System and method for determining clutter in an acquired image
First Claim
1. A method for determining clutter in an imaged scene with a vision system comprising the steps of:
- providing a runtime image of a scene;
providing a trained pattern with a set of clutter test points based upon sub-pixel locations that represent a level of emptiness in the trained pattern;
establishing a runtime pose with a coordinate space for the image with respect to the trained pattern;
mapping the clutter test points on the coordinate space for the image;
determining a level of emptiness respectively at the mapped clutter test points; and
based upon the level of emptiness, determining a level of clutter in at least a portion of the image.
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Accused Products
Abstract
This invention provides a system and method for determining the level of clutter in an image in a manner that is rapid, and that allows a scoring process to quickly determine whether an image is above or below an acceptable level of clutter—for example to determine if the underlying imaged runtime object surface is defective without need to perform a more in-depth analysis of the features of the image. The system and method employs clutter test points that are associated with regions on the image that should contain a low gradient magnitude, indicative of emptiness. This enables the runtime image to be analyzed quickly by mapping trained clutter test points at locations in the coordinate space in which lack of emptiness indicates clutter, and if detected, can rapidly indicate differences and/or defects that allow for the subject of the image to be accepted or rejected without further image analysis.
43 Citations
20 Claims
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1. A method for determining clutter in an imaged scene with a vision system comprising the steps of:
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providing a runtime image of a scene; providing a trained pattern with a set of clutter test points based upon sub-pixel locations that represent a level of emptiness in the trained pattern; establishing a runtime pose with a coordinate space for the image with respect to the trained pattern; mapping the clutter test points on the coordinate space for the image; determining a level of emptiness respectively at the mapped clutter test points; and based upon the level of emptiness, determining a level of clutter in at least a portion of the image. - View Dependent Claims (2, 3, 4, 5)
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6. A method for extracting a training pattern for determining a level of clutter in at least a portion of an imaged scene with a vision system comprising the steps of:
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providing a training image with a feature of interest; providing a predetermined clutter threshold value relative to a level of emptiness that indicates clutter-free regions in the image; and establishing clutter test points based upon sub-pixel locations with respect to a coordinate space of the training image based upon locations in the coordinate space that represent the level of emptiness that is free-of clutter. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A system for determining a level of clutter in a runtime candidate image based on a trained pattern using a vision system comprising:
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a training time clutter point generator that generates an array of clutter test points based upon sub-pixel locations relative to a coordinate space in a training image having information based upon locations in the training image that have a level of emptiness below a clutter threshold, the clutter threshold being established based upon predetermined parameters and the information in the training image; and a runtime clutter determiner that maps the locations of the clutter test points to the runtime candidate image based upon a runtime pose, and that computes a level of emptiness at each of the locations to determine the level of clutter in at least a portion of the acquired image. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification