Object position detection device and position correction information generation device

Abstract

To provide an object position detection device that can detect a position of a specific reference point of an object even if the relative position relationship between a camera and the object changes.SOLUTION: A position detection unit analyzes an image of an object obtained by imaging the object on a first surface with a camera, and detects the position of the image of the object. A position correction information storage unit stores position correction information that corrects the position of the image of the object in an image field of the camera to the position of the reference point of the object. A position correction unit corrects the position of the image of the object detected by the position detection unit and determines the position of the reference point on the basis of the position of the image of the object detected by the position detection unit and the position correction information stored in the position correction information storage unit.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to an object position detection device and a position correction information generation device. [[Background Art]]

[0002] When picking an object placed on an upper surface such as a conveyor with a picking robot, it is necessary to detect the position of the object. Patent Document 1 below discloses an object detection device. This object detection device stores a template representing appearance features of the object when the object is viewed from a predetermined direction. When a camera and the object satisfy a predetermined positional relationship, the position of the object is detected by collating an image of the object with the template. [[Prior Art Document]] [[Patent Document]]

[0003] [[Patent Document 1]] Japanese Patent No. 6978454 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] The object detection device disclosed in Patent Document 1 can detect an object when the camera and the object are in a predetermined positional relationship. However, when detecting the position of an object conveyed by a conveyor or the like, the positional relationship between the camera and the object changes. When the object has a three-dimensional shape, a change in the positional relationship between the camera and the object also changes the appearance of the object. If the appearance of the object changes, the image and the template will no longer match.

[0005] An object of the present invention is to provide an object position detection device capable of detecting the position of a specific reference point of an object even if the relative positional relationship between the camera and the object changes. Another object of the present invention is to provide a position correction information generation device that generates position correction information used in the object position detection device. [Means for solving the problem]

[0006] According to one aspect of the present invention, Placed on the first surface It is transported in the x direction. The image of the object obtained by taking a picture of the object with a camera is analyzed, and the image of the object x direction A position detection unit that detects position, The image of the object within the camera's field of view x direction The position is the reference point of the object. x direction A position correction information storage unit that stores position correction information to correct the position, The image of the object detected by the position detection unit x direction Based on the position and the position correction information stored in the position correction information storage unit, the image of the object detected by the position detection unit x direction The position is corrected to the aforementioned reference point. x direction Position correction unit for determining position and An object position detection device equipped with the following is provided.

[0007] According to another aspect of the present invention, On the first surface of an object placed on the first surface x direction For each of the multiple locations, rendering is performed using shape definition information that defines the three-dimensional shape of the object and the internal parameters of the camera that images the object, and the first surface x direction A rendering unit generates a simulated image for each of multiple locations through rendering, An image position information calculation unit that calculates the position information of the simulated image generated by the rendering unit within the image plane, On the first surface of the object x direction A reference point position information calculation unit calculates the position information of the reference point of the object within the image plane based on the shape definition information for each of the multiple positions, A position correction information calculation unit outputs the position information of the simulated image obtained by the image position information calculation unit and the position information of the reference point obtained by the reference point position information calculation unit, relating them to each other. A position correction information generation device equipped with the following is provided. [Effects of the Invention]

[0008] The position of the object image detected by the position detection unit and the position correction information stored in the position correction information storage unit are used to correct the position of the object image and determine the position of the reference point. Therefore, even if the relative position between the camera and the object changes, the position of the object's reference point can still be determined.

[0009] By generating a simulated image from the three-dimensional shape of the object, and then using this simulated image to associate the positional information of the object with the positional information of a reference point, positional correction information can be created more easily compared to using an image actually captured of the object. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram of a picking device equipped with an object position detection device according to one embodiment. [Figure 2] Figure 2 shows an example of an image of an object within the frame. [Figure 3] Figures 3A to 3C schematically show the object and the image in the image plane when the object is located in regions A1, A2, and A3, respectively, as shown in Figure 2. [Figure 4] Figure 4 is a graph showing an example of the relationship between the position x of the center point of an object and the displacement Δx. [Figure 5] Figure 5 is a block diagram of the object position detection device. [Figure 6] Figure 6 is a flowchart showing the steps performed by the object position detection device. [Figure 7] Figure 7 is a block diagram of the position correction information generation device. [Figure 8]FIG. 8 is a flowchart showing a procedure of processing executed by a position correction information generating apparatus. [Figure 9] FIG. 9 is a block diagram of an object position detecting apparatus according to another embodiment. [Figure 10] FIG. 10 is a flowchart showing a procedure executed by the object position detecting apparatus according to the embodiment shown in FIG. 9. [Figure 11] FIGS. 11A and 11B are perspective views showing a three-dimensional shape of an object and a primitive shape. MODE FOR CARRYING OUT THE INVENTION

[0011] With reference to FIGS. 1 to 8, an object position detecting apparatus and a position correction information generating apparatus according to an embodiment will be described.

