Abstract: An object of the present invention is to enable performing height recognition processing by setting a height of an arbitrary plane to zero for convenience of the recognition processing. A parameter for three-dimensional measurement is calculated and registered through calibration and, thereafter, an image pickup with a stereo camera is performed on a plane desired to be recognized as having a height of zero in actual recognition processing. Further, three-dimensional measurement using the registered parameter is performed on characteristic patterns (marks m1, m2 and m3) included in this plane. Three or more three-dimensional coordinates are obtained through this measurement and, then, a calculation equation expressing a plane including these coordinates is derived.

Abstract: Display suitable to an actual three-dimensional model or a recognition-target object is performed when stereoscopic display of a three-dimensional model is performed while correlated to an image used in three-dimensional recognition processing. After a position and a rotation angle of a workpiece are recognized through recognition processing using the three-dimensional model, coordinate transformation of the three-dimensional model is performed based on the recognition result, and a post-coordinate-transformation Z-coordinate is corrected according to an angle (elevation angle f) formed between a direction of a line of sight and an imaging surface. Then perspective transformation of the post-correction three-dimensional model into a coordinate system of a camera of a processing object is performed, and a height according to a pre-correction Z-coordinate at a corresponding point of the pre-coordinate-transformation three-dimensional model is set to each point of a produced projection image.

Abstract: An image processing device for the user to easily perform the setting for specifying the location to be performed with three dimensional measurement on the image where the photographed is shown, the device including an imaging section (1) with a first camera (C0), arranged with the optical axis directed in the vertical direction, for generating a front image of a work W, and a second camera (C1), arranged with the optical axis directed in a slanted direction, for generating a slant image of the work W. In the setting prior to the measurement, the setting object is photographed with each camera (C0, C1), and the setting is performed pm the specified region for specifying the position to be measured by the user using the front image from the first camera C0. In time of the measurement, the specified region is defined in the front image from the first camera (C0) based on the setting, and the process of specifying the position to be measured is performed in the relevant region.

Abstract: In the present invention, processing for setting a parameter expressing a measurement condition of three-dimensional measurement to a value necessary to output a proper recognition result is easily performed. The three-dimensional measurement is performed to stereo images of real models WM1 and WM2 of a workpiece using a measurement parameter set by a user, and positions and attitudes of the workpiece models WM1 and WM2 are recognized based on the measurement result. An image expressing the recognition result is displayed, and numerical data indicating the selected recognition result is set to sample data in response to a user manipulation for selecting the recognition result.

Abstract: An edge code histogram of a model generated in a model image is registered. A target region with respect to the input image is set. An edge code histogram, for the target region is generated. A relative positional relationship between the edge code histogram of the model and the edge code histogram for the target region is sequentially changed, and a degree of coincidence between the edge code histograms at each relative position is calculated. A possibility that the region that matches the model is contained in the set target region from the sequentially calculated degree of coincidence between the edge code histograms is evaluated. Then a candidate point having a possibility of matching the model in the input image is specified while sequentially changing the position of the target region with respect to the input image and repeating steps above for each target region.

Abstract: A perspective transformation is performed to a three-dimensional model and a model coordinate system indicating a reference attitude of the three-dimensional model to produce a projection image expressing a relationship between the model and the model coordinate system, and a work screen is started up. A coordinate of an origin in the projection image and rotation angles of an X-axis, a Y-axis, and a Z-axis are displayed in work areas on the screen to accept a manipulation to change the coordinate and the rotation angles. The display of the projection image is changed by a manipulation. When an OK button located is pressed, the coordinate and rotation angle are fixed, and the model coordinate system is changed based on the coordinate and rotation angle. A coordinate of each constituent point of the three-dimensional model is transformed into a coordinate of the post-change model coordinate system.

