IMAGE PROCESSING METHOD, IMAGE PROCESSING DEVICE, AND ROBOT SYSTEM

• US 20160110840A1
• Filed: 10/14/2015
• Published: 04/21/2016
• Est. Priority Date: 10/16/2014
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Odagiri, Jun
• Granted Patent: US 10,207,409 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/39391 Visual servoing, track end effector with camera image feedback
• CPC Class Codes: G05B 2219/39393 Camera detects projected image, compare with reference image, position end effector
• CPC Class Codes: G06T 7/13 Edge detection
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G06V 10/46 Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features colour feature extraction G06V10/56
• CPC Class Codes: G06V 10/752 Contour matching
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/28 Joint
• CPC Class Codes: Y10S 901/47 Optical

Abstract

An image processing method can suppress detection accuracy of a detection target object from being lowered even if the detection target object has a different surface condition because of the influence of various kinds of noise. The image processing method includes the following operations of generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object, executing pattern matching of the captured model edge image and a model edge image, calculating similarity at respective edge points in the model edge image in the pattern matching of the captured model edge image and the model edge image, selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image, and generating an edge image acquired by eliminating the selected edge point as a final model edge image.

Claims

1. An image processing method comprising:

generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object;

executing pattern matching of the captured model edge image and a model edge image related to the detection target object;

calculating similarity at respective edge points in the model edge image in the pattern matching;

selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image;

generating an edge image acquired by eliminating the selected edge point as a final model edge image; and

executing pattern matching of the final model edge image and a search edge image related to a search image acquired by capturing a search object.

2. The image processing method according to claim 1,

wherein a plurality of the captured model images is acquired, and in the selecting an edge point to be eliminated based on the similarity, the edge point to be eliminated is selected based on at least one of an average and a variance of the similarity with the model edge image at respective edge points in the captured model edge images respectively acquired from the plurality of the captured model images.

3. The image processing method according to claim 2,

wherein an edge point in which at least one of the average and the variance of the similarity has a value smaller than a predetermined value is selected as the edge point to be eliminated.

4. The image processing method according to claim 2,

wherein an edge point in which at least one of the average and the variance of the similarity is included in a predetermined percentage from a smallest order is selected as the edge point to be eliminated from among all of the edge points.

5. A non-transitory computer readable storage medium storing a program for causing a computer to execute respective operations of the image processing method comprising:

generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object;

executing pattern matching of the captured model edge image and a model edge image related to the detection target object;

calculating similarity at respective edge points in the model edge image in the pattern matching;

selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image;

generating an edge image acquired by eliminating the selected edge point as a final model edge image; and

executing pattern matching of the final model edge image and a search edge image related to a search image acquired by capturing a search object.

6. The non-transitory computer readable storage medium according to claim 5,

wherein a plurality of the captured model images is acquired, and in the selecting an edge point to be eliminated based on the similarity, the edge point to be eliminated is selected based on at least one of an average and a variance of the similarity with the model edge image at respective edge points in the captured model edge images respectively acquired from the plurality of the captured model images.

7. The non-transitory computer readable storage medium according to claim 6,

wherein an edge point in which at least one of the average and the variance of the similarity has a value smaller than a predetermined value is selected as the edge point to be eliminated.

8. The non-transitory computer readable storage medium according to claim 6,

wherein an edge point in which at least one of the average and the variance of the similarity is included in a predetermined percentage from a smallest order is selected as the edge point to be eliminated from among all of the edge points.

9. An image processing device comprising:

an image generation unit configured to generate a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object, execute pattern matching of the captured model edge image and a model edge image related to the detection target object, calculate similarity at respective edge points in the model edge image in the pattern matching, select an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image, and generate an edge image acquired by eliminating the selected edge point as a final model edge image; and

a calculation unit configured to execute image processing;

wherein the calculation unit executes pattern matching of a search edge image related to a search image acquired by capturing a search object and the final model edge image.

10. The image processing device according to claim 9,

wherein a plurality of the captured model images is acquired, and in the selecting an edge point to be eliminated based on the similarity, the edge point to be eliminated is selected based on at least one of an average and a variance of the similarity with the model edge image at respective edge points in the captured model edge images respectively acquired from the plurality of the captured model images.

11. The image processing device according to claim 10,

wherein an edge point in which at least one of the average and the variance of the similarity has a value smaller than a predetermined value is selected as the edge point to be eliminated.

12. The image processing device according to claim 10,

wherein an edge point in which at least one of the average and the variance of the similarity is included in a predetermined percentage from a smallest order is selected as the edge point to be eliminated from among all of the edge points.

13. A robot system comprising:

a robot main body configured to operate a work;

a camera configured to capture the work; and

the image processing device according to claim 9 configured to generate the final model edge image based on an image acquired by capturing the work with the camera.

14. The robot system according to claim 13,

wherein, in the image processing device, a plurality of the captured model images is acquired, and in the selecting an edge point to be eliminated based on the similarity, the edge point to be eliminated is selected based on at least one of an average and a variance of the similarity with the model edge image at respective edge points in the captured model edge images respectively acquired from the plurality of the captured model images.

15. The robot system according to claim 14,

wherein, in the image processing device, an edge point in which at least one of the average and the variance of the similarity has a value smaller than a predetermined value is selected as the edge point to be eliminated.

16. The robot system according to claim 14,

wherein, in the image processing device, an edge point in which at least one of the average and the variance of the similarity is included in a predetermined percentage from a smallest order is selected as the edge point to be eliminated from among all of the edge points.