Detecting Object Presence on a Target Surface
First Claim
1. A machine vision system comprising:
- a first image capture device configured to image a first portion of a target surface from a first viewpoint;
a second image capture device configured to image a second portion of the target surface from a second viewpoint, wherein the first portion of the target surface at least partially overlaps the second portion of the target surface;
a machine vision processor connected to the first image capture device and the second image capture device, the machine vision processor configured to;
acquire a first image of the target surface from the first image capture device;
acquire a second image of the target surface from the second image capture device;
rectify the first image to form a first rectified image and rectify the second image to form a second rectified image;
retrieve a disparity field that provides mappings from a first plurality of coordinates in the first rectified image to a second plurality of coordinates in the second rectified image;
generate difference data by comparing, based on the mappings of the disparity field, a first plurality of image elements in the first rectified image to a second plurality of image elements in the second rectified image; and
determine whether the difference data is indicative of an object on the target surface.
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Accused Products
Abstract
Described are methods, systems, apparatus, and computer program products for determining the presence of an object on a target surface. A machine vision system includes a first image capture device configured to image a first portion of a target surface from a first viewpoint and a second image capture device configured to image a second portion of the target surface from a second viewpoint. The machine vision system is configured to acquire a first image from the first image capture device, a second image from the second image capture device, rectify the first image and second image, retrieve a disparity field, generate difference data by comparing, based on the mappings of the disparity field, image elements in the first rectified image and a second image elements in the second rectified image; and determine whether the difference data is indicative of an object on the target surface.
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Citations
18 Claims
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1. A machine vision system comprising:
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a first image capture device configured to image a first portion of a target surface from a first viewpoint; a second image capture device configured to image a second portion of the target surface from a second viewpoint, wherein the first portion of the target surface at least partially overlaps the second portion of the target surface; a machine vision processor connected to the first image capture device and the second image capture device, the machine vision processor configured to; acquire a first image of the target surface from the first image capture device; acquire a second image of the target surface from the second image capture device; rectify the first image to form a first rectified image and rectify the second image to form a second rectified image; retrieve a disparity field that provides mappings from a first plurality of coordinates in the first rectified image to a second plurality of coordinates in the second rectified image; generate difference data by comparing, based on the mappings of the disparity field, a first plurality of image elements in the first rectified image to a second plurality of image elements in the second rectified image; and determine whether the difference data is indicative of an object on the target surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method executed by a machine vision system comprising:
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acquiring, by the machine vision system, a first image of the target surface from a first viewpoint; acquiring, by the machine vision system, a second image of the target surface from a second viewpoint, wherein the first image and the second image are captured from distinct viewpoints; rectifying, by the machine vision system, the first image to form a first rectified image and the second image to form a second rectified image; retrieving, by the machine vision system, a disparity field that provides mappings from a first plurality of coordinates in the first rectified image to a second plurality of coordinates in the second rectified image; generating, by the machine vision system, difference data by comparing, based on the mappings of the disparity field, a first plurality of image elements in the first rectified image to a second plurality of image elements in the second rectified image; and determining, by the machine vision system, whether the difference data is indicative of an object on the target surface. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification