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THREE-DIMENSIONAL VISUAL SENSOR

  • US 20110122228A1
  • Filed: 11/10/2010
  • Published: 05/26/2011
  • Est. Priority Date: 11/24/2009
  • Status: Abandoned Application
First Claim
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1. A three-dimensional visual sensor comprising:

  • a registration unit in which a three-dimensional model is registered, a plurality of points indicating a three-dimensional shape of a model of a recognition object being expressed by a three-dimensional coordinate of a model coordinate system in the three-dimensional model, one point in the model being set to an origin in the model coordinate system;

    a stereo camera that images the recognition target;

    a three-dimensional measurement unit that obtains a three-dimensional coordinate in a predetermined three-dimensional coordinate system for measurement with respect to a plurality of feature points expressing the recognition target using a stereo image produced with the stereo camera;

    a recognition unit that checks a set of three-dimensional coordinates obtained by the three-dimensional measurement unit with the three-dimensional model to recognize a three-dimensional coordinate corresponding to the origin of the model coordinate system and a rotation angle of the recognition target with respect to a reference attitude of the three-dimensional model indicated by the model coordinate system;

    an output unit that outputs the three-dimensional coordinate and the rotation angle recognized by the recognition unit;

    an acceptance unit that accepts a manipulation input to change a position or an attitude in the three-dimensional model of the model coordinate system; and

    a model correcting unit that changes each of the three-dimensional coordinates constituting the three-dimensional model to a coordinate of the model coordinate system changed by the manipulation input and registers a changed three-dimensional model in the registration unit as the three-dimensional model used in the recognition unit.

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