Methods and apparatus for optimizing image acquisition of objects subject to illumination patterns
AssigneeCognex Corporation
InventorsRobert Wolff, Thomas Penny, Marcus Große
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Abstract
The techniques described herein relate to methods, apparatus, and computer readable media configured to determine parameters for image acquisition. One or more image sensors are each arranged to capture a set of images of a scene, and each image sensor comprises a set of adjustable imaging parameters. A projector is configured to project a moving pattern on the scene, wherein the projector comprises a set of adjustable projector parameters. The set of adjustable projector parameters and the set of adjustable imaging parameters are determined, based on a set of one or more constraints, to reduce noise in 3D data generated based on the set of images.
Claims20
A system, comprising:
- one or more image sensors, wherein each image sensor:
- is arranged to capture a set of images of a scene;
- and
- each image sensor comprises a frame time that indicates a duration of each frame for each image in the set of images;
- a projector configured to project a moving pattern on the scene, wherein the projector is configurable with a speed at which the moving pattern moves over the scene;
- and
- a processor in communication with the one or more image sensors and the projector, wherein the processor is configured to determine, based on the frame time, the speed to reduce noise in 3D data, generated based on the set of images, compared to one or more other possible speeds.
A system, comprising:
- one or more image sensors, wherein each image sensor:
- is arranged to capture a set of images of a scene;
- and
- each image sensor comprises a set of adjustable imaging parameters;
- a projector configured to project a moving pattern on the scene, wherein the projector comprises a set of adjustable projector parameters;
- and
- a processor in communication with the one or more image sensors and the projector, wherein the processor is configured to:
- determine, based on a set of one or more constraints, an initial set of operational parameters for the set of adjustable projector parameters and the set of adjustable imaging parameters to reduce noise in 3D data, generated based on the set of images, compared to one or more other possible sets of operational parameters;
- determine one or more parameters in the initial set of operational parameters that violate a thermal constraint of the set of one or more constraints;
- and
- adjust the one or more parameters to comply with the thermal constraint.
A computerized method being executed by a processor configured to:
- store a set of one or more constraints;
- and
- determine, based on the set of one or more constraints:
- for each of one or more image sensors in communication with the processor, a frame time that indicates a duration of each frame for each image in the set of images, wherein each image sensor is arranged to capture a set of images of a scene, and
- for a projector configured to project a moving pattern on the scene, based on the frame time, a speed at which the moving pattern moves over the scene;
- wherein the determined speed reduces noise in 3D data, generated based on the set of images, compared to one or more other possible speeds.
A computerized method being executed by a processor configured to:
- store a set of one or more constraints;
- and
- determine, based on the set of one or more constraints:
- an initial set of operational parameters for a set of adjustable imaging parameters for each of one or more image sensors in communication with the processor, wherein each image sensor is arranged to capture a set of images of a scene, and a set of adjustable projector parameters for a projector configured to project a moving pattern on the scene,
- wherein the initial set of operational parameters for the set of adjustable projector parameters and the set of adjustable imaging parameters reduce noise in 3D data, generated based on the set of images, compared to one or more other possible sets of operational parameters;
- determine one or more parameters in the initial set of operational parameters that violate a thermal constraint of the set of one or more constraints;
- and
- adjust the one or more parameters to comply with the thermal constraint.
Dependencies are inferred from the claim text.