Abstract: Arrangements and method, performed by one or more devices (205; 231; 331; 1000), for providing information indicative of an intensity peak width (371; 471; 571) of an intensity peak (363; 463; 563) along a pixel line (352-m) of pixels (366; 466; 566) comprising the intensity peak (363; 463; 563). Said pixels corresponding to pixel elements of an image sensing area (351) of an image sensor (231; 331). Said intensity peak (363; 463; 563) being formed of such reflected light sensed by the image sensor (231; 331). A first value is computed (601) comprising a magnitude of a lower order Discrete Fourier Transform, DFT, coefficient (473; 573) regarding pixel intensity values for pixels (366; 466; 566) along the pixel line (352-m) that are comprising the intensity peak (363; 463; 563).

Abstract: Methods, image sensor (331; 631; 800), imaging system (605) for 3D imaging based on light triangulation comprising the image sensor, relating to provision of pixel values of image sensor pixels of a second Region Of Interest, ROI, (465; 465?; 565) based on a first ROI (365; 365?). The first ROI (365; 365?) used by the image sensor (331; 631; 800) to provide first pixel values of image sensor pixels of the first ROI (365; 365?) resulting from a first exposure. The second ROI (465; 465?; 565) is determined (702) according to a predetermined relation that the second ROI (465; 465?; 565) shall have to the first ROI (365; 365?). A second exposure (703) makes at least the image sensor pixels of the second ROI (465; 465?; 565) to attain second pixel values. The second ROI (465; 465?; 565) is used to provide (704) second pixel values of image sensor pixels of the second ROI (465; 465?; 565) for further processing by the image sensor (331; 631; 800).

Abstract: Method and arrangements for forming image data for use in 3D imaging of an object (520). The image data being from an imaging system (505) based on light triangulation and that provides one or more illuminations (511) in one or more light planes that geometrically correspond to the same plane or parallel planes. The imaging system (505) and camera(s) (530) thereof are configured to image object points of the object (520) at least twice, according to a first imaging and second imaging, during illumination of the object points by said illumination(s). The first imaging and second imaging differing in how specular reflections caused by said illumination(s) are being imaged. First and second image data from the first and second imaging are obtained, corresponding first and second profile images (670) with common mapping to real world coordinates for intensity peaks (682, 683) caused by direct reflections from the object (520).

Abstract: Method and arrangements (431; 433; 1000), for provision of pixel values for readout from pixels of an image sensor (431). It is obtained (501) information indicating a threshold pixel value and a window at, or around, maximum, WAM, width (257; 357; 657) corresponding to a number of pixels. Pixels of the image sensor (431) are exposed whereby the exposed pixels attain analogue pixel values. It is identified (503) a pixel (255; 355; 655) in respective image sensor column (252; 352) whose analogue pixel value during said exposure was first in said respective column (252; 352) to reach or pass said threshold pixel value. Said identified respective pixel group (255; 355; 655) is associated (505) with a respective certain WAM position of a respective WAM (258; 358; 658) in said respective image sensor column (252; 352) with said WAM width (257; 357; 657).

Abstract: Image sensor (331; 431; 531?) for use in a camera (330; 530) of an imaging system (305) for three-dimensional imaging of an object (320) based on light triangulation, the camera (330; 530) and the imaging system (305). The image sensor (331; 431, 531?) comprising an image sensing area (333; 433; 533) that comprises rows (438) and columns (435) of pixel elements configured to sense light. An asymmetrically light diffusing layer (337; 437; 537) covers the image sensing area (333; 433; 533) so that incident light towards the image sensing area (333; 433; 533) will pass through and be spread by the asymmetrically light diffusing layer (337; 437; 537). Said light asymmetrically diffusing layer (337; 437; 537) is configured to spread light in a high diffusion direction and in a low diffusion direction that is orthogonal to the high diffusion direction.

Abstract: Image sensor (331; 531; 531?) for use with a lens (340; 540?) arranged to focus light onto an image sensing area (333; 533) of said image sensor (331; 531). Camera (330; 530?; 730) comprising the image sensor (331; 531; 531?) and said lens (340; 540?). Imaging system (305; 705; 730) for three-dimensional imaging of an object (320; 720) based on light triangulation, comprising the camera. The image sensor (331; 531) comprising an optical plate (337; 537) arranged to cover the image sensing area (333; 533) by at least two optical plate portions (334-1, 334-2; 534-1, 534-2) with different refractive properties such that light incident from said lens (340; 540?) and refracted by said optical plate portions (334-1, 334-2; 534-1, 534-2) towards and onto the image sensing area (333; 533) will travel different distances to be in focus on the image sensing area depending on which of said optical plate portions (334-1, 334-2; 534-1, 534-2) the light was refracted by.