[0012] FIG. 1 is a schematic diagram of a picking apparatus equipped with the object position detecting apparatus according to the present embodiment. A plurality of objects 70 are placed on a first surface 50, which is the upper surface of a belt conveyor, and conveyed in one direction. An xyz orthogonal coordinate system is defined, in which the conveyance direction of the objects 70 is the positive direction of the x-axis and vertically upward is the positive direction of the z-axis. The width direction of the first surface 50 corresponds to the y-direction.

[0013] Each of the plurality of objects 70 is, for example, an L-shaped angle. The object 70 is composed of a first portion 70A on one side and a second portion 70B on the other side, with a right-angled bent portion as a boundary. As an example, the length from the bent portion to the tip of the first portion 70A is longer than the length to the tip of the second portion 70B. Each object 70 is placed on the first surface 50 in a posture in which the second portion 70B is in contact with the first surface 50 and the first portion 70A extends vertically upward. In addition, the object 70 is placed on the first surface 50 in a posture where the direction from the bent portion toward the tip of the second portion 70B matches the positive direction of the x-axis (the conveyance direction).

[0014] A camera 40 is positioned above the first surface 50. The camera 40 acquires an image of the object 70 within the image boundary 41 of the first surface 50. The image acquired by the camera 40 is input to the object position detection device 20. Furthermore, the object position detection device 20 acquires and stores position correction information generated by the position correction information generation device 30. The position correction information will be explained later with reference to Figures 2 to 4. Various commands and various data are input to the object position detection device 20 from the input device 45.

[0015] The object position detection device 20 analyzes the image acquired by the camera 40 and calculates the position of the reference point of the object 70 based on the position of the image of the object 70, for example, the center position of the bounding box of the image of the object 70, and position correction information. The position information of the reference point of the object 70 is sent to the picking robot 60. Based on the position information of the reference point of the object 70, the picking robot 60 moves the tip of its robot arm to the picking location of the object 70, for example, the tip of the first part 70A of the object 70, and picks the object 70.

[0016] Figure 2 shows an example of an image of an object 70 within a boundary 41. Three objects 70 are captured within the boundary 41. The shape of the image differs depending on the position of the three objects 70 within the boundary 41. When an object 70 is located in region A1 on the negative x-axis side of the center point C of the boundary 41, the inner surfaces of the first part 70A and the second part 70B of the object 70 are visible. When an object 70 is located in regions A2 and A3 on the positive x-axis side of the center point C of the boundary 41, the outer surface of the first part 70A of the object 70 is visible. When an object 70 is located in region A2 close to the center point C, a portion of the inner surface of the second part 70B is visible. When an object 70 is located in region A3 far from the center point C, the second part 70B is hidden by the first part 70A and is not visible.

[0017] Thus, because the appearance of the object 70 differs depending on its position, the size of the bounding box 75 of the image of the object 70 also differs depending on the position of the object 70. Furthermore, it is not possible to detect the position of the tip of the first part 70A to be picked based solely on the position of the bounding box 75.

[0018] Figures 3A to 3C schematically show the object 70 and the image 71 in the image plane 42 when the object 70 is located in regions A1, A2, and A3 shown in Figure 2, respectively. The object 70 and the image 71 are shown as cross-sectional views in the xz plane. Although the image 71 is a two-dimensional figure, it is represented as a long, narrow rectangle with a constant thickness in the direction normal to the image plane 42. Furthermore, the image plane 42 and the image 71 are shown at the same scale as the image of the object 70 projected onto the first surface 50, but in reality, they are reduced according to the magnification of the camera 40 (Figure 1).

