Method of pattern location using color image data
First Claim
Patent Images
1. An apparatus comprising:
- a machine vision processor programmed to perform the steps of;
obtaining a color model image of an expected pattern;
obtaining a color run-time image including at least one instance of the pattern;
computing a dynamic weight for each of a plurality of color channels in the color model image by calculating a weighting factor for each color channel and subsequently evaluating the weighting factors by computing a variance in contrast;
computing a greyscale image of the color model image using the dynamic weights, and a greyscale image of the color run-time image using the dynamic weights; and
using the greyscale image of the color model image to determine a pose having at least one non-translational degree of freedom of the expected pattern in the greyscale run-time image of the pattern.
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Abstract
Machine vision tools are applied to color images using methods that utilize an optimized spectrum of the color information. Such methods include full color normalized correlation techniques and methods to convert color images to greyscale using weighting factors that maximize color contrast in a corresponding greyscale image.
56 Citations
12 Claims
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1. An apparatus comprising:
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a machine vision processor programmed to perform the steps of; obtaining a color model image of an expected pattern; obtaining a color run-time image including at least one instance of the pattern; computing a dynamic weight for each of a plurality of color channels in the color model image by calculating a weighting factor for each color channel and subsequently evaluating the weighting factors by computing a variance in contrast; computing a greyscale image of the color model image using the dynamic weights, and a greyscale image of the color run-time image using the dynamic weights; and using the greyscale image of the color model image to determine a pose having at least one non-translational degree of freedom of the expected pattern in the greyscale run-time image of the pattern. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus comprising:
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a machine vision processor programmed to perform the steps of; obtaining a first color image that includes an instance of an expected pattern; generating a plurality of greyscale images using a plurality of different channel weighting factor sets that represent a search space; evaluating the weighting factor sets by computing a variance in contrast for each of the weighting factor sets; selecting the weighting factor set associated with the largest variance in contrast as a set of dynamic weights. - View Dependent Claims (11, 12)
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Specification