Abstract: Methods, systems, and computer readable media for generating a three-dimensional reconstruction of an object with reduced distortion are described. In some aspects, a system includes at least two image sensors, at least two projectors, and a processor. Each image sensor is configured to capture one or more images of an object. Each projector is configured to illuminate the object with an associated optical pattern and from a different perspective. The processor is configured to perform the acts of receiving, from each image sensor, for each projector, images of the object illuminated with the associated optical pattern and generating, from the received images, a three-dimensional reconstruction of the object. The three-dimensional reconstruction has reduced distortion due to the received images of the object being generated when each projector illuminates the object with an associated optical pattern from the different perspective.

Abstract: Methods, systems, and apparatuses are provided for estimating a location on an object in a three-dimensional scene. Multiple radiation patterns are produced by spatially modulating each of multiple first radiations with a distinct combination of one or more modulating structures, each first radiation having at least one of a distinct radiation path, a distinct source, a distinct source spectrum, or a distinct source polarization with respect to the other first radiations. The location on the object is illuminated with a portion of each of two or more of the radiation patterns, the location producing multiple object radiations, each object radiation produced in response to one of the multiple radiation patterns. Multiple measured values are produced by detecting the object radiations from the location on the object due to each pattern separately using one or more detector elements. The location on the object is estimated based on the multiple measured values.

Abstract: Systems and methods reduce temperature induced drift effects on a liquid lens used in a vision system. A feedback loop receives a temperature value from a temperature sensor, and based on the received temperature value, controls a power to the heating element based on a difference between the measured temperature of the liquid lens and a predetermined control temperature to maintain the temperature value within a predetermined control temperature range to reduce the effects of drift. A processor can also control a bias signal applied to the lens or a lens actuator to control temperature variations and the associated induced drift effects. An image sharpness can also be determined over a series of images, alone or in combination with controlling the temperature of the liquid lens, to adjust a focal distance of the lens.

Abstract: A system and method for scoring trained probes for use in analyzing one or more candidate poses of a runtime image is provided. A set of probes with location and gradient direction based on a trained model are applied to one or more candidate poses based upon a runtime image. The applied probes each respectively include a discrete set of position offsets with respect to the gradient direction thereof. A match score is computed for each of the probes, which includes estimating a best match position for each of the probes respectively relative to one of the offsets thereof, and generating a set of individual probe scores for each of the probes, respectively at the estimated best match position.

Abstract: The techniques described herein relate to methods, apparatus, and computer readable media for editing a graphical program using a graphical programming interface. Editing the graphical program may include displaying, via the graphical programming interface, a plurality of existing graphical components that provide functionality for at least one computer program thread; receiving data indicating a selection of a new graphical component for inserting into the plurality of existing graphical components; determining, based on an associated graphical component of the plurality of existing graphical components, a set of one or more placement locations for inserting the new graphical component; and displaying, on the graphical programming interface, the set of one or more placement locations.

Abstract: The techniques described herein relate to methods, apparatus, and computer readable media for measuring object characteristics by interpolating the object characteristics using stored associations. A first image of at least part of a ground surface with a first representation of a laser line projected onto the ground surface from a first pose is received. A first association between a known value of the characteristic of the ground surface of the first image with the first representation is determined. A second image of at least part of a first training object on the ground surface with a second representation of the laser line projected onto the first training object from the first pose is received. A second association between a known value of the characteristic of the first training object with the second representation is determined. The first and second association for measuring the characteristic of a new object are stored.

Abstract: An optical system can include a receiver secured to a first optical component and a flexure arrangement secured to a second optical component. The flexure arrangement can include a plurality of flexures, each with a free end that can extend away from the second optical component and into a corresponding cavity of the receiver. Each of the cavities can be sized to receive adhesive that secures the corresponding flexure within the cavity when the adhesive has hardened, and to permit adjustment of the corresponding flexure within the cavity, before the adhesive has hardened, to adjust an alignment of the first and second optical components relative to multiple degrees of freedom.

Abstract: A modular vision system that can include a housing with a faceplate and a first and second optical module mounted to the faceplate. Each of the first and second optical modules can include a mounting body, a rectangular image sensor, and an imaging lens that defines an optical axis and a field of view. The first optical module can be configured to be mounted to the faceplate in a first plurality of mounting orientations and the second optical module can be configured to be mounted to the faceplate in a second plurality of mounting orientations. The first and second optical modules can thus collectively provide a plurality of imaging configurations.

Abstract: The techniques described herein relate to methods, apparatus, and computer readable media configured to test a pose of a three-dimensional model. A three-dimensional model is stored, the three dimensional model comprising a set of probes. Three-dimensional data of an object is received, the three-dimensional data comprising a set of data entries. The three-dimensional data is converted into a set of fields, comprising generating a first field comprising a first set of values, where each value of the first set of values is indicative of a first characteristic of an associated one or more data entries from the set of data entries, and generating a second field comprising a second set of values, where each second value of the second set of values is indicative of a second characteristic of an associated one or more data entries from the set of data entries, wherein the second characteristic is different than the first characteristic.

Abstract: Systems and methods are provided for acquiring images of objects. Light of different types (e.g., different polarization orientations) can be directed onto an object from different respective directions (e.g., from different sides of the object). A single image acquisition can be executed in order to acquire different sub-images corresponding to the different light types. An image of a surface of the object, including representation of surface features of the surface, can be generated based on the sub-images.