[0019] The tip of the first part 70A of the object 70 is the target point Pt to be picked up. A three-dimensional reference point Pr0 is defined for the object 70. For example, the center point of the smallest rectangular prism that encloses the object 70 is defined as the three-dimensional reference point Pr0. The point on the image plane 42 corresponding to the image point obtained by perpendicularly projecting the three-dimensional reference point Pr0 onto the first surface 50 is referred to as the reference point Pr of the object 70. The point on the image plane corresponding to the intersection of the line from the origin of the camera coordinates to the target point Pt (represented by a dashed line in Figures 3A to 3C) and the first surface 50 is denoted as Pti.

[0020] In the example shown in Figure 3A, the image 71 of the object 70 extends in the x-direction from point Pti to a point on the image plane 42 corresponding to the tip of the second part 70B. The center point of this image 71 is denoted as Pc. For example, the center point Pc of the image 71 can be the center point of the bounding box 75 (Figure 2) of the image 71. The reference point Pr of the object 70 will be located on the positive side of the x-axis from the center point Pc of the image 71.

[0021] In the example shown in Figure 3B, point Pti on the image plane is located inside image 71. The dimensions of image 71 are equal to the dimensions of the image of the second part 70B of object 70. In this case, the center point Pc of image 71 coincides with the reference point Pr of object 70.

[0022] In the example shown in Figure 3C, the image 71 extends in the x-direction from a point corresponding to the bend on the image plane 42 of the object 70, beyond the image point of the tip of the second part 70B, to point Pti. In this case, the reference point Pr of the object 70 is located on the negative side of the x-axis from the center point Pc of the image 71.

[0023] In Figures 3A to 3C, the displacement of the reference point Pr of the object 70 in the x-direction relative to the center point Pc of the image 71 is denoted as Δx. In the example shown in Figure 3A, the displacement Δx is positive; in the example shown in Figure 3B, the displacement Δx is zero; and in the example shown in Figure 3C, the displacement Δx is negative. Thus, the positional relationship between the center point Pc of the image 71 and the reference point Pr of the object 70 changes depending on the position of the object 70 within the image boundary 41.

[0024] Figure 4 is a graph showing an example of the relationship between the position x of the center point Pc of the object 70 and the displacement amount Δx. The position of the center point C of the image boundary 41 is taken as the origin of the x-axis. When the object 70 moves in the positive direction of the x-axis from the state shown in Figure 3A, the center point Pc of the image 71 also moves in the positive direction of the x-axis, and the displacement amount Δx gradually decreases.

[0025] When the object 70 moves in the positive x-axis direction and the bent portion of the object 70 coincides with the center point C of the boundary 41, the displacement Δx becomes zero. The displacement Δx remains zero for the period during which the object 70 moves further in the positive x-axis direction and the state shown in Figure 3B is maintained.

[0026] Subsequently, when the positional relationship between the object 70 and the camera coordinate system reaches the state shown in Figure 3C, the displacement Δx becomes negative. As the object 70 moves in the positive x-axis direction, the position of the center point Pc of the image 71 also moves in the positive x-axis direction, and the displacement Δx increases in the negative direction. The position correction information generation device 30 (Figure 1) calculates information representing the positional relationship between the position of the center point Pc of the image 71 and the position Pr of the reference point Pr of the object 70, for example, the displacement Δx at each of the multiple positions of the center point Pc of the image 71. The method for calculating the positional relationship between the position of the center point Pc of the image 71 and the position Pr of the reference point Pr of the object 70 will be explained later with reference to Figures 7 and 8.

[0027] Next, the functions of the object position detection device 20 will be described with reference to Figures 5 and 6. Figure 5 is a block diagram of the object position detection device 20. Figure 6 is a flowchart showing the procedure performed by the object position detection device 20. The object position detection device 20 includes a position detection unit 21, a position correction unit 22, an output unit 23, and a position correction information storage unit 25. Position correction information input from the position correction information generation device 30 is stored in the position correction information storage unit 25.

[0028] The position detection unit 21 acquires an image 71 of the object 70 from the camera 40 (step SA1). Furthermore, the position detection unit 21 analyzes the image 71 and detects the position of the image 71 of the object 70 (Figures 3A to 3C) within the image plane 42 (step SA2). Specifically, it detects the position of the center point Pc (Figures 3A to 3C) of the bounding box 75 (Figure 2) of the image 71.

