Geometric figure position and orientation detection method and device

• US 4,776,027 A
• Filed: 02/08/1985
• Issued: 10/04/1988
• Est. Priority Date: 02/09/1984
• Status: Expired due to Fees

• Current Assignee: Omron Tateisi Electronics Co. (Omron Corporation)
• Original Assignee: Omron Tateisi Electronics Co. (Omron Corporation)
• Inventors: Saka, Kazuhiko, Yamashita, Tsukasa, Masaki, Toshimichi, Hisano, Atushi
• Primary Examiner(s): Boudreau, Leo H.
• Application Number:
  US06/699,597
• Time in Patent Office: 1,334 Days
• Field of Search: 382/23, 382/46, 382/48, 382/61, 356/138, 356/375
• US Class Current: 382/288
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06V 10/42 Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation

Abstract

The position and orientation of a geometric figure are detected by sequentially producing the coordinates with respect to an orthogonal coordinate system of pixels which make up an image of the geometric figure, by singling out from these sequentially produced coordinates of these pixels the coordinates of certain characteristic pixels of these pixels which make up an image of the geometric figure, and by comparing these coordinates of these certain characteristic pixels with stored information. Preferably, the certain characteristic pixels are: that pixel, of those which have the least value of one coordinate, which has the least value of the other coordinate; that pixel, of those which have the greatest value of the one coordinate, which has the least value of the other coordinate; that pixel, of those which have the least value of the other coordinate, which has the least value of the one coordinate; and that pixel, of those which have the greatest value of the other coordinate, which has the least value of the one coordinate. A device is also disclosed for performing this method.

Claims

1. A method for detecting the position and orientation of a geometric figure, comprising:

sequentially producing pixel coordinates with respect to an orthogonal coordinate system of pixels which make up an image of said geometric figure;

identifying special coordinates of said pixel coordinates; and

comparing said coordinates of said certain characteristic pixels with stored information to detect the position and the orientation of said geometric figure, wherein said certain characteristic pixels are;

that pixel, of those which have the least value of one coordinate, which has the least value of the other coordinate;

that pixel, of those which have the greatest value of said one coordinate, which has the least value of said other coordinate;

that pixel, of those which have the least value of said other coordinate, which has the least value of said one coordinate; and

that pixel, of those which have the greatest value of said other coordinate, which has the least value of said one coordinate.

2. A method of detecting the position and orientation of a geometric figure according to claim 1, wherein said stored information is determined by previously, for various orientations:

orienting an example of said geometric figure, likewise sequentially producing the coordinates with respect to said orthogonal coordinate system of the pixels which make up the image of said geometric figure; and

singling out the coordinates of said certain charcteristic pixels of said image making up pixels from said sequentially produced coordinates.

3. A method for detecting the position and orientation of a geometric figure according to claim 1, wherein a video signal is produced which is representative of the image of said geometric figure, and the coordinates with respect to said orthogonal coordinate system of said pixels which make up said image of said geometric figure are produced sequentially by sampling said video signal in synchronization with a clock pulse signal.

4. A method for detecting the position and orientation of a geometric figure according to claim 1, wherein said stored information is stored in tabular form.

5. A device for detecting the position and orientation of a geometric figure, comprising:

a means for sequentially producing the coordinates with respect to an orthogonal coordinate system of pixels which make up an image of said geometric figure;

a means for singling out from said sequentially produced coordinates of said pixels that coordinates of certain characteristic pixels of said pixels which make up an image of said geometric figure; and

a means for comparing said coordinates of said certain characteristic pixels with stored information, and for thus detecting the position and the orientation of said geometric figure, wherein said certain characteristic pixels are;

that pixel, of those which have the least value of one coordinate, which has the least value of the other coordinate;

that pixel, of those which have the greatest value of said one coordinate, which has the least value of said other coordinate, that pixel, of those which have the least value of said other coordinate, which has the least value of said one coordinate; and

that pixel, of those which have the greatest value of said other coordinate, which has the least value of said one coordinate.

6. A device for detecting the position and orientation of a geometric figure according to claim 5, wherein said stored information is determined by previously, for various orientations:

orienting an example of said geometric figure, likewise sequentially producing the coordinates with respect to said orthogonal coordinate system of the pixels which make up the image of said geometric figure, by said sequential production means; and

singling out the coordinates of said certain characteristic pixels of said image making up pixels from said sequentially produced coordinates, by said singling out means.

7. A device for detecting the position and orientation of a geometric figure according to claim 5, further comprising a means for producing a video signal which is representative of the image of said geometric figure, and wherein the coordinates with respect to said orthogonal coordinate system of said pixels which make up said image of said geometric figure are produced sequentially, by said sequential production means, by sampling said video signal in synchronization with a clock pulse signal.

8. A device for detecting the position and orientation of a geometric figure according to claim 5, wherein said stored information is stored in tabular form.