Abstract: Systems and methods are provided for acquiring images of objects using an imaging device and a controllable mirror. The controllable mirror can be controlled to change a field of view for the imaging device, including so as to acquire images of different locations, of different parts of an object, or with different degrees of zoom.

Abstract: This invention provides an aimer assembly for a vision system that is coaxial (on-axis) with the camera optical axis, thus providing an aligned aim point at a wide range of working distances. The aimer includes a projecting light element located aside the camera optical axis. The beam and received light from the imaged (illuminated) scene are selectively reflected or transmitted through a dichoric mirror assembly in a manner that permits the beam to be aligned with the optical axis and projected to the scene while only light from the scene is received by the sensor. The aimer beam and illuminator employ differing light wavelengths. In a further embodiment, an internal illuminator includes a plurality of light sources below the camera optical axis. Some of the light sources are covered by a prismatic structure for close distance, and other light sources are collimated, projecting over a longer distance.

Abstract: The techniques described herein relate to computerized methods and apparatuses for detecting objects in an image. The techniques described herein further relate to computerized methods and apparatuses for detecting one or more objects using a pre-trained machine learning model and one or more other machine learning models that can be trained in a field training process. The pre-trained machine learning model may be a deep machine learning model.

Abstract: Embodiments relate to predicting height information for an object. First distance data is determined at a first time when an object is at a first position that is only partially within the field-of-view. Second distance data is determined at a second, later time when the object is at a second, different position that is only partially within the field-of-view. A distance measurement model that models a physical parameter of the object within the field-of-view is determined for the object based on the first and second distance data. Third distance data indicative of an estimated distance to the object prior to the object being entirely within the field-of-view of the distance sensing device is determined based on the first distance data, the second distance data, and the distance measurement model. Data indicative of a height of the object is determined based on the third distance data.

Abstract: A system and method for estimating dimensions of an approximately cuboidal object from a 3D image of the object acquired by an image sensor of the vision system processor is provided. An identification module, associated with the vision system processor, automatically identifies a 3D region in the 3D image that contains the cuboidal object. A selection module, associated with the vision system processor, automatically selects 3D image data from the 3D image that corresponds to approximate faces or boundaries of the cuboidal object. An analysis module statistically analyzes, and generates statistics for, the selected 3D image data that correspond to approximate cuboidal object faces or boundaries. A refinement module chooses statistics that correspond to improved cuboidal dimensions from among cuboidal object length, width and height. The improved cuboidal dimensions are provided as dimensions for the object. A user interface displays a plurality of interface screens for setup and runtime operation.

Abstract: This invention provides a vision system camera, and associated methods of operation, having a multi-core processor, high-speed, high-resolution imager, FOVE, auto-focus lens and imager-connected pre-processor to pre-process image data provides the acquisition and processing speed, as well as the image resolution that are highly desirable in a wide range of applications. This arrangement effectively scans objects that require a wide field of view, vary in size and move relatively quickly with respect to the system field of view. This vision system provides a physical package with a wide variety of physical interconnections to support various options and control functions. The package effectively dissipates internally generated heat by arranging components to optimize heat transfer to the ambient environment and includes dissipating structure (e.g. fins) to facilitate such transfer.

Abstract: This invention provides a system and method for finding multiple line features in an image. Two related steps are used to identify line features. First, the process computes x and y-components of the gradient field at each image location, projects the gradient field over a plurality subregions, and detects a plurality of gradient extrema, yielding a plurality of edge points with position and gradient. Next, the process iteratively chooses two edge points, fits a model line to them, and if edge point gradients are consistent with the model, computes the full set of inlier points whose position and gradient are consistent with that model. The candidate line with greatest inlier count is retained and the set of remaining outlier points is derived. The process then repeatedly applies the line fitting operation on this and subsequent outlier sets to find a plurality of line results. The process can be exhaustive RANSAC-based.

Abstract: A system for forming a homogenized illumination line which can be imaged as a low-speckle line is disclosed. The system includes a laser configured to emit a collimated laser beam; and an illumination-fan generator that includes one or more linear diffusers. The illumination-fan generator is arranged and configured to (i) receive the collimated laser beam, (ii) output a planar fan of diffused light, such that the planar fan emanates from a light line formed on the distal-most one of the one or more linear diffusers, and (iii) cause formation of an illumination line at an intersection of the planar fan and an object.

Abstract: A system or method can analyze symbols on a set of objects having different sizes. The system can identify a characteristic object dimension corresponding to the set of objects. An image of a first object can be received, and, a first virtual object boundary feature (e.g., edge) in the image can be identified for the first object based on the characteristic object dimension. A first symbol can be identified in the image, and whether the first symbol is positioned on the first object can be determined, based on the first virtual object boundary feature.

Abstract: In some aspects, the techniques described herein relate to systems, methods, and computer readable media for data pre-processing for stereo-temporal image sequences to improve three-dimensional data reconstruction. In some aspects, the techniques described herein relate to systems, methods, and computer readable media for improved correspondence refinement for image areas affected by oversaturation. In some aspects, the techniques described herein relate to systems, methods, and computer readable media configured to fill missing correspondences to improve three-dimensional (3-D) reconstruction. The techniques include identifying image points without correspondences, using existing correspondences and/or other information to generate approximated correspondences, and cross-checking the approximated correspondences to determine whether the approximated correspondences should be used for the image processing.