprenant des stations de distribution efficaces dans l'espace et un traitement de sortie automatise
US11080496B2 (en) 2017-04-18 2021-08-03 Berkshire Grey, Inc. Systems and methods for separating objects using vacuum diverts with one or more object processing systems
US11301654B2 (en) 2017-04-18 2022-04-12 Berkshire Grey Operating Company, Inc. Systems and methods for limiting induction of objects to one or more object processing systems
US11205059B2 (en) 2017-04-18 2021-12-21 Berkshire Grey, Inc. Systems and methods for separating objects using conveyor transfer with one or more object processing systems
CN114918144B (zh) 2017-04-24 2023-11-17 伯克希尔格雷营业股份有限公司 提供物体的分离以供处理的系统和方法
ES2844349T3 (es) 2017-06-21 2021-07-21 Inst Tecnologico De Informatica Dispositivo para la adquisición y reconstrucción de objetos por inspección visual
DE102018114222A1 (de) * 2018-06-14 2019-12-19 INTRAVIS Gesellschaft für Lieferungen und Leistungen von bildgebenden und bildverarbeitenden Anlagen und Verfahren mbH Verfahren zum Untersuchen von übereinstimmenden Prüfobjekten
ES2831149T3 (es) * 2018-10-15 2021-06-07 Fraunhofer Ges Forschung Sistema y procedimiento para comprobar la forma de un objeto de prueba
US20220327727A1 (en) 2019-06-18 2022-10-13 Instituto Tecnológico De Informática Method And System For The Calibration Of An Object Reconstruction Device
EP3901918A1 (fr) 2020-04-22 2021-10-27 Instituto Tecnológico De Informática Méthode de détermination de la cohérence entre un objet physique et un modèle numérique représentant de la forme d'un objet physique
EP4080456A1 (fr) 2021-04-19 2022-10-26 Instituto Tecnológico de Informática (ITI) Procédé de détermination de la orientation d'un objet physique dans l'espace, dispositif et produit de programme informatique

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EP2053350A1 (fr) * 2007-10-23 2009-04-29 Zumbach Electronic Ag Dispositif optique de mesure et/ou d'inspection de produits longs

Also Published As

Publication number Publication date
US20130202195A1 (en) 2013-08-08
US8811722B2 (en) 2014-08-19
EP2511653B1 (fr) 2014-02-12
EP2511653A1 (fr) 2012-10-17
ES2460952T3 (es) 2014-05-16

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