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System and method for performing vision system planar hand-eye calibration from straight line features

一种视觉系统、手眼校准的技术，应用在校准系统领域，能够解决增加成本和安装时间等问题，达到降低依赖的效果

Active Publication Date: 2015-06-24
COGNEX CORP
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Problems solved by technology

This necessitates the use of custom calibration plates and / or fixtures, increasing cost and installation time

Method used

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  • System and method for performing vision system planar hand-eye calibration from straight line features
  • System and method for performing vision system planar hand-eye calibration from straight line features
  • System and method for performing vision system planar hand-eye calibration from straight line features

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Embodiment Construction

[0020] I. Hand-Eye Alignment, Further Considerations

[0021] Traditional hand-eye calibration, whether performed manually or within a vision system, must establish a correspondence between observed image feature locations and their expected physical locations, and make the relationship between observed and expected locations Differences are minimized. In the exemplary embodiment, the use of linear features, etc., borrows aspects of traditional hand-eye calibration, but emphasizes additional considerations. These considerations arise from the difference between the calibration features available in traditional hand-eye calibration performed according to the prior art and the novel calibration method using runtime-crafted objects and selected linear features. These differences mainly relate to the type of correspondence, which in turn leads to different ways of calculating and minimizing the difference between observed and expected data in the acquired images.

[0022] Previous...

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Abstract

This invention provides a system and method for hand-eye calibration of a vision system using an object under manufacture having at least one feature. The feature can be a linear feature and the object moves in at least one degree of freedom in translation or rotation on a motion stage. The system further comprises at least a first vision system camera and vision processor. The first vision system camera is arranged to acquire an image of the first linear feature on the object under manufacture and to track motion of the first linear feature in response to moving of the motion stage in at least one degree of translation. The first linear feature is identified in at least two different positions along a plane. The system computes a mapping between pixel positions in a pixel coordinate system of the first camera and physical positions in a motion coordinate system based upon locations of the at least two positions.

Description

technical field [0001] The present invention relates to a calibration system and method and a calibration object used in machine vision system applications. Background technique [0002] In a machine vision system (referred to herein as a "vision system"), one or more cameras are used to perform vision system processing on objects or surfaces in an imaged scene. These processes can include inspection, symbol decoding, adjustments, and various other automated tasks. More specifically, a vision system can be used to detect a planar artifact passing through an imaged scene. A scene is typically imaged by one or more vision system cameras, and these camera(s) may include internal or external vision system processors that operate associated vision system processing to produce results. Often one or more cameras need to be calibrated so that it / they are accurate and reliable enough to perform the vision task(s). A calibration plate can be used to calibrate the camera. [0003] ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N17/00
CPCG06T2207/10016G06T2207/30108G06T2207/30204G06T7/80G01C21/00G06T2207/30244
Inventor 刘刚
Owner COGNEX CORP
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