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Image processing apparatus

一种图像处理装置、图像的技术，应用在图像数据处理、图像数据处理、图像分析等方向，能够解决窗窄、比较对照精度坏影响等问题

Inactive Publication Date: 2005-02-02
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the method for removing background objects published in the above-mentioned literature is applied to the above-mentioned comparison and comparison, the window formed by the product set often becomes too narrow, which has a problem that has a bad influence on the comparison and comparison accuracy.

Method used

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Embodiment Construction

[0019] figure 1 It is a schematic diagram of a system configuration including an image processing device according to an embodiment of the present invention. exist figure 1 In the figure, reference numeral 1 denotes a robot (body unit), and a camera 2 is attached to the front end of the arm of the robot 1 as an imaging device of a visual sensor. The operation of the robot 1 is controlled by a robot control device 10 connected to the robot 1 . An image processing device 20 is connected to the camera 2, and the image processing device 20 is also connected to the robot control device 10 via a communication line.

[0020] The image processing device 20 is equipped with hardware including a CPU, a memory, a camera interface, a communication interface, and software for exchanging commands and image data with the camera 2 and the robot control device 10. In addition, It is also equipped with software including programs for image data processing and related parameters. In addition...

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Abstract

A first masking image of an input image is created by assuming that pixels in an area including the area of a target in all sample images are valid pixels while pixels in the remaining area are invalid pixels. The first masking image is used in a first comparison between the input image and each sample image to select an image that provides a best match as a provisionally selected sample image. In a second comparison, a second masking image corresponding to the provisionally selected sample image is used to select a final sample image. The second masking image is created from an individual sample image by assuming that pixels in an area including the area of the target are valid pixels while pixels in the remaining area invalid pixels.

Description

technical field [0001] The present invention relates to an image processing device used for recognizing an object such as a component by a visual sensor, and more particularly, to an image processing device for recognizing the position and posture of an object capable of various postures from an image. Background technique [0002] In order to process an object (such as a part) that cannot be accurately positioned by an automatic device such as a robot, in various applications, it is a method of capturing image data of the object and recognizing the position and posture of the object from the image data. . In this method, the wider the range of gestures an object can take, the more difficult it is to recognize the gestures. For example, when objects are placed in arbitrary poses in three-dimensional directions, such as a group of parts piled up like a mountain, pose recognition is very difficult. [0003] The recognition method in this case is to take sample images of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T1/00G06K9/36G06K9/64G06T7/00
CPCG06T7/0044G06T7/0004G06K9/6203G06T7/74G06V10/7515G06V10/20
Inventor 泷泽克俊组谷英俊
Owner FANUC LTD