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Gray scale vision method and system utilizing same

  • US 4,707,647 A
  • Filed: 05/19/1986
  • Issued: 11/17/1987
  • Est. Priority Date: 05/19/1986
  • Status: Expired due to Term
First Claim
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1. Method for automatically locating an object at a vision station, said method comprising the steps of:

  • generating reference data relating to at least two features of an ideal object, the data including at least two edge points, one of said points being on each of a pair of non-parallel edge segments wherein the reference data includes directional data for each of the edge points;

    generating a gray-scale digital image containing the objects to be located at the vision station;

    processing the reference data and the ditital image together to obtain an accumulator image, said processing step including the steps of performing an edge-detecting convolution on at least a portion of the digital image for each edge point and shifting the convoluted data by an amount and in a direction related to the directional data for each of said edge points to obtain a shifted image; and

    determining the location of at least one localized bright region in the accumulator image, the location of said region corresponding to the location of one of the features within the digital image.

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