Method and apparatus for measuring three-dimensional position and orientation of an object using light projection
First Claim
1. A method for measuring three-dimensional position and orientation of an object, comprising the steps of:
- (a) projecting a first slit light oriented in a first direction onto an object and scanning the object in a direction different from the first direction;
(b) projecting a second slit light oriented in a second direction different from the first direction onto the object and scanning the object in a direction different from the second direction;
(c) obtaining edge information of the object by processing images of the projected first and second slit lights; and
(d) determining the three-dimensional position and orientation of the object based upon the edge information and previously obtained shape information of the object.
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Accused Products
Abstract
A method and an apparatus capable of accurately measuring the three-dimensional position and orientation of an object in a short data processing time are provided, wherein a first slit light is projected from a first light projector for scanning an object, and each light image is obtained by a CCD camera. Similarly, a second slit light is projected from a second light projector for scanning the object and each light image is obtained by the CCD camera. The first and second slit lights are perpendicular to each other. The individual images obtained are processed to find a bent point and a disconnection point in each slit-light scan image. From among these points, a group of points which are reckoned to be lying on the same straight line is extracted, and the obtained straight line of points is used as edge information of the object. Based on the edge information and shape data of the object, three-dimensional position/orientation data is obtained. Any edge of the object can surely be detected with at least one of the slit lights, regardless of its direction, and thus, even if the scanning intervals of the slit lights are rough, edges of the object can surely be detected in a shorter measuring time is shortened.
77 Citations
21 Claims
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1. A method for measuring three-dimensional position and orientation of an object, comprising the steps of:
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(a) projecting a first slit light oriented in a first direction onto an object and scanning the object in a direction different from the first direction; (b) projecting a second slit light oriented in a second direction different from the first direction onto the object and scanning the object in a direction different from the second direction; (c) obtaining edge information of the object by processing images of the projected first and second slit lights; and (d) determining the three-dimensional position and orientation of the object based upon the edge information and previously obtained shape information of the object. - View Dependent Claims (2)
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3. A method for measuring three-dimensional position and orientation of an object, comprising the steps of:
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(a) projecting a first slit light oriented in a first direction onto an object and scanning the object in a direction different from the first direction; (b) projecting a second slit light oriented in a second direction different from the first direction onto the object and scanning the object in a direction different from the second direction; (c) obtaining edge information and plane information of the object by processing images of the first and second projected slit lights; and (d) determining the three-dimensional position and orientation of the object based upon the edge information, the plane information, and previously obtained shape information of the object. - View Dependent Claims (4)
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5. An apparatus for measuring three-dimensional position and orientation of an object, comprising:
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light projector means including projecting means for projecting a first slit light and a second slit light having a different direction from the first slit light, onto an object, and scanning means for successively shifting the first and second slit lights in different directions by a predetermined amount; imaging means responsive to shifting of the slit lights in the respective directions caused by the scanning means, for obtaining a first multiple slit light image and a second multiple slit light image, respectively; image processing means for extracting edge information of the object from the first and second multiple slit light images; and position/orientation calculating means for calculating the three-dimensional position and orientation of the object based upon the edge information and previously obtained shape information of the object. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification