SYSTEM AND METHOD FOR DETERMINING 3D SURFACE FEATURES AND IRREGULARITIES ON AN OBJECT
First Claim
1. A system for determining surface height variations on an object based upon a range image comprising.a camera assembly that generates a range image;
- a vision system that analyzes the range image;
a filter that (a) generates a best-fit surface about each of selected pixels in the range image, (b) establishes a normal to the best-fit surface, respectively for each of the pixels, and (c) determines a relative height displacement of a region about each of the pixels relative to the best-fit surface; and
a vision system tool that analyzes height displaced features localized by the filter.
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Abstract
This invention provides a system and method for determining the location and characteristics of certain surface features that comprises elevated or depressed regions with respect to a smooth surrounding surface on an object. A filter acts on a range image of the scene. A filter defines an annulus or other perimeter shape around each pixel in which a best-fit surface is established. A normal to the pixel allows derivation of local displacement height. The displacement height is used to establish a height deviation image of the object, with which bumps, dents or other height-displacement features can be determined. The bump filter can be used to locate regions on a surface with minimal irregularities by mapping such irregularities to a grid and then thresholding the grid to generate a cost function. Regions with a minimal cost are acceptable candidates for application of labels and other items in which a smooth surface is desirable.
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Citations
25 Claims
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1. A system for determining surface height variations on an object based upon a range image comprising.
a camera assembly that generates a range image; -
a vision system that analyzes the range image; a filter that (a) generates a best-fit surface about each of selected pixels in the range image, (b) establishes a normal to the best-fit surface, respectively for each of the pixels, and (c) determines a relative height displacement of a region about each of the pixels relative to the best-fit surface; and a vision system tool that analyzes height displaced features localized by the filter. - View Dependent Claims (2, 3, 4, 6, 24)
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5. The system as set forth in 1 wherein the camera assembly comprises a displacement sensor that projects a line of light on the object and receives light from the projected line at an imager in a manner that defines a plurality of displacement values in a height direction.
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7. A method for determining surface height variations on an object based upon a range image comprising the steps of:
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(a) generating a best-fit surface about each of selected pixels in the range image; (b) establishing a normal to the best-fit surface, respectively for each of the pixels; (c) determining a relative height displacement of a region about each of the pixels relative to the best-fit surface; and (d) analyzing, with a vision system tool, localized height displaced features. - View Dependent Claims (25)
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8. A system for determining a region on a surface having low surface irregularity comprising:
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a vision system tool that locates the surface and acquires a 3D image of at least a portion of the surface; a filter that determines a relative height displacement for an area about each of a selected group of pixels on the 3D image; and a location element that cost-values the height displacement for each region based upon results provided by the filter and that determines a minimal cost region that accommodates a predetermined area. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23)
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17. The system as set forth in 8 wherein the camera assembly comprises a displacement sensor that projects a line of light on the object and receives light from the projected line at an imager in a manner that defines a plurality of displacement values in a height direction.
Specification