3D SYSTEM AND METHOD FOR AUTOMATIC SELECTION OF 3D ALIGNMENT ALGORITHMS IN A VISION SYSTEM

摘要

Provided are a system and a method to select 3D alignment algorithms in a 3D vision system. The system and the method include a 3D camera assembly to obtain a vision system processor and an execution time 3D range image having features of an execution time object or an execution time image limited by a 3D point cloud at least. A training image is provided and is limited by the 3D range image or the 3D point cloud having features of a model. A selection process is operated by a vision processor. The vision process analyzes at least one training area of the training image having features of the model and determines distribution of a surface normal within at least one training area. The vision process also aligns features of the model about features of the execution time object by selecting at least one 3D alignment algorithm from a plurality of usable 3D alignment algorithms based on features of the distribution.