Abstract: A method is provided of estimating an in-focus position of a target in an image scanning apparatus. A first part of the target is scanned at a nominal focus level so as to obtain corresponding image information. One or more further parts of the target are scanned at one or more respective further focus levels so as to obtain corresponding image information. A focus parameter is then calculated for each of the nominal and the one or more further focus levels using the respective image information. An in-focus position common to each of the first and further parts of the target is then estimated using the calculated focus parameters. Corresponding apparatus for performing the method is also provided.

Abstract: A wireless substrate-like sensor is provided to facilitate alignment and calibration of semiconductor processing systems. The wireless substrate-like sensor includes an optical image acquisition system that acquires one or more images of targets placed within the semiconductor processing system. Analysis of images of the targets obtained by the wireless substrate-like sensor provides position and/or orientation information in at least three degrees of freedom. An additional target is affixed to a known location within the semiconductor processing system such that imaging the reference position with the wireless substrate-like sensor allows the measurement and compensation for pick-up errors.

Abstract: An object detection apparatus and method for accurately detecting a movable object in a region around a vehicle from a time series of images obtained through a camera mounted on the vehicle by eliminating the influence of the movement of the camera through simple processing, and a program for making a computer execute processing in the apparatus.

Abstract: A method and system detects candidate targets or objects from a viewed scene by simplifying the data, converting the data to gradient magnitude and direction data which is thresholded to simplify the data. Horizontal edges within the data are softened to reduce their masking of adjacent non-horizontal features. One or more target boxes are stepped across the image data and the number of directions of gradient direction data within the box is used to determine the presence of a target. Atmospheric attenuation is compensated. The thresholding used in one embodiment compares the gradient magnitude data to a localized threshold calculated from the local variance of the image gradient magnitude data. Imagery subsets are containing the candidate targets may then be used to detect and identify features and apply a classifier function to screen candidate detections and determine a likely target.

Abstract: There are provided a measuring method and a measuring system which enable creation of a measurement route with ease to thereby enable three-dimensional measurement to be quickly performed even if an object to be measured has a complicated shape or configuration. An object to be measured is shot. A plurality of images obtained by the shooting are combined together to generate a combined image of the object. A measuring region of the generated combined image is designated. A measurement path measuring program is created by inputting parameters for creating a measurement path. The designated measuring region is measured along the measurement path according to the created measurement path measuring program.

Abstract: An image processing method of making luminance correction on the basis of a luminance histogram showing luminance level distribution of image data expressing an image by a numerical value. A luminance average value, a luminance standard deviation, and a peak distance in the luminance histogram are obtained. A distribution discrimination value which can discriminate whether the luminance level distribution is deviated on the low/high luminance side in the histogram is compared with the peak distance. A halftone presence/absence discrimination value which can discriminate whether the luminance distribution is not deviated in the halftone in the luminance histogram is compared with the standard deviation. A backlight image is discriminated by the comparison results. An exposing state of an image other than a backlight image is discriminated by using an exposing state discrimination value. The proper luminance correction is made in accordance with the exposing state.

Abstract: A position detecting apparatus includes an indicating unit 2 for projecting light onto the front surface of a display screen 11 on which imaging light is projected from the back thereof by a projector 12, an imaging unit 3 placed at the back of the display screen 11, for picking up from the back thereof the light projected by the indicating unit 2 and for converting the light into electric signals, and an image processing unit 4 for analyzing the electric signals obtained from the imaging unit 3 and for calculating a position on the display screen 11, of the indicating unit 2.

Abstract: There is provided a hierarchical shadow detection system for color aerial images. The system performs well with highly complex images as well as images having different brightness and illumination conditions. The system consists of two hierarchical levels of processing. The first level involves, pixel level classification, through modeling the image as a reliable lattice and then maximizing the lattice reliability using the EM algorithm. Next, region level verification, through further exploiting the domain knowledge is performed. Further analysis show that the MRF model based segmentation is a special case of the pixel level classification model. A quantitative comparison of the system and a state-of-the-art shadow detection algorithm clearly indicates that the new system is highly effective in detecting shadow regions in an image under different illumination and brightness conditions.

