System and method for finding correspondence between cameras in a three-dimensional vision system
First Claim
1. A vision system that determines 3D pose of an object comprising:
- a plurality of cameras in which a lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object, respectively, at a known position with respect to the field of view, the lens of the at least one of the cameras being mounted on the camera, and the camera including an image sensor and an onboard vision processor;
a search process, operatively connected to the cameras, that searches for 2D feature points in at least some of the acquired images, including the non-perspective image;
an association process that associates the 2D feature points with known 3D model points; and
a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points.
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Abstract
This invention provides a system and method for determining correspondence between camera assemblies in a 3D vision system implementation having a plurality of cameras arranged at different orientations with respect to a scene, so as to acquire contemporaneous images of a runtime object and determine the pose of the object, and in which at least one of the camera assemblies includes a non-perspective lens. The searched 2D object features of the acquired non-perspective image, corresponding to trained object features in the non-perspective camera assembly, can be combined with the searched 2D object features in images of other camera assemblies (perspective or non-perspective), based on their trained object features to generate a set of 3D image features and thereby determine a 3D pose of the object. In this manner the speed and accuracy of the overall pose determination process is improved. The non-perspective lens can be a telecentric lens.
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Citations
23 Claims
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1. A vision system that determines 3D pose of an object comprising:
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a plurality of cameras in which a lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object, respectively, at a known position with respect to the field of view, the lens of the at least one of the cameras being mounted on the camera, and the camera including an image sensor and an onboard vision processor; a search process, operatively connected to the cameras, that searches for 2D feature points in at least some of the acquired images, including the non-perspective image; an association process that associates the 2D feature points with known 3D model points; and a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for determining 3D pose of an object comprising the steps of:
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locating a plurality of cameras wherein a lens of at least one of the cameras is a non-perspective lens, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object at a known position with respect to the field of view, including at least one non-perspective image, the lens of the at least one of the cameras being mounted on the camera, and the camera including an image sensor and an onboard vision processor; searching for 2D feature points in at least some of the images of the plurality of images including the non-perspective image; associating the 2D feature points with known 3D model points; and computing the 3D pose based upon the 2D feature points and known 3D model points. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory recorded computer readable medium operating on vision system that determines 3D pose of an object imaged by a plurality of cameras, in which the lens of at least one of the cameras is a non-perspective lens to acquire a non-perspective image, the cameras respectively being oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object at a known position with respect to the field of view, the lens of the at least one of the cameras being mounted on the camera, and the camera including an image sensor and an onboard vision processor, including program instructions for performing the steps of:
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searching for 2D feature points in at least some of the plurality of images including the non-perspective image; associating the 2D feature points with known 3D model points; and computing the 3D pose based upon the 2D feature points and known 3D model points. - View Dependent Claims (20, 21, 22, 23)
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Specification