IC chip point set registration method containing local connectivity constraint
A connectivity, chip technology, applied in image data processing, instrumentation, computing, etc., can solve the problems of low accuracy and robustness, difficult registration of non-rigid point sets, etc., to improve registration accuracy, suppress noise and separation. The effect of cluster points, the effect of high precision and robustness
Active Publication Date: 2021-06-25
宁波亦唐智能科技有限公司
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[0003] The purpose of the present invention is to solve the problem of high difficulty, low precision and low robustness of non-rigid point set registration due to the influence of point set noise and outlier points, and to provide a method for IC chip point set registration with local connectivity constraints
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[0071] Specific implementation mode one: the following combination Figure 1 to Figure 4 Describe this embodiment, a kind of IC chip point set registration method with local connectivity constraints described in this embodiment, the point set registration method in this embodiment is used to position the two-bit point data of the TD62064 chip collected by the flying camera of the placement machine Registration. The initialization related parameters are set as follows:
[0072] Smoothing parameter β=0.8, coefficient matrix W=0;
[0073] see figure 2 For the component target point set Y established according to the component data sheet, the technical point of this embodiment is to solve the non-rigid modeling problem when the actual non-rigid transformation of the point set is unknown in the non-rigid point set registration and to suppress noise and outliers, while having high precision and robustness to obtain the best correspondence matrix and the best spatial transformati...
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The invention discloses an IC (integrated circuit) chip point set registration method containing local connectivity constraint, belongs to the technical field of chip mounter integrated circuit chip mounting, and aims to solve the problems of high non-rigid point set registration difficulty and low precision and robustness caused by influence of noise and outliers in a point set. The method comprises the following steps: step 1, carrying out global photographing on an integrated circuit chip to be mounted by using a chip mounter visual detection system, and collecting a group of two-dimensional point data as points to be registered; step 2, preprocessing points to be registered to obtain a reference point set; step 3, creating a Gaussian kernel Gram matrix G; step 4, designing a k connection matrix C; step 5, calculating a weight matrix A; step 6, initializing related parameters of an expectation maximization algorithm; step 7, extracting shape context features of each point in the target point set Y; and step 8, iteratively updating the template point set until convergence, obtaining a final registration result point set, and carrying out mounting operation on the to-be-mounted chip according to the final registration result point set.
Description
technical field [0001] The invention belongs to the field of placement machine integrated circuit chip placement technology. Background technique [0002] With the development of computer vision applications, point set registration technology has received extensive attention and research in the fields of pattern recognition and computer vision. The rapid development of point set registration technology has promoted the solution of problems such as face recognition, stereo matching and shape recognition. According to the difference of spatial transformation, point set registration techniques can be roughly divided into three categories: rigid transformation point set registration, affine transformation point set registration and non-rigid transformation point set registration. Compared with the first two registration problems, point set registration under non-rigid transformation is a more challenging research hotspot. Many researchers have focused on solving the registrati...
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IPC IPC(8): G06T7/33G06T5/20G06T7/00
CPCG06T7/33G06T5/20G06T7/0004G06T2207/30148G06T2207/10004
Inventor 高会军张元明孙昊刘伟华于兴虎杨宪强
Owner 宁波亦唐智能科技有限公司