Abstract: According to a measuring method, shapes of two mechanical parts of a measuring object are shot by a camera at their respective axial both ends so that image information of the shapes are obtained. Then a center coordinate of the detected shape is respectively calculated from the image information, and positions of the axial lines for the two mechanical parts are calculated from the calculated center coordinates, and finally the calculated position of the axial line is compared with the calculated position of the other axial line in a certain determination area, to determine the coaxial relation between the two mechanical parts.

Abstract: A camera system includes a display monitor which displays an image of an object, taken by an optical unit, on a screen of the monitor. A reading unit reads a preceding image and a current image among a plurality of partially overlapping images, from a memory device, the preceding image and the current image containing a common element. A determining unit determines a positional relation between the preceding image and the current image based on a common pattern derived from the common element in the two adjacent images read by the reading unit. A displaying unit displays an image indicating a boundary of the preceding image on the screen of the monitor at a shifted position according to the positional relation determined by the determining unit, with the current image concurrently displayed on the screen of the monitor.

Abstract: A vision system and method for calibrating motion of a robot disposed in a processing system is provided. In one embodiment, a vision system for a processing system includes a camera and a calibration wafer that are positioned in a processing system. The camera is positioned on the robot and is adapted to obtain image data of the calibration wafer disposed in a predefined location within the processing system. The image data is utilized to calibrate the robots motion.

Abstract: The present invention relates to a system and method for the imaging of surfaces of box like objects conveyed along a path. The objects are conveyed past at least one camera which is positioned at an angle to the object's surface. The at least one camera comprises a sensor array and zoom objective, the latter controlled by a control mechanism. The present system further comprises a control unit and at least one sensor. The sensor detects the location and velocity of an object. The data is conveyed to the control unit which further communicates with the control mechanism. The control unit causes the control mechanism to adjust the zoom on the objected so as to stay in constant focus with a passing surface of an object passing through the field of view of the at least one camera. After an object has passed through the field of view, the object is made to return to a home position.

Abstract: An apparatus and method for detecting and correcting for physical misalignments of a pair of digital cameras creating a composite, three dimensional (3D) image of a target. The method involves using the distances from each of a pair of digital cameras to a target and determining correction offset values for one or the other of the images produced in the digital cameras to achieve pixel-to-pixel coincidence of the two images. The correction offset values are calculated and performed in real time and eliminate the need to physically remove a common platform on which the cameras are mounted from a mobile platform or other support structure, and to transport same to a laboratory environment for the needed calibration. Advantageously, the correction values are generated electronically and applied in real time as any misalignment between the cameras is sensed.

Abstract: In a mobile robot and a method for measuring a moving distance thereof, by including an image capture unit for photographing the bottom surface according to motion of a mobile robot at a certain intervals and capturing images; a displacement measurer for measuring displacement about the captured image; and a microcomputer for outputting an actual moving distance by direction and motion of the mobile robot on the basis of the measured displacement value, it is possible to measure an accurate moving distance of the mobile robot with only one image sensor installed at the center of a body of the mobile robot, and accordingly it is possible to simplify a mechanical structure and facilitate maintenance and repairing.

Abstract: A system for detecting objects includes a digital image device such as CCD camera to control a defined area for unauthorized intrusions. The digital imaging device views a predetermined pattern positioned across the defined area from the device. A processor periodically compares an image stored in the memory with a digital representation of the predetermined pattern, and a signal is sent to a control unit when the correlation is missing as a result of the object entering field of vision of the digital imaging device and obscuring said predetermined pattern.

Abstract: An image processing and inspection system includes a master device (10) having a video camera (40) and a first controller (20) responsible for processing and inspecting the image of an object (1) in accordance with inspection criteria. Intercommunicated (12) with the master device (10) is a personal computer (100) equipped with a second monitor (120), and a second input member (102,104). The motion-picture taken by the camera (40) for inspection on the side of the master device (10) is transmitted to the computer (100) so as to be displayed on the second monitor (120) as a real-time image of the object (1) for easy confirmation of the object on the side of the computer (100), thereby enabling to determine the inspection criteria on the side of the computer (100) while monitoring the real-time image of the object (1).

Abstract: An apparatus for protecting an occupant in a vehicle includes a pair of image sensors for taking images of an area on a seat in the vehicle. Transverse-direction shifts between corresponding portions of the images are calculated. Longitudinal-direction positions of objects whose images are in the portions of the images taken by the image sensors are measured in response to the calculated transverse-direction shifts. A longitudinal-direction position of an occupant on the seat is decided in response to the measured longitudinal-direction positions of the objects. Occupant protecting operation at a time of occurrence of a collision of the vehicle is changed in response to the decided longitudinal-direction position of the occupant. From the measured longitudinal-direction positions of the objects, one corresponding to a highest position with respect to the vehicle and being in front of the seat is selected as a longitudinal-direction position of a head of the occupant.

