Machine vision methods using feedback to determine calibration locations of multiple cameras that image a common object
DCFirst Claim
1. A machine vision method of determining a calibration relationship between imaging reference frames of multiple respective image acquisition devices that acquire images of a common object, wherein the object has thereon at least two fiducials, each being at a known location relative to the other with respect to an alignment reference frame associated with at least a selected one of the fiducials, the method comprising the steps of:
- A. aligning at least a selected axis of the alignment reference frame with at least a selected axis of the motion reference frame of the object;
B. for each image acquisition device,i. placing a respective one of the fiducials in a field of view of that device;
ii. determining a position of that fiducial with respect to the imaging reference frame of that device, that position being referred to as a "fiducial calibrating position";
iii. determining a position of the object with respect to the motion reference frame, that position hereinafter referred to as an "object calibrating position"; and
C. determining a calibration relationship between the imaging reference frames of the respective image acquisition devices as a function of the known relative locations of the fiducials with respect to the alignment reference frame, as a function of fiducial calibrating position determined for each image acquisition device, and as a function of the object calibrating position of each respective image acquisition device.
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Abstract
The invention provides improved machine vision methods for determining a calibration relationship among the imaging reference frames of multiple cameras (or other image acquisition devices) that acquire images of a common moveable object. The calibration relationship includes parameters for transforming positional coordinates among the camera'"'"'s respective imaging reference frames. The method includes placing on the common object, stage, or belt a plurality of fiducials, e.g., calibration marks, that are at known positions relative to each other with respect to a frame of reference referred to as the "alignment reference frame"; aligning an axis of the alignment reference frame with an axis of the object'"'"'s reference frame of motion, i.e., the reference frame in which the object, frame or belt moves; placing a respective fiducial in the field of view of each camera; determining a calibration relationship among the imaging reference frames of the respective image acquisition devices as a function of (i) the known relative locations of the fiducials (vis-a-vis the alignment reference frame), (ii) the fiducial calibrating positions determined for each camera (vis-a-vis that camera'"'"'s acquisition reference frame), and (iii) the object calibrating positions determined for each respective image acquisition device (vis-a-vis the motion reference frame).
93 Citations
29 Claims
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1. A machine vision method of determining a calibration relationship between imaging reference frames of multiple respective image acquisition devices that acquire images of a common object, wherein the object has thereon at least two fiducials, each being at a known location relative to the other with respect to an alignment reference frame associated with at least a selected one of the fiducials, the method comprising the steps of:
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A. aligning at least a selected axis of the alignment reference frame with at least a selected axis of the motion reference frame of the object; B. for each image acquisition device, i. placing a respective one of the fiducials in a field of view of that device; ii. determining a position of that fiducial with respect to the imaging reference frame of that device, that position being referred to as a "fiducial calibrating position"; iii. determining a position of the object with respect to the motion reference frame, that position hereinafter referred to as an "object calibrating position"; and C. determining a calibration relationship between the imaging reference frames of the respective image acquisition devices as a function of the known relative locations of the fiducials with respect to the alignment reference frame, as a function of fiducial calibrating position determined for each image acquisition device, and as a function of the object calibrating position of each respective image acquisition device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A machine vision apparatus for determining a calibration relationship between imaging reference frames of multiple respective image acquisition devices that acquire images of a common object, wherein the object has thereon at least two fiducials, each being at a known location relative to the other with respect to an alignment reference frame associated with at least a selected one of the fiducials, the apparatus comprising:
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A. alignment means for aligning at least a selected axis of the alignment reference frame with at least a selected axis of the motion reference frame of the object; B. fiducial position-finding means for effecting the following operations with respect to each image acquisition device; i. placing a respective one of the fiducials in a field of view of that device; ii. determining a position of that fiducial with respect to the imaging reference frame of that device, that position being referred to as a "fiducial calibrating position"; iii. determining a position of the object with respect to the motion reference frame, that position being referred to as an "object calibrating position"; and C. relative position-determining means for determining a calibration relationship between the imaging reference frames of the respective image acquisition devices as a function of the known relative locations of the fiducials with respect to the alignment reference frame, as a function of fiducial calibrating position determined for each image acquisition device, and as a function of the object calibrating position determined for each respective image acquisition device. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. An article of manufacture comprising a computer usable medium embodying program code for causing a digital data processor to carry out a method of determining a calibration relationship between imaging reference frames of multiple respective image acquisition devices that acquire images of a common object, wherein the object has thereon at least two fiducials, each being at a known location relative to the other with respect to an alignment reference frame associated with at least a selected one of the fiducials, the method comprising the steps of:
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A. aligning at least a selected axis of the alignment reference frame with at least a selected axis of the motion reference frame of the object; B. for each image acquisition device, i. placing a respective one of the fiducials in a field of view of that device; ii. determining a position of that fiducial with respect to the imaging reference frame of that device, that position being referred to as a "fiducial calibrating position"; iii. determining a position of the object with respect to the motion reference frame, hereinafter referred to as an "object calibrating position"; and C. determining a calibration relationship between the imaging reference frames of the respective image acquisition devices as a function of the known relative locations of the fiducials with respect to the alignment reference frame, as a function of fiducial calibrating position determined for each image acquisition device, and as a function of the object calibrating position determined for each respective image acquisition device. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29)
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Specification