System and method for automatically selecting 3D alignment algorithms in a vision system

摘要

A system and method for selecting from 3D alignment algorithms in a 3D vision system is provided. The system and method include a 3D camera assembly to capture at least one runtime image defined by a 3D point cloud or a runtime 3D area image having features of a runtime item and a vision system processor. A training image is provided. It is defined by a 3D point cloud or 3D area image that has features of a model. A selection procedure is performed by the vision processor. It analyzes at least one training region of the training image that has the features of the model and determines a distribution of surface normals in the at least one training region. It also selects, based on a property of the distribution, at least one of a 3D alignment algorithm from a plurality of available 3D alignment algorithms to align the features of the model with respect to the features of the run-time object.