Abstract: The present invention relates to an accuracy analyzing apparatus which is capable of efficiently analyzing accuracies of a machine tool including the perpendicularity of a spindle axis and the thermal displacement of a spindle with a higher level of accuracy at lower costs. The accuracy analyzing apparatus (1) comprises a laser oscillator (2) attached to the spindle (26) for emitting a laser beam having a light axis perpendicular to the spindle axis, an imaging device (5, 8) having a light receiving section (5) disposed in the vicinity of the laser oscillator (2) for receiving the laser beam from the laser oscillator (2) by the light receiving section (5) and generating two-dimensional image data, and an analyzer (15) for analyzing the accuracies of the machine tool (20) on the basis of the generated image data.

Abstract: Generally a method and apparatus for viewing images within a processing system is provided. In one embodiment, an apparatus includes a plate having a camera, transmitter and battery coupled thereto. The plate is adapted to be transported about a semiconductor processing system by a substrate transfer robot thereby allowing images within the system to be viewed remotely from the system. The viewed images may be used for system inspection and calibration of robot position, among other uses.

Abstract: An image processing apparatus capable of detecting position and posture of individual workpieces randomly arranged in a stack and having identical shapes. Reference models are created from two-dimensional images of a reference workpeace captured in a plurality of directions by a camera and stored. Also, the relative positions/postures of the workpiece with respect to the camera at the respective image capturing are stored. An image of a stack of workpieces is captured by the camera to obtain a two-dimensional image and the position/posture of the camera at the image capturing is stored. An image of a workpiece matched with one reference model is selected by matching processing of the reference model with the captured image. A three-dimensional position/posture of the workpiece with respect to the camera is obtained from the image of the selected workpiece, the selected reference model and position/posture information associated with the reference model.

Abstract: In an optical fiber observing image processing apparatus, at least two different capturing modes is provided in an image capturing means for capturing image data from two or more television cameras, so that, by automatically switching capturing modes in synchronous with or independently from progress of the image processing, high speed processing can be achieved regardless of limitation of a data capturing speed. A scanning converting means is provided in a rear stage of the image capturing means, and a plurality of different transfer modes for transferring data between the scanning converting means and the image capturing means are prepared. Further, a delay means may be provided in a front stage of the scanning converting means.

Abstract: An omni-positional camera mount for the photographing of small objects (24). The mount has a support (4) to hold an object to be photographed. A first frame (9) is pivotally mounted to the support such that the first frame can pivot on a first pivot axis (12). A second frame (15) is mounted to the first frame (9) such that the second frame can pivot on a second pivot axis (18) which is at right angles to and passing through the first pivot axis. A camera stage is on the second frame. The support (4) can include a turntable and a mounting post. The turntable (4) rotates on a axis which passes through the meeting point (20) of the first and second axes.

Abstract: An electronics assembly system includes an image acquisition system that is coupled to a controller through an improved interface. The coupling facilitates advanced monitoring and control of the image acquisition system. Multiple image acquisition systems can be coupled to the controller over the same interface.

Abstract: To provide an inspecting apparatus of a printed state or the like in a flexible printed circuit board which requires no skill, generates no error by oversight and further improves an operation efficiency, a substrate feeding out unit (2), a substrate inverting unit (4), a camera inspecting unit (5), a substrate inverting unit (9) and a defect point marking unit (10) for a printed state or the like are sequentially placed on working tables (1, 1) along a moving direction of a flexible printed circuit board, in this order, the substrate inverting units (4, 9) respectively invert the flexible printed circuit board, the camera inspecting unit (5) detects a print defect point by means of a camera (8), and the defect point marking unit (10) applies a marking to the print defect point by a laser marker (13) on the basis of a signal output from the camera inspecting unit (5).

Abstract: A method, a circuit arrangement and a display device which suppresses motion blur due to motion integration carried out along a motion trajectory on the image data, which occurs in matrix type displays in which a motion trajectory is integrated by the viewer and/or the display, includes an inverse integration filtering of the video signal. To avoid de-blurring in image regions where motion cannot be detected, or image is low and to avoid noise modulation, motion estimation as well as further image characteristic are used.

