Machine vision method using search models to find features in three dimensional images
First Claim
1. In a system for analyzing 3D image data obtained by a 3D imaging system, a method for locating objects of interest in said 3D image data comprising:
- defining a 3D model of at least one object of interest which includes at least one weighted area indicating an area of said 3D model wherein a match to corresponding areas in said 3D image data is not of interest;
comparing said 3D model to said 3D image data using normalized correlation; and
providing an indication if said 3D model substantially matches part of said 3D image data.
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Abstract
A system and method for analyzing 3D captured image data of scanned surfaces to locate object of interest, such as solder balls. A 3D model is created of an object of interest, the 3D model including weighted “don'"'"'t care” areas where a match is not required. The 3D models which are used include geometric shapes, including a frustum, and models created from actual 3D image data of real objects. The 3D captured image data is processed to locate objects matching the 3D models, including processing by normalized correlation. Once the objects are located, the system selects data points within the 3D captured image data that are a predetermined distance away from the located objects. These data points are analyzed to determine a surface plane which fits the selected data points, thereby locating the surface in the 3D capture image data.
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Citations
27 Claims
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1. In a system for analyzing 3D image data obtained by a 3D imaging system, a method for locating objects of interest in said 3D image data comprising:
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defining a 3D model of at least one object of interest which includes at least one weighted area indicating an area of said 3D model wherein a match to corresponding areas in said 3D image data is not of interest;
comparing said 3D model to said 3D image data using normalized correlation; and
providing an indication if said 3D model substantially matches part of said 3D image data. - View Dependent Claims (2, 3, 4)
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5. In a system for analyzing 3D image data obtained by a 3D imaging system, a method for locating objects of interest in said 3D image data comprising:
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defining a 3D model of at least one object of interest;
defining at least one weighted area of said 3D model, said weighted area indicating an area of said 3D model wherein a match to a corresponding area in said 3D image data is not of interest;
comparing said 3D model to said 3D image data; and
providing an indication if said 3D model matches part of said 3D image data. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
selecting data in said 3D image data that is a predetermined distance away from said location of said matched object of interest in said 3D image data; and
processing said selected data to determine a surface plane which includes a pre-determined portion of said selected data.
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15. The method of claim 14 wherein said at least one object of interest includes solder balls to be located and analyzed on the surface of an electrical component, said electrical component being scanned by a 3D image acquisition device to produce said 3D image data.
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16. The method of claim 15 wherein said step of processing said selected data to determine a surface plane includes determining a surface of said electrical component.
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17. The method of claim 15 further including the step of:
analyzing said located solder balls to determine properties of said solder balls.
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18. The method of claim 17 wherein said properties of said solder balls to be determined are selected from the group of:
- height, volume, shape, center of mass and coplanarity.
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19. The method of claim 14 wherein said step of selecting data in said 3D image data that is a predetermined distance away from said location of said matched object of interest in said 3D image data is performed for a plurality of matched objects in said 3D image data.
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20. The method of claim 19 wherein said step of processing said selected data to determine a surface plane includes computing a least square fit on said selected data.
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21. A computer system for locating and analyzing objects of interest in 3D image data comprising:
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a memory storing said 3D image data; and
a processor comparing a 3D model of a predetermined object of interest to said 3D image data stored in said memory;
said 3D model including at least one weighted area, said at least one weighted area indicating an area of said 3D model wherein a match to said 3D image data is not of interest,wherein said processor provides an indication if said 3D model matches a part of said 3D image data. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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Specification