[0029] The position correction unit 22 calculates the position of the reference point Pr of the object 70 within the image plane 42 based on the position of the center point Pc of the image 71 and the position correction information stored in the position correction information storage unit 25 (step SA3). The output unit 23 outputs the position of the reference point Pr of the object 70 within the image plane 42 to the picking robot 60 (step SA4). The picking robot 60 picks the object 70 based on the position of the reference point Pr of the object 70.

[0030] Next, the functions of the position correction information generation device 30 (Figure 1) will be explained with reference to Figures 7 and 8.

[0031] Figure 7 is a block diagram of the position correction information generation device 30. The position correction information generation device 30 includes an input unit 31, a rendering unit 32, an image position information calculation unit 33, a reference point position information calculation unit 34, a position correction information calculation unit 35, a shape definition information storage unit 36, a first surface relative position information storage unit 37 with respect to the camera, a camera internal parameter storage unit 38, and a lens distortion parameter storage unit 39.

[0032] The input unit 31 acquires various commands and data input to the input device 45. The various data include shape definition information defining the shape of the object 70, relative position information of the first surface relative to the camera, camera internal parameters, and lens distortion parameters. The shape definition information is stored in the shape definition information storage unit 36, the relative position information of the first surface relative to the camera is stored in the relative position information storage unit 37, the camera internal parameters are stored in the camera internal parameter storage unit 38, and the lens distortion parameters are stored in the lens distortion parameter storage unit 39. The relative position information of the first surface relative to the camera includes the position and orientation of the first surface 50 in the camera coordinate system (e.g., the direction of the normal). The shape definition information is, for example, design data (CAD data, etc.) that defines the shape of the object 70.

[0033] When the rendering unit 32 is given the position and orientation of the object 70 within the image field 41 (Figure 2), it performs rendering using the information stored in the shape definition information storage unit 36, the first surface relative position information storage unit 37 with respect to the camera, the camera internal parameter storage unit 38, and the lens distortion parameter storage unit 39 to generate a simulated image of the object 70 in the image plane 42 (Figures 3A to 3C).

[0034] The image position information calculation unit 33 calculates the position of the simulated image generated by the rendering unit 32, for example, the position of the center point Pc of the bounding box of the simulated image within the image plane 42 (Figures 3A to 3C).

[0035] The reference point position information calculation unit 34 obtains the three-dimensional shape of the object 70 from the shape definition information of the object 70, and calculates the position of the three-dimensional reference point Pr0 (Figures 3A to 3C) in the camera coordinate system from the three-dimensional shape. Furthermore, it calculates the position of the reference point Pr (Figures 3A to 3C) in the image plane 42 of the image point obtained by perpendicularly projecting the three-dimensional reference point Pr0 onto the first plane 50.

[0036] The position correction information calculation unit 35 associates the position of the simulated image (position of the center point Pc) calculated by the image position information calculation unit 33 with the position of the reference point Pr calculated by the reference point position information calculation unit 34, and outputs it as position correction information. The position correction information is output to, for example, the object position detection device 20 (Figure 1) and stored in the position correction information storage unit 25 (Figure 5) of the object position detection device 20.

[0037] Figure 8 is a flowchart showing the procedure of processing performed by the position correction information generation device 30. Relative position information is stored in the first surface relative position information storage unit 37 with respect to the camera, camera internal parameters are stored in the camera internal parameter storage unit 38, and lens distortion parameters are stored in the lens distortion parameter storage unit 39.

[0038] The input unit 31 acquires the shape definition information of the object input from the input device 45 and stores it in the shape definition information storage unit 36 ​​(step SB1). Next, the position of the object 70 is set within the image boundary 41 (step SB2). The rendering unit 32 generates a simulated image of the object 70 by rendering based on the position of the object 70 set in step SB2 (step SB3). The image position information calculation unit 33 calculates the position of the simulated image within the image plane 42 (Figures 3A to 3C) (step SB4). For example, it calculates the position of the center point Pc of the bounding box of the simulated image (Figures 3A to 3C).

[0039] The reference point position information calculation unit 34 calculates the position of the reference point Pr of the object 70 (Figures 3A to 3C) within the image plane 42 based on the position of the object 70 set in step SB2 and the shape definition information (step SB5). The position correction information calculation unit 35 outputs the position information of the simulated image (position information of the center point Pc) and the position information of the reference point Pr of the object 70 in association with each other (step SB6).

