US 12,249,087 B2
Image processing device and image processing method
Yuusuke Murata, Yamanashi (JP); and Shouta Takizawa, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/908,082
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Mar. 16, 2021, PCT No. PCT/JP2021/010613
§ 371(c)(1), (2) Date Aug. 30, 2022,
PCT Pub. No. WO2021/193236, PCT Pub. Date Sep. 30, 2021.
Claims priority of application No. 2020-050744 (JP), filed on Mar. 23, 2020.
Prior Publication US 2023/0089139 A1, Mar. 23, 2023
Int. Cl. G06T 7/00 (2017.01); G06T 7/50 (2017.01); G06V 20/64 (2022.01)
CPC G06T 7/50 (2017.01) [G06V 20/64 (2022.01); G06T 2200/04 (2013.01); G06T 2207/10012 (2013.01); G06T 2207/10028 (2013.01)] 6 Claims
OG exemplary drawing
 
1. An image processing device comprising:
a memory configured to store a program; and
a processor configured to execute the program and control the image processing device to:
calculate a reference plane, based on three-dimensional data around an object on a loading surface of the object acquired by a three-dimensional sensor, the loading surface being inclined from a direction perpendicular to an optical axis of the three-dimensional sensor;
calculate, based on three-dimensional data acquired by the three-dimensional sensor, a distance between the reference plane and each of points in the three-dimensional data;
create a distance image that has, as pixel values, values calculated based on the calculated distance; and
perform image processing on the distance image.