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 under manufacture having a size in the microscopic or near-microscopic range comprising:
- a plurality of cameras in which a lens of at least one of the cameras is optically connected to a non-perspective microscope 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;
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;
a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points; and
a manipulator control that moves the object to a predetermined location based upon the determined 3D pose.
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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 involving microscopic and near microscopic objects under manufacture moved by a manipulator, so as to acquire contemporaneous images of a runtime object and determine the pose of the object for the purpose of guiding manipulator motion. 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, based on their trained object features to generate a set of 3D features and thereby determine a 3D pose of the object.
80 Citations
16 Claims
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1. A vision system that determines 3D pose of an object under manufacture having a size in the microscopic or near-microscopic range comprising:
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a plurality of cameras in which a lens of at least one of the cameras is optically connected to a non-perspective microscope 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; 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; a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points; and a manipulator control that moves the object to a predetermined location based upon the determined 3D pose. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for determining 3D pose of an object under manufacture having a size in the microscopic or near-microscopic range comprising the steps of:
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locating a plurality of cameras wherein a lens of at least one of the cameras optically connected to a non-perspective microscope 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; 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; computing the 3D pose based upon the 2D feature points and known 3D model points; and moving the object to a predetermined location with a manipulator based upon the computed 3D pose. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A system for guiding a manipulator that releasably holds an object sized in the microscopic or near-microscopic range comprising:
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a plurality of cameras in which at least one of the cameras is optically connected to a non-perspective microscope 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 in a location in which the object is undergoing a manufacturing task, respectively, at an alignment location with respect to the field of view; 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; a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points; and a manipulator control that moves the manipulator to locate the object at the alignment location based upon the determined 3D pose.
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Specification