Abstract: Method and device(s) for determining a transform having a de-skewing effect on 3D image data resulting from scanning by a 3D imaging system. 3D image data is obtained from scanning by the 3D imaging system (605) of planar real surfaces that at least during the scanning were non-parallel with constant one or more angular relationships between each other, whereby said 3D image data comprises planar imaged surfaces corresponding to said planar real surfaces. The planar imaged surfaces are detected in the 3D image data. The transform is determined based on the detected planar imaged surfaces and said one or more angular relationships between the planar real surfaces, such that the transform, when applied to a description of the detected imaged surfaces in coordinates of said 3D data, results in that angular relationships between the detected imaged surfaces match said angular relationships between the planar real surfaces.

Abstract: The present invention relates to a computer-implemented method for training of an image object recognition algorithm of a machine vision system (100), said machine vision system (100) being operative to recognize at least one object (203) in images (202) captured by the machine vision system (100). The present invention further relates to a computer program product (1001) comprising computer program code, the computer program code being adapted, if executed by a processor (1002), to perform the various methods according to the present disclosure and a machine vision system (100) being operative to recognize at least one object (203) in captured images, configured to execute the computer program product (1000).

Abstract: Method and arrangements for inspection of a drinking straw (101; 201) involving use of the drinking straw (101; 201) as a light guide for inspection of a sidewall (102; 202) of the drinking straw (101; 201) based on light leakage of guided light out from the drinking straw (101; 201) via the sidewall (102), such a through a damage (204) in the sidewall (102). It is illuminated (601), by means of one or more light sources (123), a first portion (131) of the drinking straw (101; 201) so that at least some of the light (127) on the first portion (131) is transmitted through a sidewall (102; 202) of the drinking straw (101; 201) into the drinking straw (101), and is guided therein. It is provided (602) one or more digital images (241) imaging another, second, portion (133; 233) of the drinking straw (101; 201) during said illumination.

Abstract: Method and device(s) for provision of a pair of real world and image sensor correspondence points for use in calibration of an imaging system (405) for three dimensional imaging based on light triangulation. Said real world point (514-1; 529-1) being provided (801) as a first virtual intersection between a first real world line (512a; 527a) and a second real world line (512b; 527b). Said image sensor point (544-1; 554-1) being provided (802) as a second virtual intersection between a first image line (542a; 552a) and a second image line (542b; 552b). A first image (540a; 550a) by the imaging system comprises captured light that images the first real world line (512a; 527a) and a second image (540b; 550b) by the imaging system comprises captured light that images the second real world line (512b; 527b).

Abstract: Determination of information regarding an intensity peak position in a space-time volume (360; 361) formed by image frames generated by an image sensor (331) from sensing of light reflected from a measure object (320) as part of light triangulation. The space-time volume (360; 361) is further associated with space-time trajectories relating to how feature points of the measure object (320) map to positions in the space-time volume (360; 361). A first hypothetical intensity peak position, HIPP1, (551a; 651a) is obtained (701 in said space time volume (360; 361). A first space time analysis position, STAP1, (552a; 652a) is computed (702) based on space-time analysis performed locally around the HIPP1 (551a; 651a) and along a first space time trajectory associated with the HIPP1 (551a, 651a). Said information regarding the intensity peak position is determined (703) based on the HIPP1 (551a; 651a) and the STAP1 (552a; 652a).

Abstract: Method and arrangements for forming image data for use in 3D imaging of an object (520). The image data being from an imaging system (505) based on light triangulation and that provides one or more illuminations (511) in one or more light planes that geometrically correspond to the same plane or parallel planes. The imaging system (505) and camera(s) (530) thereof are configured to image object points of the object (520) at least twice, according to a first imaging and second imaging, during illumination of the object points by said illumination(s). The first imaging and second imaging differing in how specular reflections caused by said illumination(s) are being imaged. First and second image data from the first and second imaging are obtained, corresponding first and second profile images (670) with common mapping to real world coordinates for intensity peaks (682, 683) caused by direct reflections from the object (520).

Abstract: Imaging system for three dimensional imaging based on light triangulation and method for supporting reduction of distortions in three dimensional imaging based on light triangulation. The imaging system comprises a camera and a light source configured to provide an illumination of the object comprising structured light. The structured light intersecting a virtual volume comprising the object and that corresponds to a volume where one or more objects, including said object, that the imaging system is configured to image are present during the imaging. At least during said imaging by the camera it is prevented stray light from the light source to reach the virtual volume within field of view of the camera. In the imaging system this is accomplished by a light shield arranged outside the structured light between the light source and said virtual volume.

