Determining article location and orientation using three-dimensi

Details Determining article location and orientation using three-dimensi Determining article location and orientation using three-dimensi

1998-04-30

2000-07-25

Boudreau, Leo H.

Image analysis

Applications

3-d or stereo imaging analysis

382104, 382199, 382218, 382266, 382291, G06K 900, G06T 920

Patent

active

06094501&

ABSTRACT:
A method to identify the location and orientation of an article is provided, the method comprising the steps of: obtaining an image of the article with the article having a known orientation and location relative to a camera; creating a X and Y template edge matrix from the image of the article; creating a plurality of sets of modified template edge matrices, each of the sets of modified template edge matrices being a X and Y template edge matrix with the article in a different orientation; capturing an digital visual image containing the article, the digital image being a matrix of pixels; creating X and Y article edge matrices from the matrix of pixels; quantifying difference between each of the sets of modified template edge matrices and the X and Y article edge matrices with the modified template edge matrices placed at a plurality of locations within the bounds of the article edge matrices; and identifying the location and orientation of the article as the orientation of the article represented by the set of modified template edge matrices at the location within the bounds of the X and Y article edge matrices with the minimal quantified differences between the modified template edge matrices and the X and Y article edge matrices wherein a plurality of images are obtained and three dimensional images are created of the article in both the known and the unknown position. The three dimensional images are used either in the initial matching of the article, or to verify a position and orientation of the article in the article determined from matching two dimensional images.

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Yoshikatsu Kimura et al., Stereo Vision System for Car Assembly, May 1995 IEEE International Conference on Robotics and Automation, vol. 2, pp. 1403-1409.

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