THREE-DIMENSIONAL VISUAL SENSOR
First Claim
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.
1 Assignment
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Accused Products
Abstract
A perspective transformation is performed to a three-dimensional model and a model coordinate system indicating a reference attitude of the three-dimensional model to produce a projection image expressing a relationship between the model and the model coordinate system, and a work screen is started up. A coordinate of an origin in the projection image and rotation angles of an X-axis, a Y-axis, and a Z-axis are displayed in work areas on the screen to accept a manipulation to change the coordinate and the rotation angles. The display of the projection image is changed by a manipulation. When an OK button located is pressed, the coordinate and rotation angle are fixed, and the model coordinate system is changed based on the coordinate and rotation angle. A coordinate of each constituent point of the three-dimensional model is transformed into a coordinate of the post-change model coordinate system.
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Citations
3 Claims
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1. A three-dimensional visual sensor comprising:
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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. - View Dependent Claims (2, 3)
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Specification