reintegration of a digital camera in an image processing system, which is made of a calibrated position in one uncalibrated position has been displaced

摘要

The present invention relates to a process for the reintegration of digital cameras (1) with a given focal length in an image processing system, for the subsequent determination of the position of a workpiece and the position of features of the workpiece in the 3 - d - space under the use of at least two electronic cameras and the digital image processing, in which the cameras to a common global coordinate system are calibrated and then the workpiece in the space between the cameras is brought, wherein at least one of the cameras (1) has previously been taken from a calibrated, known location (a) in translation in a cost-efficient uncalibrated, unknown position (b) has been displaced. For the production of the relationship between the world coordinate system (w) and the camera coordinates system (k), at least two not measured, in any of the two coordinate systems known measuring marks (2, 3) as a fixed reference point in each camera image of each camera (1), so that vectors dollar i1 of the displaced camera (1) in the unknown position (b) to the measuring marks (2, 3) are obtained, the images as idealized images of a pinhole camera be assumed and the developing measuring marks (2, 3) pixel data in the x - and y - coordinates, and a transformation of dollars i2 is carried out, which the newly resulting vectors dollar i3 to the fictitious vectors dollar i4 of the position of the previously calibrated camera (1) in the measuring points (2, 3), wherein the fictitious vectors of the equation dollar f5 ..