Abstract: A method and a measuring instrument for determining the position of an edge to be measured on a pattern on a substrate are described. A complete, nonlinear model intensity profile, which identifies the edge to be measured, of a model edge is ascertained and stored, and a desired edge position xk is defined therein with subpixel accuracy. A camera image of the substrate having the edge to be measured is acquired, and a one-dimensional measured intensity profile of the edge to be measured is determined therefrom. The model intensity profile is identified in the measured intensity profile with an indication of its location xm relative to a reference point. The desired position p of the edge to be measured is determined with subpixel accuracy as p=xm+xk.

Abstract: There is a described a user interface device having first and second imaging means for forming first and second images of a three-dimensional zone from two different viewpoints, and image data generating means for generating image data corresponding to the first and second images. A processor determines the position of an object within the three-dimensional zone from the image data for the first and second images, associates the determined position with corresponding information and generates a data signal in accordance with the information corresponding to the determined position. In an embodiment, the user interface device is in the form of a virtual keyboard. In another embodiment, the user interface device is in the form of a tablet for handwriting recognition.

Abstract: A method and apparatus is disclosed for identifying a position of an object in free space using a video image wherein the object is comprised of at least three equidistantly spaced, co-linear beads. The video image is captured on a view plane of a video camera system and represented on a frame memory thereof. Relative positions of the beads on the frame memory are determined and corresponding coordinate positions of the beads in the free space are calculated based upon the determined relative spacings and known camera system geometries. The object may also include an alignment indicator so that the pointing direction of the object can be determined.

Abstract: In a mobile communication terminal 10, a position information assigning section 24 associates images acquired by the photographing section 20 with position information concerning the positions at which these images are acquired. A video generating section 30 generates, by using the images, a video including frames associated with the position information. A video searching section 70 specifies the frame of the video associated with position information, which is close to the position information acquired by a position detecting section 22. A playback section 72 displays the specified frame.

Abstract: The invention relates to a method for monitoring a process. The image information received from cameras monitoring various positions of the process is stored in digital form and various cameras positions are alternately selected for a display and analysis on the screen of a computer. The screen is also used for displaying an image variation graph representing the image variation data of images preceding and following the image to be analyzed. The system includes selector elements (5) for selecting a camera position representing the highest-level image variation for an automated display.

Abstract: A monitoring system for watching moving trouble of work boards, which is capable of informing of trouble of boards immediately after trouble occurs in the continuous production line, and capable of displaying a monitored picture which is modified into a special picture to prevent the picture from becoming monotonous. This system includes a TV camera for photographing a moving scene of work boards, a display device for displaying an image signal of the moving scene of work boards taken by the TV camera, and an image processing means for replacing at least a portion of that image signal of the moving scene of work boards by a predetermined first color image signal.

Abstract: A system and method for servoing robot marks using fiducial marks and machine vision provides a machine vision system having a machine vision search tool that is adapted to register a pattern, namely a trained fiducial mark, that is transformed by at least two translational degrees and at least one mon-translational degree of freedom. The fiducial is provided to workpiece carried by an end effector of a robot operating within a work area. When the workpiece enters an area of interest within a field of view of a camera of the machine vision system, the fiducial is recognized by the tool based upon a previously trained and calibrated stored image within the tool. The location of the work-piece is derived by the machine vision system based upon the viewed location of the fiducial. The location of the found fiducial is compared with that of a desired location for the fiducial. The desired location can be based upon a standard or desired position of the workpiece.

Abstract: There is provided a video geographic information system for supplying the geographic information, which is maximized in a sense of reality, in a dynamic environment without a pre-processing for camera information and video stream, the system comprising a video server to load a video stream stored in a database and to transmit out of the video server through a network; a Geo server to load camera information stored in the database if image information and video frame information are input from the outside through a network, to retrieve geographic information stored in the database, to process the retrieved geographic information corresponding to a user request of queries and analysis, and to transmit the processed geographic information out of the Geo server through a network; a video player to receive a video stream from the video server through a network, to output the video stream, and to output image information and video frame information corresponding to a user request of selection, queries, analysis for

Abstract: A machine vision method for locating a leaded electronic device, such as integrated circuit chips, includes searching the image with a template depicting only a portion—e.g., one or two “side” edges—of each of one or more of the leads expected on the device. The template can include portions representing expected leads, as well as unexpected leads or unexpected lead positions. Positive and negative weightings are applied to such portions, as appropriate. A location of the device, or of one or more of its leads, is based on the results of the search.