Abstract: Method and arrangements for associating multispectral 2D image data with 3D image data generated from light triangulation performed by an imaging system (500) for 3D imaging of an object (520). The imaging system (500) comprises one or more second light sources (550) for illuminating the object (520) with two or more second lights (551) that are multispectral by differing from each other by comprising different light wavelengths. Said 3D image data is obtained (601) as first sensor positions, “SP1s”, (571) of IM1s (541) that correspond to locations of intensity peaks of reflected first light from the object (520) as part of said light triangulation. Two or more second images, “IM2s”, (742) are obtained (602) and are imaging the object during illumination by said two or more second lights (551), respectively. In respective IM2 (542), for and in relation to respective SP1 (571), it is selected (603) respective second sensor position, “SP2”, (572).

Abstract: Method and arrangements for obtaining and associating 2D image data with 3D image data are provided. the image data being based on light triangulation, performed by an imaging system, where a measure object with first light and an image sensor senses reflected first light from a measure object, during a first exposure period resulting in a first image with first intensity peaks occurring at first sensor positions, SP1. The measure object is also illuminated with second light(s) and any reflected second light is sensed from the measure object by the image sensor during third exposure period(s) resulting in one or more third images. For respective first sensor position, SP1, in the first image it is selected a respective third sensor position, SP3, in said one or more third images.

Abstract: Image sensor (331; 531; 531?) for use with a lens (340; 540?) arranged to focus light onto an image sensing area (333; 533) of said image sensor (331; 531). Camera (330; 530?; 730) comprising the image sensor (331; 531; 531?) and said lens (340; 540?). Imaging system (305; 705; 730) for three-dimensional imaging of an object (320; 720) based on light triangulation, comprising the camera. The image sensor (331; 531) comprising an optical plate (337; 537) arranged to cover the image sensing area (333; 533) by at least two optical plate portions (334-1, 334-2; 534-1, 534-2) with different refractive properties such that light incident from said lens (340; 540?) and refracted by said optical plate portions (334-1, 334-2; 534-1, 534-2) towards and onto the image sensing area (333; 533) will travel different distances to be in focus on the image sensing area depending on which of said optical plate portions (334-1, 334-2; 534-1, 534-2) the light was refracted by.

Abstract: Method and device(s) (400) for matching of object model instances (105a-c) with imaged object instances (103a-c) in an image (101). Said object model instances (105a-c) being instances of an object model (105) of an object. Said matching starts from the object model instances (105a-c) having hypothetical transforms, respectively, in the image (101) for matching with the imaged object instances (103a-c), and wherein said matching is based on transforming respective object model instance (105a;b;c) to more accurately match with respective imaged object instance (103a;b;c) in the image (101). It is obtained (301) predetermined information regarding how the imaged object instances (103a-c) relate to each other in the image (101) in addition to what said object model (105) as such discloses about respective imaged object instance (103a;b;c) in the image (101). Said matching is then performed (302) using said obtained predetermined information.

Abstract: Method and device(s) for provision of a pair of real world and image sensor correspondence points for use in calibration of an imaging system (405) for three dimensional imaging based on light triangulation. Said real world point (514-1; 529-1) being provided (801) as a first virtual intersection between a first real world line (512a; 527a) and a second real world line (512b; 527b). Said image sensor point (544-1; 554-1) being provided (802) as a second virtual intersection between a first image line (542a; 552a) and a second image line (542b; 552b). A first image (540a; 550a) by the imaging system comprises captured light that images the first real world line (512a; 527a) and a second image (540b; 550b) by the imaging system comprises captured light that images the second real world line (512b; 527b).

Abstract: Device(s) and method supporting generation of a second object model, based on a first object model, for object matching according to an object matching algorithm. The first object model comprising object features of an imaged reference object. It is obtained sub-models that comprise different sub-features, respectively, of said object features comprised in the first object model. It is provided contribution indicators for the sub-models, respectively. Each contribution indicator indicating contribution of the sub-feature to incorrect matches. The contribution indicators being based on matching, according to the object matching algorithm, the first object model and the sub-models with at least one model optimization image comprising predefined training features that when matched with the first object model result in at least said incorrect matches.

Abstract: Method and arrangements (431; 433; 1000), for provision of pixel values for readout from pixels of an image sensor (431). It is obtained (501) information indicating a threshold pixel value and a window at, or around, maximum, WAM, width (257; 357; 657) corresponding to a number of pixels. Pixels of the image sensor (431) are exposed whereby the exposed pixels attain analogue pixel values. It is identified (503) a pixel (255; 355; 655) in respective image sensor column (252; 352) whose analogue pixel value during said exposure was first in said respective column (252; 352) to reach or pass said threshold pixel value. Said identified respective pixel group (255; 355; 655) is associated (505) with a respective certain WAM position of a respective WAM (258; 358; 658) in said respective image sensor column (252; 352) with said WAM width (257; 357; 657).