US 12,437,435 B2
Three-dimensional measurement device which generates position information for surface of object from image captured by multiple cameras
Kouta I, Yamanashi (JP); and Junichirou Yoshida, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/905,330
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Feb. 26, 2021, PCT No. PCT/JP2021/007347
§ 371(c)(1), (2) Date Aug. 30, 2022,
PCT Pub. No. WO2021/177163, PCT Pub. Date Sep. 10, 2021.
Claims priority of application No. 2020-038173 (JP), filed on Mar. 5, 2020.
Prior Publication US 2023/0129785 A1, Apr. 27, 2023
Int. Cl. G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/46 (2022.01); G06V 10/74 (2022.01); G06V 10/75 (2022.01)
CPC G06T 7/70 (2017.01) [G06V 10/25 (2022.01); G06V 10/46 (2022.01); G06V 10/751 (2022.01); G06V 10/761 (2022.01)] 3 Claims
OG exemplary drawing
 
1. A three-dimensional measurement device, comprising:
a vision sensor that includes a first camera configured to capture a first image and a second camera configured to capture a second image;
a contour detection sensor configured to detect a contour of an object; and
a processor configured to detect position information of a surface of the object based on the first image and the second image, wherein the processor is configured to:
detect the contour of the object based on an output from the contour detection sensor;
set a selection block formed of a plurality of pixels including one selection pixel selected in the first image and search for a specific block corresponding to the selection block in the second image;
calculate distance information of a pixel based on parallax between a position of the selection pixel in the selection block and a position of a specific pixel corresponding to the selection pixel in the specific block;
generate the position information of the surface of the object including the distance information of a plurality of the pixels; and
synthesize the position information of the surface of the object generated under conditions different from one another,
the processor is configured to
calculate an integrated value by integrating magnitudes of differences between values of pixels included in the selection block and values of pixels included in the specific block or square values of the differences,
determine that the pixel included in the specific block corresponds to the pixel included in the selection block when the integrated value is less than a predetermined determination value, and
set information indicating an invalid pixel as distance information of the selection pixel when the integrated value exceeds the predetermined determination value or the specific block corresponding to the selection block is not detected,
a first determination value regarding the integrated value and a second determination value regarding the integrated value larger than the first determination value are predetermined,
the processor is configured to generate
first position information of the surface by using the first image, the second image, and the first determination value, and
second position information of the surface by using the first image, the second image, and the second determination value, and
the processor is configured to set a region corresponding to the contour based on the detected contour, employ distance information of a pixel included in the first position information of the surface for a pixel included in the region corresponding to the contour, employ distance information of a pixel included in the second position information of the surface for a pixel included in a region other than the region corresponding to the contour, and thereby generate position information of a surface obtained by synthesizing the first position information of the surface and the second position information of the surface.