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).

Abstract: Method and arrangements for removing erroneous points from a set of points (355-1 . . . 355-15) of a three dimensional, 3D, virtual object provided by 3D imaging of a corresponding real world object (320) by means of a camera (330) with image sensor (331). Said set of points (355-1 . . . 355-15) is obtained (401). It is identified (403), for respective point (355), conflicting points, if any, in the set. A conflicting point is a point of the set that cannot validly coexist with the respective point (355) according to predefined one or more criteria. It is removed (404), from the set, based on said identification, one or more points of the set that have been involved in conflicts a greater number of times than other points of the set involved in conflicts.

Abstract: Image sensor circuitry comprising an image sensor and method for supporting reduction of laser speckle effects in a digital image. Per each pixel position (x, y) of at least a subregion of the image sensor, the image sensing circuitry: Assigns to said pixel position (x,y) a predefined pixel window (w) comprising said pixel position (x,y) and one or more of its closest neighboring pixel positions. Obtains first pixel values for each pixel located within said predefined pixel window (w), said first pixel values resulting from the same exposure and corresponding to sensed light from this exposure. Combines the obtained first pixel values into a single, second pixel value according to a predefined combination function. The digital image is provided based on the second pixel values.

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: 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: Imaging system based on light triangulation for capturing information on three dimensional characteristics of an object by means of one or more cameras. A calibration target object is within respective field of view of said cameras so that the cameras are able to detect light reflected from a surface structure of the calibration target object comprising one or more regular right pyramidal recesses and one or more regular right pyramids, with their respective bases in the same plane and their respective apexes at the same orthogonal distance from that same plane. The base of at least one of said regular right pyramidal recesses shares at least one side with the base of at least one of said regular right pyramids, such that each pair of lateral faces sharing side are located in a common plane.

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: Encoder and method for encoding of pixel values of a digital image comprising multiple lines of pixels to accomplish lossless compression of the digital image. For each of said multiple lines the encoder obtains unencoded pixels values of the line. Further, for each of said multiple lines, the encoder determines, for each of one or more pixels of the line, which encoding to be used for encoding of the unencoded pixel value of the pixel (x) in said lossless compression of the digital image. The determination being based on how said unencoded pixel value relates to unencoded pixel values of other, closest neighboring pixels (N1, N2) of said line.

Abstract: Provision of a position of an intensity peak in image data produced by an image sensor in response to light sensed by the image sensor after the light has reflected on an object as part of light triangulation performed in a three-dimensional imaging system. Devices are configured to obtain the image data and determine which of first and other, second, peak characteristics that the intensity peak is associated with. The position is provided according to a first computing algorithm if the intensity peak is associated with the first peak characteristics and according to a different, second computing algorithm if the intensity peak is associated with the second peak characteristics.

Abstract: Method and motion encoder for providing a measure indicative of motion of an object. The indicated motion is relative to an image sensing circuitry and in a direction that is perpendicular to an optical axis of the image sensing circuitry when the image sensing circuitry provides image frames sequentially imaging at least part of said object during the motion. The motion encoder obtains image data of a sequence of said image frames and then computes, for at least one pixel position of said sequence of image frames and based on the obtained image data, at least one duration value. Each duration value indicating a duration of consecutively occurring local extreme points in said sequence of image frames. The motion encoder then provides, based on said at least one duration value, said measure indicative of the motion.

Abstract: An image sensing device (130) for providing image data relating to an image of an object (120; 121; 501) comprises an image sensor (131) having a sensor area (132) for sensing light. The image sensing device (130) defines (401) Regions Of Interest, “ROIs”, (301 a-303a) in the sensor area (132). Each ROI (301 a; 302a; 303a) partially overlaps one or more of the other ROIs (301 a-303a). The ROIs (301 a-303a) are exposed individually to light from the object. The image sensing device (130) reads (403) partial image data belonging to groups respectively associated with the exposed ROIs (301 a-303a) and resulting from sensed light therein. Image data relating to the image of the object is provided based on a combination of the read partial image data.

Abstract: Method and an imaging and processing circuit for identifying a certain pixel as a local extreme point. The imaging and processing circuit generates, in a certain sensing element associated with said certain pixel and in two or more of its closest neighboring sensing elements, sensed signal levels, respectively, based on sensed light during an exposure to light. It provides, based on comparisons between said sensed signal levels and at least two different threshold levels, binarized image data of said certain sensing element and said two or more of its closest neighboring sensing elements. The imaging and processing circuit then identifies, by means of a computing element configured to operate on the provided binarized image data, said certain pixel as the local extreme point based on that the provided binarized image data of said certain sensing element differ from the provided binarized image data of said two or more of its closest neighboring sensing elements.