[0040] The position of the object 70 is updated (step SB8) until the required number of position correction pieces of information are obtained, and the procedures from step SB3 to step SB6 are repeated (step SB7).

[0041] Next, we will describe the excellent effects of this embodiment. The relationship between the position of the object 70's image (the position of the center point Pc of its bounding box) and the position of the target point Pt (Figures 3A to 3C) is not constant. Therefore, if the picking robot 60 (Figure 1) is operated based on the position of the object's image, it may not be able to accurately grasp the target point Pt of the object 70.

[0042] In contrast, in this embodiment, even if the position of the object 70 in the image boundary 41 (Figure 2) is not constant, the position of the reference point Pr of the object 70 can be determined from the position of the image 71. The picking robot 60 identifies the position of the target point Pt (Figures 3A to 3B) based on the position of the reference point Pr of the object 70, moves the tip of the robot arm to the position of the target point Pt, and picks the object 70 with good reproducibility.

[0043] Furthermore, in this embodiment, since position correction information is generated in advance, the position of the reference point Pr (Figures 3A to 3C) of the object 70 can be determined without determining the shape of the image of the object 70 or the three-dimensional shape of the object 70.

[0044] Furthermore, in this embodiment, since the position correction information generation device 30 generates position correction information based on a simulated image generated by rendering, there is no need to acquire an actual image of the object 70 for the purpose of generating position correction information. Therefore, position correction information can be generated in a short amount of time.

[0045] Next, a modified example of this embodiment will be described. In this embodiment, the position of the reference point Pr is determined based on the position of the center point Pc of the bounding box of the image 71 of the object 70. However, the position of the reference point Pr may also be determined based on the positions of other characteristic points in the image 71 of the object 70. For example, the position of the reference point Pr may be determined based on the position of one vertex of the bounding box.

[0046] In this embodiment, an example of an L-shaped angle for the object 70 was described, but this embodiment can also be applied to objects 70 with other three-dimensional shapes.

[0047] Next, an object position detection device according to another embodiment will be described with reference to Figures 9 and 10. Hereafter, the configuration common to the object position detection device described with reference to Figures 1 to 8 will be omitted from the explanation.

[0048] Figure 9 is a block diagram of the object position detection device 20 according to this embodiment. The object position detection device 20 according to this embodiment includes an enable / disable flag 26 in addition to the multiple blocks of the object position detection device 20 shown in Figure 5. The contents of the enable / disable flag 26 can be rewritten from the input device 45. The enable / disable flag 26 is a flag that specifies whether to enable or disable the position correction function.

[0049] Figure 10 is a flowchart showing the procedure performed by the object position detection device 20 according to this embodiment. Steps SA1 and SA2 are the same as steps SA1 and SA2 in the embodiment shown in Figure 6. In this embodiment, steps SA3 and SA4 are performed (step SA5) when the enable / disable flag is set to "enabled". Steps SA3 and SA4 are the same as steps SA3 and SA4 in the embodiment shown in Figure 6. That is, when the enable / disable flag is set to "enabled", the object position detection device 20 outputs the position information of the reference point Pr of the object 70 (Figures 3A to 3C) (step SA4).

[0050] If the enable / disable flag is set to "disabled", the position information of the image 71 of the object 70, for example, the position information of the center point Pc of the bounding box, is output (steps SA5, SA6).

[0051] Next, we will describe the excellent effects of this embodiment. By setting the enable / disable flag 26 to "enabled," the object 70 can be picked with good reproducibility, similar to the embodiment described with reference to Figures 1 to 8.

[0052] Depending on the three-dimensional shape of the object 70, the difference between the center point Pc of the image of the object 70 and the reference point Pr of the object 70 may be small. In such cases, even if the enable / disable flag 26 is set to "disabled", the decrease in picking reproducibility is suppressed. Setting the enable / disable flag 26 to "disabled" eliminates the need to perform steps SA3 and SA4 (Figure 10), thus shortening the processing time of the object position detection device 20 and improving the throughput of the picking process.

[0053] Next, with reference to Figures 11A and 11B, a position correction information generation device according to another embodiment will be described. Hereafter, the configuration common to the position correction information generation device described with reference to Figures 1 to 8 will be omitted from the description. In the embodiment described with reference to Figures 1 to 8, design data such as CAD data is input from the input device 45 to the input unit 31 (Figure 7) as shape definition information that defines the three-dimensional shape of the object 70. However, in some cases, CAD data may not exist for the object 70. In this embodiment, the three-dimensional shape of the object 70 is replaced with a primitive shape as shape definition information.

