POSTURE RECOGNITION METHOD AND 3D VISION SENSOR USING THE SAME

摘要

PROBLEM TO BE SOLVED: To speed up process for obtaining 3D coordinates necessary to recognize an orientation of a circular surface, and to reduce a measurement error of 3D coordinates.;SOLUTION: An posture recognition method enables the processing of each image generated by stereo imaging of a circular object; generates an edge image representing a contour of the circle to extract a plurality of model arcs P1, P4, P5, and P8 from the edge image generated from a reference image, and to set measurement object points R1, R4, R5, and R8 corresponding to each model arc. The method then enables the transformation of the edge image generated from a comparison image into an image taken from the same optical axis direction identical to a camera which has generated the reference image to extracts the arcs corresponding to each model arc P1, P4, P5, and P8 from the edge image after transform processing, and to identify the corresponding points to each measurement object point R1, R4, R5, and R8. The method then enables the calculation of the 3D coordinates of the measurement object points corresponding between the images to identify the equation of a plane on which each 3D coordinate is distributed.;COPYRIGHT: (C)2011,JPO&INPIT