Abstract: A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.

Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model obtained by forming a model of a three-dimensional shape of a workpiece; a bulk pile data generating unit 20 that generates virtual bulk pile data of a plurality of workpiece models piled up in a virtual work space as a virtually formed work space; a region estimating unit 22 that identifies an estimated region that is estimated to be three-dimensionally measurable by a sensor unit which is disposed above the work space, based on a position and a posture of each workpiece model in the bulk pile data; and a picking motion simulating unit 30 that executes a simulation for verifying the picking motion from the bulk pile of the workpiece models in the virtual work space, based on data of the estimated region identified by the region estimating unit 22.

Abstract: A three-dimensional image processing apparatus includes: a distance image generating part capable of generating a distance image based on a plurality of images captured in an image capturing part; a pattern generating part for generating a first projection pattern and a second projection pattern whose fringe direction is different from that of the first projection pattern as a plurality of projection patterns obtained by changing a fringe direction of a projection pattern; and an incorrect-height determining part for making comparison in height information of a corresponding portion of an inspection target between a first distance image, generated in the distance image generating part based on a first pattern projected image, and a second distance image, generated based on a second pattern projected image, to determine height information of a portion where a difference not smaller than a predetermined value has occurred as incorrect.

Abstract: The present invention provides a defect detection apparatus for detecting a defect even on a uniformly continuous background pattern, a method used in the apparatus, and a computer program for making a computer execute processing in the method. A defect size is set and stored, and an instruction to a first direction in which a background pattern is uniformly continuous is accepted. A reduced image reduced in the first direction using an image reduction ratio according to the defect size is generated. A filter processing is executed in the first direction for removing a defect, and the reduced image that is subjected to the filter processing is enlarged in the first direction with an image enlargement ratio corresponding to the reciprocal of the reduction ratio to generate a first enlarged image. A difference image is generated by calculating a difference between the multi-valued image and the first enlarged image.

Abstract: Information concerning a height of a shape of a workpiece is acquired accurately at high speed. A plurality of segments arrayed in one direction are set on a distance image including height information in a surface shape of a workpiece (S1). A type of a representative value concerning height information in each pixel included in each segment is selected, and this selected representative value is obtained for each segment (S2). An abnormality in a specific representative value is detected from an acquired trend, and is outputted (S4).

Abstract: A three-dimensional image processing apparatus includes: a distance image generating part capable of generating a distance image based on a plurality of images captured in an image capturing part; a pattern generating part for generating a first projection pattern and a second projection pattern whose fringe direction is different from that of the first projection pattern as a plurality of projection patterns obtained by changing a fringe direction of a projection pattern; and an incorrect-height determining part for making comparison in height information of a corresponding portion of an inspection target between a first distance image, generated in the distance image generating part based on a first pattern projected image, and a second distance image, generated based on a second pattern projected image, to determine height information of a portion where a difference not smaller than a predetermined value has occurred as incorrect.

Abstract: An image processing apparatus capable of executing filter processing with a desired blurring degree selected in accordance with an application from a multi-valued image captured an object surface, the image processing apparatus comprises: a first filter processing device for executing smoothing processing on the multi-valued image, a second filter processing device for creating a reduced image reduced from the multi-valued image with an image reduction ratio, executing smoothing processing on the reduced image, and creating an enlarged image of the smoothed image enlarged with an image enlargement ratio corresponding to the image reduction ratio, and an image display device for displaying a processed image by the first filter processing device or the second filter processing device.

Abstract: The present invention provides a defect detection apparatus for detecting a defect even on a uniformly continuous background pattern, a method used in the apparatus, and a computer program for making a computer execute processing in the method. A defect size is set and stored, and an instruction to a first direction in which a background pattern is uniformly continuous is accepted. A reduced image reduced in the first direction using an image reduction ratio according to the defect size is generated. A filter processing is executed in the first direction for removing a defect, and the reduced image that is subjected to the filter processing is enlarged in the first direction with an image enlargement ratio corresponding to the reciprocal of the reduction ratio to generate a first enlarged image. A difference image is generated by calculating a difference between the multi-valued image and the first enlarged image.

Abstract: The present invention provides an image inspection apparatus and a method which remove noise even when there is a change in brightness of a multi-valued image, and which inspect a defect, and relates to a computer program. A multi-valued image is acquired, and a reference intensity value based on intensity information for the image is calculated. A difference for each pixel between the intensity value and the reference intensity value is calculated, and a threshold value to track and change in response to a change in the reference intensity value is set and stored. Pixels that have a calculated difference that is larger than the threshold value is extracted, and an aggregate body of pixels based on a connectivity of the intensity value of the extracted pixels is specified, and a characteristic amount using the difference is calculated. A defect is discriminated based on the calculated characteristic amount.

Abstract: There are provided an image generating apparatus and an image generating method, which are capable of generating an image with only a noise portion reliably deleted. A reduced image is generated by reducing the multi-valued image, smoothing processing is executed on the reduced image, an edge image is generated from the reduced image, edge angle information concerning edge angles is generated in pixel units from the edge image, a synthesizing rate of the multi-valued image and the smoothed reduced image is calculated in pixel units of the reduced image based upon the edge angle information. An enlarged image is generated by enlarging the smoothed reduced image to an identical scale, the synthesizing rate calculated in pixel units of the reduced image is converted into a synthesizing rate in pixel units of the enlarged image, and the multi-valued image and the enlarged image are synthesized based upon the converted synthesizing rate.

