SYSTEM AND METHOD FOR FINDING CORRESPONDENCE BETWEEN CAMERAS IN A THREE-DIMENSIONAL VISION SYSTEM
First Claim
1. A vision system that determines 3D pose of an object comprising:
- a plurality of cameras in which a lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images the object, respectively, at a known position with respect to the field of view;
a search process, operatively connected to the cameras, that searches for 2D feature points in at least some of the acquired images, including the non-perspective image;
an association process that associates the 2D feature points with known 3D model points; and
a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points.
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Abstract
This invention provides a system and method for determining correspondence between camera assemblies in a 3D vision system implementation having a plurality of cameras arranged at different orientations with respect to a scene, so as to acquire contemporaneous images of a runtime object and determine the pose of the object, and in which at least one of the camera assemblies includes a non-perspective lens. The searched 2D object features of the acquired non-perspective image, corresponding to trained object features in the non-perspective camera assembly, can be combined with the searched 2D object features in images of other camera assemblies (perspective or non-perspective), based on their trained object features to generate a set of 3D image features and thereby determine a 3D pose of the object. In this manner the speed and accuracy of the overall pose determination process is improved. The non-perspective lens can be a telecentric lens.
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Citations
23 Claims
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1. A vision system that determines 3D pose of an object comprising:
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a plurality of cameras in which a lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images the object, respectively, at a known position with respect to the field of view; a search process, operatively connected to the cameras, that searches for 2D feature points in at least some of the acquired images, including the non-perspective image; an association process that associates the 2D feature points with known 3D model points; and a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for determining 3D pose of an object comprising the steps of:
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locating a plurality of cameras wherein a lens of at least one of the cameras is a non-perspective lens, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object at a known position with respect to the field of view, including at least one non-perspective image; searching for 2D feature points in at least some of the images of the plurality of images including the non-perspective image; associating the 2D feature points with known 3D model points; and computing the 3D pose based upon the 2D feature points and known 3D model points. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A recorded computer readable medium operating on vision system that determines 3D pose of an object imaged by a plurality of cameras, in which the lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras respectively being oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object at a known position with respect to the field of view, including program instructions for performing the steps of:
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searching for 2D feature points in at least some of the plurality of images including the non-perspective image; associating the 2D feature points with known 3D model points; and computing the 3D pose based upon the 2D feature points and known 3D model points. - View Dependent Claims (20, 21, 22, 23)
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Specification