Abstract: One of stereo cameras is set such that a front view of a support surface of a workpiece is imaged, an image produced by the camera is displayed, and a range of an area where measurement processing is enabled is assigned by a rectangular frame. A manipulation assigning an upper limit and a lower limit of a height measurement range is accepted. When each assignment is fixed, zero is set as a z-coordinate to each constituent pixel of an image to which the rectangular frame is set, and a z-coordinate based on the upper limit of the height measurement range and a z-coordinate based on the lower limit are set to coordinates corresponding to the rectangular frame. Perspective transformation of three-dimensional information produced by the setting is performed from a direction of a line of sight set by a user, a produced projection image is displayed on a monitor.

Abstract: It is an object to accurately detect an image of an object from an image created by photographing. A computer 1 displays, on a display portion 3, an image of an object which has been created by photographing by a photographing portion 18 in a setting mode. Further, height threshold-value data is received according to an input from outside through a key board 6A. Based on height information detected from the image created by photographing and based on the received threshold-value data, a partial image having height information specified by the threshold-value data is extracted from the image created by photographing and then is displayed on the display portion 3.

Abstract: When computation of a three-dimensional measurement processing parameter is completed, accuracy of a computed parameter can easily be confirmed. After a parameter for three-dimensional measurement is computed through calibration processing using a calibration workpiece in which plural feature points whose positional relationship is well known can be extracted from an image produced by imaging, three-dimensional coordinate computing processing is performed using the computed parameter for the plural feature points included in the stereo image used to compute the parameter. Perspective transformation of each computed three-dimensional coordinate is performed to produce a projection image in which each post-perspective-transformation three-dimensional coordinate is expressed by a predetermined pattern, and the projection image is displayed on a monitor device.

Abstract: In the present invention, whether three-dimensional measurement or checking processing with a model is properly performed by setting information and recognition processing result can easily be confirmed. After setting processing is performed to a three-dimensional visual sensor including a stereo camera, a real workpiece is imaged, the three-dimensional measurement is performed to an edge included in a produced stereo image, and restored three-dimensional information is checked with a three-dimensional model to compute a position of the workpiece and a rotation angle for an attitude indicated by the three-dimensional model.

Abstract: In the present invention, processing for setting a parameter expressing a measurement condition of three-dimensional measurement to a value necessary to output a proper recognition result is easily performed. The three-dimensional measurement is performed to stereo images of real models WM1 and WM2 of a workpiece using a measurement parameter set by a user, and positions and attitudes of the workpiece models WM1 and WM2 are recognized based on the measurement result. An image expressing the recognition result is displayed, and numerical data indicating the selected recognition result is set to sample data in response to a user manipulation for selecting the recognition result.

Abstract: Display suitable to an actual three-dimensional model or a recognition-target object is performed when stereoscopic display of a three-dimensional model is performed while correlated to an image used in three-dimensional recognition processing. After a position and a rotation angle of a workpiece are recognized through recognition processing using the three-dimensional model, coordinate transformation of the three-dimensional model is performed based on the recognition result, and a post-coordinate-transformation Z-coordinate is corrected according to an angle (elevation angle f) formed between a direction of a line of sight and an imaging surface. Then perspective transformation of the post-correction three-dimensional model into a coordinate system of a camera of a processing object is performed, and a height according to a pre-correction Z-coordinate at a corresponding point of the pre-coordinate-transformation three-dimensional model is set to each point of a produced projection image.

Abstract: An object of the present invention is to enable performing height recognition processing by setting a height of an arbitrary plane to zero for convenience of the recognition processing. A parameter for three-dimensional measurement is calculated and registered through calibration and, thereafter, an image pickup with a stereo camera is performed on a plane desired to be recognized as having a height of zero in actual recognition processing. Further, three-dimensional measurement using the registered parameter is performed on characteristic patterns (marks m1, m2 and m3) included in this plane. Three or more three-dimensional coordinates are obtained through this measurement and, then, a calculation equation expressing a plane including these coordinates is derived.