Abstract: The invention relates to a measurement method for determining the position and the orientation of a moving assembly in a base frame of reference. According to the invention, the method comprises the steps of: taking an image of an optical reference mark associated with the moving assembly by means of a first camera having a focal axis lying in a direction that is known in the base frame of reference; taking an image of an optical reference mark associated with the first camera by means of a second camera associated with the moving assembly; measuring the distance between a point associated with the first camera and a point associated with the second camera by using self-contained measurement means that are independent of said first and second cameras; and computing the position and the orientation of the moving assembly in the base frame of reference on the basis of the images taken and of the measured distance.

Abstract: A wafer mapping system uses a camera to acquire an image of a carrier containing wafers. In one embodiment, the acquired image is stored as rows and columns of pixels. The presence and location of a wafer in the carrier are determined by looking for pixel intensity variations in a column of the image.

Abstract: A viewing and imaging system is provided for use in a screen printer. Light is supplied to the screen and/or the board from a number of independently controller light sources. According to one aspect of the invention, one light source provides substantially collimated light and another light source provides diffuse light. The light sources are controlled by a controller that pulses the light sources in order to provide a stroboscopic image of the board and screen. The duration of the pulses is adjusted to adjust the effective brightness of the light sources. The timing of the pulses are adjusted so that the temporal midpoints of pulses from each of the light sources are coincident.

Abstract: The present invention relates to a distance calculation method and an image pick-up apparatus that can be favorably used in a digital camera, for example, when calculating a distance between a point corresponding to an optical axis of the lens system on an image pick-up unit and a desired point and using the calculated distance value to correct defects such as shading that occur in formed images due to peripheral light fall-off in the lens system, for example. Accordingly, in the present invention, desired coordinates from terminals 1X, 1Y and coordinates of a center position from terminals 2X, 2Y are supplied to subtractors 3X, 3Y and absolute value circuits 4X, 4Y and distance values x, y on the coordinate axes are obtained. These distance values x, y are supplied to an adder 5 and a subtractor 6, and the subtracted value is supplied to a multiplier 8 via an absolute value circuit 7 and is multiplied by a value b′ from a terminal 9.

Abstract: A method for determining whether an imager assembly outside of a camera body meets predetermined focus specifications, wherein the imager assembly includes an image sensor and a camera mounting plate having reference features adapted to cooperate with alignment features in the camera body to locate the image sensor at a predetermined focal plane, including the steps of: mounting the imager assembly onto an imager mounting apparatus having equivalent alignment features; and utilizing low-coherence light interferometry to determine whether the image sensor will meet predetermined focus specifications when mounted in a camera body.

Abstract: A system for inspecting signals of the circuits on a panel is disclosed. The system comprises a moveable stage with a transparent work area for holding the panel to be tested; a probe for contacting the panel; a tester for receiving a signal via the probe; an image sensing device disposed in an opposite side to the probe with respect to the stage; and image display device coupled to the image sensing device. The image display device includes a screen having a cross mark. When the system is operating, the probe is aligned with the image sensing device such that the captured image of the probe is displayed on the center of the cross. Furthermore, the present invention also relates to a method for inspecting the signals of the circuits on the panel by the system.

Abstract: In the preferred implementation, the position of an object, for example a studio camera is determined by means of a camera which views several markers disposed about a studio ceiling, the markers being patterened as a series of light and dark rings to encode information in binary form enabling the markers to be identified as the camera moves about the studio. Methods and apparatus of more general applicability are also disclosed.

Abstract: The present invention has an object to provide a measuring apparatus which can surely prevent the collision of a moving member.

Abstract: The invention provides a substrate surface imaging method and apparatus that compensates for non-linear movement of the substrate surface during an imaging sequence. In one aspect of the invention, the imaging method and apparatus compensate for the non-linear substrate surface movement by adjusting the image receiver trigger points to correspond to image positions on the substrate surface. In another aspect, the invention provides synchronous imaging where the distance between each image position is determined by counting the number of stepper motor steps between image positions. In still another aspect, the invention provides for asynchronous substrate imaging by determining an image trigger time between each image position and using the image trigger time to trigger the receiver at the appropriate time to accurately image the substrate surface.

