Asymmetric 3D Reference Object for Precise Vision Calibration
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Solution Overview
Problem
Existing 3D reference objects for calibration in computer vision systems either obscure the target object or require large areas, leading to inaccurate recognition of position and orientation, and may not allow for precise alignment of 3D measurement data.
Innovation Solution
A 3D reference object with an asymmetric shape and predetermined dimensions is used for accurate recognition of its position and orientation through 3D measurement, enabling the calculation of transformation matrices for precise calibration in computer vision systems, including robot systems with arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a large 3D reference object is used to ensure accurate recognition of position and orientation, then measurement precision is improved, but the reference object may hide the target object or occupy a large proportion of the imaging area, thus reducing the imaging size available for target object measurement
Solution Approach 1:
The patent applies asymmetry by designing a 3D reference object with an asymmetric shape that is different in all directions. This asymmetric geometry enables the system to accurately recognize the position and orientation of the reference object from 3D measurement data without requiring a large size, thereby resolving the contradiction between measurement precision and imaging area occupation.
2Device complexity
If multiple planes at undefined positions are used in the 3D reference object, then device complexity is reduced, but accurate recognition of the position and orientation of the measurement viewpoint may be disabled
Solution Approach 1:
The patent replaces the undefined multiple planes structure with a specific asymmetric 3D shape. This asymmetric geometry provides well-defined spatial characteristics that enable accurate recognition of position and orientation while maintaining relatively simple device complexity, thus resolving the contradiction between these two parameters.
Data Source
AI summary
A calibration method for performing calibration in a computer vision system using a three-dimensional reference object asymmetric as viewed in any direction and having predetermined dimensions includes calculating, based on three-dimensional shape data about the three-dimensional reference object and three-dimensional measurement data obtained through three-dimensional measurement of the three-dimensional reference object, a position and an orientation of the three-dimensional reference object relative to a measurement unit coordinate system defined for the three-dimensional measurement unit, and calculating a reference-measurement unit transformation matrix representing a coordinate transformation between the measurement unit coordinate system and a reference coordinate system defined for the three-dimensional reference object.