Abstract: The degree of accuracy and the recognition result of a three-dimensional model can be easily, visually confirmed. After a three-dimensional model of a workpiece to be recognized is generated, this three-dimensional model is used to execute a recognition test on three-dimensional information of an actual model of the workpiece. Then, the three-dimensional model is subjected to coordinate transformation processing based on the recognized position and the rotational angle, and the three-dimensional coordinates of the converted three-dimensional model are subjected to the transparent transformation processing onto imaging planes of the cameras A, B, C that take images for the recognition processing. Then, the projected image of the three-dimensional model is displayed in overlaying manner by overlaying on the image of the actual model that is used in the recognition processing and is generated by the cameras A, B, C.

Abstract: To easily generate model data having high recognition accuracy and being consistent with measurement conditions and installation environment of each of optical sensors. Basic model representing a range in which a workpiece can be optically recognized is inputted, and pieces of processing of imaging and measuring the workpiece under the same condition as that in an actual measurement and matching feature data of the workpiece obtained from this measurement with the basic model are executed for a plurality of number of cycles. Then, in the basic model, information is set as unnecessary information where the information cannot be associated with the feature data of the workpiece in all of the pieces of matching processing, or where the number of times or ratio the information cannot be associated is more than a predetermined reference value, or where the information cannot be associated with the feature data in any one of the pieces of executed matching processing.

Abstract: An object of this invention is to provide an image processing method and image processing apparatus capable of extracting the position of an object in the unit of sub-pixel. An edge pixel, density gradient direction and edge position in the unit of sub-pixel are extracted from a model image obtained by photographing a high-quality model of the object and registered in a hard disk. After a processing object image is inputted, CPU obtains a position of an image region corresponding to the model image and after that, extracts an edge pixel whose edge position in the unit of sub-pixel is related to a corresponding pixel on the model image side in that image region. The edge position in the unit of sub-pixel is extracted for these edge pixels and the quantity of deviation between the extracting position and the edge position on the model image side is calculated.

Abstract: A recognition processing method and an image processing device ends recognition of an object within a predetermined time while maintaining the recognition accuracy. The device extracts combinations of three points defining a triangle whose side length satisfy predetermined criterion values from feature points of the model of a recognition object, registers the extracted combinations as model triangles, and similarly extracts combinations of three points defining a triangle whose side lengths satisfy predetermined criterion values from feature points of the recognition object. The combinations are used as comparison object triangles and associated with the respective model triangles.

Abstract: Plural items of two-dimensional image processing and at least one item of a three-dimensional measurement process are registered in a processing item table. The items of two-dimensional image processing include at least one item of an on-first-image position specification process of specifying a position on a physical object in a first image. A sequence building unit combines the item of the on-first-image position specification process and the item of the three-dimensional measurement process to set the sequence for three-dimensional measurement by selection of a user.

Abstract: An image processing device for the user to easily perform the setting for specifying the location to be performed with three dimensional measurement on the image where the photographed is shown, the device including an imaging section (1) with a first camera (C0), arranged with the optical axis directed in the vertical direction, for generating a front image of a work W, and a second camera (C1), arranged with the optical axis directed in a slanted direction, for generating a slant image of the work W. In the setting prior to the measurement, the setting object is photographed with each camera (C0, C1), and the setting is performed pm the specified region for specifying the position to be measured by the user using the front image from the first camera C0. In time of the measurement, the specified region is defined in the front image from the first camera (C0) based on the setting, and the process of specifying the position to be measured is performed in the relevant region.

Abstract: An image pickup apparatus is provided with cameras and string-shaped members. The user is allowed to know working distances based upon the lengths of the string-shaped members. The optical axis direction of the camera is adjusted so that the leading edge of the string-shaped member is included in the viewing field of the camera, and the optical axis direction of the camera is adjusted so that the leading edge of the string-shaped member is included in the viewing field of the camera. Even in the case when no image-pickup object is present, by presuming the position of the image-pickup portion of the object, the working distance from the presumed position can be found by the string-shaped member. Moreover, since the string-shaped members are coupled to each other at the image-pickup position, the directions of the optical axes of the cameras can be determined based upon the extending directions of the string members.