Abstract: A signal strength meter for use in determining an optimal position of a magnetic pick-up device. The signal strength meter includes a vertical synchronization processing circuit, and audio processing circuit and a power and control circuit. The signal strength meter receives vertical synchronization and audio signals radiated from a television set, as well as an audio test signal directly provided by a pattern generator. The signal strength meter determines parameters such as a phase stability of the vertical synchronization signal detected by the pick-up device, a level of the audio signal detected by the pick-up device, an audio phase measurement of the audio signal sensed by the pick-up device with respect to an audio test signal input directly to the signal strength meter, and an audio noise floor measurement.

Abstract: In a method and device for detecting the position of components, the relative position of terminals and/or edges of components relative to a transport device is obtained using a camera with an image evaluation unit connected downstream that obtains an image containing the terminals together with a position marking securely connected to the transport device. The position marking is itself located in the immediate vicinity of the terminals or is imaged at such a location via an optical imaging element. A more precise position detection is assured. A fast position detection is also realized given a moving transport device and a short exposure time for the imaging by the camera.

Abstract: A method and tool for measurement of the roll static attitude and y-misalignment of magnetic recording sliders within the head stack assembly having reference elements placed on the deposited end of the magnetic recording slider, which are optically analyzed by a video camera connected to a computer. For fast measurement the head stack assembly is clamped in a fixture mounted on motorized stages, which move each slider into the measurement position. In a two step imaging and analyzing process, the orientation and location of one or more edges of the reference element are computed and compared with known control parameters.

Abstract: A method of inspecting an image to locate a ball grid array surface-mounted device includes the steps of inspecting the image to find its surface features and to determine their locations (referred to herein as their “observed” locations); comparing expected locations of those features with the observed locations to identify missing surface features; reinspecting the image in the vicinity of apparently missing surface features to verify if the feature is really missing or to find those features and to determine their “observed” locations; and determining, from the observed locations of the surface features, the position and/or angle of the ball grid array surface-mounted device. The invention can be used to determine the position and/or angle of ball grid array surface-mounted devices with surface features in any of many array configurations, e.g., a regular lattice, a checker board lattice, a reverse checker board lattice, a regular lattice with a holes., and a custom lattice.

Abstract: According to the method of this invention, a hub is placed at a machine center of an hub alignment and bonding tool and a data storage disk is placed loosely on the hub in such a way that the disk can be translated with respect to the hub. A curable adhesive is interposed between the hub and the disk. The disk has a data region which includes spiral or circular data tracks. A number of video cameras are focused on an edge of the data region at different locations. The locations of edge recorded in the camera are used to calculate whether the geometric center of the data region is within a predetermined tolerance of the hub center. The respective locations of the center of the data region and the hub center and the distance between the two centers are displayed on a monitor. Using a pair of micrometers which abut the edge of the disk, an operator adjusts the location of the disk until the geometric center of the data region is within the predetermined tolerance of the hub center.

Abstract: The invention relates to a method of punching a flat cable having at least one conductor zone defining laterally at least one intermediate empty zone whose midplane is designed to contain the fixed punch axis wherein the cable is caused to pass flat through a lateral guide while using a video system coupled to a computer to monitor the position relative to the punch axis of a reference plane situated in the conductor zone, and it is compared with a reference value corresponding to the ideal position for the reference plane relative to the midplane of the intermediate empty zone so as to measure the offset of the zone relative to the punch axis, thereafter the cable is displaced transversely and automatically through a distance corresponding to the offset as measured by the computer so as to cause the midplane of the empty zone to coincide with the punch axis, and then the cable is punched in this position.

Abstract: A ball grid array inspection and location method and apparatus includes a raw feature finding processor which uses a feature finding algorithm to find ball features (irrespective of number) and generate a list of raw features as an X and Y location for each feature located. An angle estimation processor receives the list of raw features, a user estimated orientation angle, and ball-to-ball pitch information and determines an estimated grid angle. An on-grid check processor receives the estimated grid angle, the list of raw features and the ball-to-ball pitch information and produces a set or list of on-grid features in the form of a list X and Y translation parameters for each feature/ball found on-grid.