Abstract: A method and arrangements for estimating one or more dominating orientations (?dom) in at least a part (201; 301) of a digital image (200; 300; 600). Representative angles (?1 . . . ?N) representing angles of gradient vectors (g1 . . . gN) for pixels (1 . . . N) of said at least part are obtained (401). It is further obtained (402) a target number (n) of dominating orientations. It is also obtained (404) a first sum (a) comprising added sine factors based on computed sines. The sines are computed for angles that correspond to said representative angles (?1 . . . ?N) multiplied with two times the target number (n). Further it is obtained (405) a second sum (b) comprising added cosine factors based on computed cosines for the same angles that said sine were computed for. Said one or more dominating orientations (?dom) are then estimated (406) based on the first sum (a), the second sum (b) and the target number (n).

Abstract: Impact time between an image sensing circuitry and an object relatively moving at least partially towards, or away from, the image sensing circuitry can be computed. Image data associated with a respective image frame of a sequence (1 . . . N) of image frames sensed by said image sensing circuitry and which image frames are imaging said object can be received. For each one (i) of multiple pixel positions, a respective duration value (f(i)) indicative of a largest duration of consecutively occurring local extreme points in said sequence (1 . . . N) of image frames can be computed. A local extreme point is present in a pixel position (i) when an image data value of the pixel position (i) is a maxima or minima in relation to image data values of those pixel positions that are closest neighbors to said pixel position (i).

Abstract: A method for calibrating a measuring system, which system comprises a structured light source, optics and a sensor. The light source is adapted to produce a light plane or sheet and the optics is located between the light plane and the sensor. The method is performed in order to obtain a mapping from the sensor to the light plane. In the method the light source is switched on such that the light plane is produced. In order to account for distortions due to the optics, a mapping calibration profile is introduced in the light plane, wherein the mapping calibration profile comprises at least three points forming a straight line. A non-linear mapping from the sensor to the light plane is then computed by using the at least three points. Next, in order to account for perspective distortions, a homography calibration profile is introduced in the light plane, wherein the homography calibration profile comprises at least four points the relative distance between which are predetermined.

Abstract: The present invention relates to a method and an arrangement for representing the characteristics of an object with a measuring system, in which either the measuring system or the object is designed to move in relation to one another in a predefined direction of movement. The object preferably is designed to move in relation to the measuring system. At least one light source is designed to illuminate the object with a light which is incident upon the object and has a limited extension in the direction of movement. An imaging sensor, which is arranged on the same side of the object as the light source is designed to pick up light reflected from the object and to convert this into electrical charges. An image-processing unit is furthermore designed to create a digital representation of the object from said electrical charges.

Abstract: The present invention relates to a method for determining the extension of a trajectory in a space-time volume of measure images. The space-time volume of measure images is generated by a measuring method utilizing a measuring system comprising a first light source and a sensor. The measuring method comprises a step of, in a predetermined operating condition of the measuring system, moving a measure object along a first direction of movement in relation to the measuring system while the first light source illuminates the measure object whereby the sensor generates a measure image of the measure object at each time instant in a set of at least two subsequent time instants, thus generating said space-time volume of measure images wherein a feature point of the measure object maps to a trajectory in the space-time volume.

Abstract: The present invention relates to an imaging apparatus and method for measuring the three-dimensional characteristics of an object using range data acquisition and analysis. The imaging apparatus comprises: means for configuring the range data acquisition and analysis before starting the measuring; means for creating an image of the object by detecting reflected light from the object using at least one sensor comprising pixels; means for acquiring range data of the object from the created image measured in sensor pixel units; means for calibrating the acquired range data from sensor pixel values to world-coordinates; means for rectifying the calibrated range data by re-sampling the range data onto a uniformly spaced grid; and, means for analyzing the calibrated and rectified range data in order to obtain the three-dimensional characteristics of the object.

Abstract: The present invention relates to a method and an apparatus for determining the amount of light scattered in an object in a machine vision system comprising: a light source illuminating said object with incident light having a limited extension in at least one direction; and, an imaging sensor detecting light emanating from said object, wherein said emanated light is reflected light (R) on the surface of said object and light scattered (S) in said object, said detected light is resulting in at least one intensity distribution curve on said imaging sensor having a peak where said reflected light (R) is detected on said imaging sensor. A width (w) of said at least one intensity distribution curve around said peak is measured, whereby said measured width (w) indicates the amount of light scattered (S) in said object.