[0054] Figures 11A and 11B are perspective views showing the three-dimensional shape of the object 70 and the primitive shape 80. The primitive shape 80 is hatched. Figure 11A shows an example where the object 70 is an L-shaped angle, and Figure 11B shows an example where the object 70 has a shape in which one side wall has been removed from a rectangular tube with a rectangular opening.

[0055] In the example shown in Figure 11A, the primitive shape 80 is defined as the smallest triangular prism that encloses the object 70. In the example shown in Figure 11B, the primitive shape 80 is defined as the smallest rectangular prism that encloses the object 70. In either case, the center point of the bounding box of the image of primitive shape 80 coincides with the center point of the bounding box of the image of object 70. In other words, the primitive shape is defined such that the center point of the bounding box of the image of primitive shape 80 coincides with the center point of the bounding box of the image of object 70.

[0056] Next, we will describe the excellent effects of this embodiment. In this embodiment, shape definition information can be created by generating data representing the primitive shape without accurately reproducing the three-dimensional shape of the object 70. Therefore, the effort required to create shape definition information can be reduced.

[0057] The embodiments described above are illustrative, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects and benefits from similar configurations in multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the embodiments described above. For example, it will be obvious to those skilled in the art that various modifications, improvements, and combinations are possible. [Explanation of symbols]

[0058] 20. Object position detection device 21 Position detection unit 22 Position correction section 23 Output section 25 Position correction information storage section 26 Enable / Disable Flag 30 Position correction information generation device 31 Input section 32 Rendering section 33 Image position information calculation unit 34 Reference point position information calculation unit 35 Position Correction Information Calculation Unit 36 Shape definition information storage unit 37 Relative position information storage unit for the first surface relative to the camera 38 Camera internal parameter storage unit 39 Lens distortion parameter storage unit 40 Cameras 41 Painting world 42 Image Plane 45 Input device 50 Page 1 60 picking robots 70 Objects 70A 1st part 70B 2nd part 71. Image of the object 75 bounding boxes PC: The center point of an image of a small object Pr Reference point of the object Pr0 Three-dimensional reference point of the object Pt target point

Claims

1. A position detection unit analyzes an image of an object obtained by capturing an image of the object, which is placed on the first surface and transported in the x direction, and detects the position of the object in the x direction of the image. A position correction information storage unit stores position correction information that corrects the position of the object's image in the x-direction within the camera's field of view to the position of the object's reference point in the x-direction, A position correction unit determines the position of the reference point in the x-direction by correcting the position of the object image detected by the position detection unit in the x-direction and the position correction information stored in the position correction information storage unit. An object position detection device equipped with the following features.

2. An enable / disable flag that stores whether the correction function is enabled or disabled, An output unit that outputs the position information of the object and Furthermore, The output unit is, If the enable / disable flag is set to enabled, the position information of the reference point of the object corrected by the position correction unit is output. The object position detection device according to claim 1, wherein if the enable / disable flag is set to disabled, the position detection unit outputs position information of the image of the object detected.

3. A rendering unit that, for each of multiple positions in the x-direction on the first surface of an object placed on the first surface, renders using shape definition information that defines the three-dimensional shape of the object and internal parameters of a camera that images the object, and generates a simulated image by rendering for each of the multiple positions in the x-direction on the first surface. An image position information calculation unit that calculates the position information of the simulated image generated by the rendering unit within the image plane, A reference point position information calculation unit calculates the position information of the reference point of the object in the image plane based on the shape definition information for each of the multiple positions in the x direction on the first surface of the object, A position correction information calculation unit outputs the position information of the simulated image obtained by the image position information calculation unit and the position information of the reference point obtained by the reference point position information calculation unit, relating them to each other. A position correction information generation device equipped with the following features.

4. The system further includes an input unit into which the design data of the three-dimensional shape of the object is input, The position correction information generation device according to claim 3, wherein the rendering unit performs rendering using the design data input to the input unit as the shape definition information.

5. The system further includes an input unit into which the primitive shape of the object is input, The position correction information generation device according to claim 3, wherein the rendering unit performs rendering using the primitive shape input to the input unit as the shape definition information.

Images