3D Position Estimation Using Index Area Imaging
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Solution Overview
Problem
Existing methods for measuring the position and attitude of an object in a three-dimensional space face challenges, particularly when parts of the object are covered, leading to reduced accuracy and increased costs due to the use of distance measurement sensors.
Innovation Solution
A method utilizing an imaging device with an optical axis parallel to the Z-axis, where index areas are defined and irradiated with a light beam to estimate Z coordinate values and attitudes, forming index areas that can be captured even when partially obscured, allowing for accurate position and attitude estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a distance measurement sensor is used to measure the three-dimensional position of an object, then the measurement precision is improved, but the device cost increases
Solution Approach 1:
The patent creates virtual three-dimensional position information by copying and processing two-dimensional image data from a camera. Instead of directly measuring 3D positions with expensive sensors, the system captures 2D images and computationally reconstructs 3D coordinates, achieving accurate measurement without the cost of distance measurement sensors
Solution Approach 2:
The patent replaces the mechanical/optical distance measurement sensor system with a computational imaging system. By substituting physical measurement hardware with image processing algorithms, the system achieves 3D position measurement capability while eliminating the need for costly distance measurement sensors
2Measurement precision
If marks are provided on components for position measurement, then the measurement precision is improved, but the marks may be covered by other components making measurement difficult
Solution Approach 1:
The patent transitions from detecting marks in a single 2D image plane to analyzing features across multiple dimensions by capturing images at different positions and angles. This dimensional approach allows the system to recover position information even when marks are obscured in any single view, as the same features become visible from different perspectives
Solution Approach 2:
The system performs preliminary image capture operations by moving the imaging device to multiple predetermined positions before final position calculation. This preliminary action ensures that all necessary feature information is collected across different views, making the final position estimation robust against occlusion in any single image
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables high-accuracy estimation of object positions and attitudes in three-dimensional space, even when parts are covered, by forming index areas that can be captured within the imaging device's range, improving measurement precision and reducing system costs.
Implementation Method 1
acquiring a captured image of an object through an imaging device
Implementation Method 2
an irradiation device, which has its position and attitude fixed in the real space, is used to irradiate light beam to a first index point
Implementation Method 3
measuring a size of each of a plurality of index areas in the captured image... estimating a Z coordinate value of each of a plurality of index points included in each of the plurality of index areas on the basis of a measurement result in the first size measurement processing
Data Source
AI summary
Provided is a position and attitude estimation method and system in which the Z coordinate value of each index point Pi is estimated according to the size ϕ1 of each index area Ai of a work W acquired through an imaging device 4 having an optical axis parallel to the Z axis of a real space. Based on the Z coordinate value Zi of each index point Pi, the first real space attitude θ1(i, j) of an index straight line Qij passing through paired index points Pi and Pj is estimated. A light beam 20 is irradiated to a first index point Pi1 among a plurality of index points Pi by using an irradiation device 2, thereby forming and defining a first index area Ai1, which includes the first index point Pi1.