Abstract: The present invention provides a technique of accurately extracting areas of characters included in a captured image even in a case where noise or dirt of a relatively large area occurs in a background image. An integrated pixel value is obtained by integrating pixel values in a character extracting direction B for pixel positions in a character string direction A of an image including a character string. A standard deviation value is calculated along the character extracting direction for pixel positions in a character string direction A. The integrated pixel value and the standard deviation value are combined for pixel positions in a character string direction A. A threshold is set automatically or manually. A part of pixel positions in a character string direction A having the combined value of the integrated pixel value and the standard deviation value higher than the threshold is recognized as a character area to be extracted.

Abstract: The present invention provides a technique of accurately extracting areas of characters included in a captured image even in a case where noise or dirt of a relatively large area occurs in a background image. A pixel value integration evaluation value is obtained by integrating pixel values in a character extracting direction B at each of the pixel positions in a character string direction A of an image including a character string. A waveform of the value is expressed as waveform data. A first threshold and a second threshold are set for the waveform data. An area in which the waveform data exceeds the first threshold is set as a character candidate area. In a case where an area in which the pixel value integration evaluation value exceeds the second threshold exists in the character candidate areas, the character candidate area is regarded as a true character area and the characters are extracted.

Abstract: There are provided a defect detection apparatus, a defect detection method, and a computer program, which are capable of setting an appropriate reference line with respect to a plurality of edge points, to accurately detect a defect based upon a difference of each edge point, and in which a plurality of edge points are detected from an image including an edge of the object, a representative edge point representing the edge points present within a reference range having a prescribed width is calculated in each shifted position of the reference range while the reference range is sequentially shifted, residuals between a plurality of calculated representative edge points and corresponding edge points are calculated, a position and a size of the defect are specified based upon the calculated residuals, and the residuals are weighted and a representative edge point is repeatedly calculated, to obtain an apparent approximate curve (representative-edge-point sequence).

Abstract: There is provided a defect detection apparatus capable of highly accurately detecting a defect of a size not larger than a size desired by the user, in which the size setting device sets the defect size, the reduction ratio setting device sets an image reduction ratio based on the set defect size, the image reduction device generates a reduced image obtained by reducing the original multi-valued image, the filter processing device performs filter processing on the reduced image for removing a defect in the reduced image, the image enlarging device generates an enlarged image obtained by enlarging the reduced image, subjected to the filter processing, at an image enlargement ratio corresponding to the reciprocal of the image reduction ratio, and the difference calculating device generates a difference image obtained by performing a calculation of a difference between the original multi-valued image and the enlarged image.

Abstract: The present invention provides a technique of accurately extracting areas of characters included in a captured image. A character extracting device of the present invention extracts each character in an image with compensated pixel values. In more detail, the character extracting device integrates pixel values at each coordinate position in the image along a character extracting direction. Then, the character extracting device predicts the background area in the image based on the integrated pixel value. The compensated pixel values are compensated based on integrated pixel values at the predicted background area from integrated pixel values at each coordinate position.

Abstract: There is provided an image inspection apparatus capable of reliably removing a noise as a non-detection object and stably detecting a defect as a detection object, in which a first threshold setting device sets a minimum luminance value to be detected in a detection object image as a first threshold, a labeling processing device specifies blobs of pixels having luminance values larger than the first threshold from a multi-valued image acquired by an image pickup device, a second threshold setting device sets a second threshold that is larger than the first threshold, and a deletion device deletes the blob made up solely of luminance values smaller than the second threshold from all the blobs of the pixels specified by the labeling processing device and outputs the labeling processing image.

Abstract: In the case of executing image processing on a multivalued image obtained by picking up an image of an imaging object with a camera, the invention calculates a predetermined projective transformation parameter for projectively transforming a multivalued image before image processing, calculates a projected area obtained by projectively transforming an area where pixels of the multivalued image before image processing exist to an output area where pixels of a multivalued image after image processing exist based upon the calculated projective transformation parameter, specifies as an effective area an area in which the calculated projected area is overlapped with the output area where the pixels of the multivalued image after image processing exist, and performs coordinate transformation based upon the specified effective area and the calculated projective transformation parameter, to generate the multivalued image after image processing from the multivalued image before image processing.

Abstract: The distortion correction is carried out by acquiring the calibration pattern image by an imaging device and executing calibration based on the acquired calibration pattern image. A plurality of calibration pattern images in which feature points arranged in an imaging range from which images can be picked up by the imaging device are provided at a regular interval is acquired, and a feature point group is extract from each image. The calibration is executed based on the feature point groups respectively extracted from areas with different imaging ranges.

Abstract: An image processing apparatus capable of executing filter processing with a desired blurring degree selected in accordance with an application from a multi-valued image captured an object surface, the image processing apparatus comprises: a first filter processing device for executing smoothing processing on the multi-valued image, a second filter processing device for creating a reduced image reduced from the multi-valued image with an image reduction ratio, executing smoothing processing on the reduced image, and creating an enlarged image of the smoothed image enlarged with an image enlargement ratio corresponding to the image reduction ratio, and an image display device for displaying a processed image by the first filter processing device or the second filter processing device.

Abstract: There are provided an image generating apparatus and an image generating method, which are capable of generating an image with only a noise portion reliably deleted. A reduced image is generated by reducing the multi-valued image, smoothing processing is executed on the reduced image, an edge image is generated from the reduced image, edge angle information concerning edge angles is generated in pixel units from the edge image, a synthesizing rate of the multi-valued image and the smoothed reduced image is calculated in pixel units of the reduced image based upon the edge angle information. An enlarged image is generated by enlarging the smoothed reduced image to an identical scale, the synthesizing rate calculated in pixel units of the reduced image is converted into a synthesizing rate in pixel units of the enlarged image, and the multi-valued image and the enlarged image are synthesized based upon the converted synthesizing rate.