US 12,236,663 B2 · Image processing system

Abstract

The present invention addresses the problem of providing an image processing system that can accurately and efficiently detect a target object even when the positional relationship between an image capturing device and the target object differs between the time of teaching and the time of detection. An image processing system 1 includes: a control unit 52 that obtains, on the basis of position information of a robot 2 for specifying the position of a visual sensor 4 in a robot coordinate system and on the basis of position information showing the position of a target object W in an image coordinate system, the positional relationship between the visual sensor 4 and the target object W; and a storage unit 51 that stores, on the basis of a model pattern consisting of feature points extracted from a teaching image and on the basis of the positional relationship between the visual sensor 4 and the target object W when capturing the teaching image, the model pattern in the form of three-dimensional position information. The control unit 52 performs detection processing, in which the target object W is detected from a detection image on the basis of a result obtained by matching the model pattern with the feature points extracted from the detection image including the target object W.

Claims4

Dependent claims

An image processing system that detects an image of an object from an image taken by an imaging device whose position relative to the object is changed by a robot, the image processing system comprising:

a controller that acquires a positional relationship between the imaging device and the object based on positional information of the robot used to identify the position of the imaging device in a robot coordinate system and positional information indicating the position of the object in an image coordinate system;
and
a storage that stores a model pattern, which is formed of feature points extracted from an image for teaching, in the form of three-dimensional positional information based on the model pattern and a positional relationship between the imaging device and the object when the image for teaching was taken,
wherein
the controller executes
a detection process of detecting the object from a detected image including the object based on the result of matching between feature points extracted from the detected image and the model pattern,
wherein the detection process includes repeating
a projection process of projecting the model pattern on an imaginary plane to acquire the feature points in the image coordinate system on the assumption that the feature points extracted from the detected image are detected at a certain part of a predetermined imaginary plane and
a matching process of comparing the feature points in the image coordinate system extracted from the detected image with the feature points in the image coordinate system based on the model pattern acquired in the projection process, thereby detecting the object from the detected image based on the result of the matching process having a high degree of matching.

6 more elements

a controller that acquires a positional relationship between the imaging device and the object based on positional information of the robot used to identify the position of the imaging device in a robot coordinate system and positional information indicating the position of the object in an image coordinate system;
and
a storage that stores a model pattern, which is formed of feature points extracted from an image for teaching, in the form of three-dimensional positional information based on the model pattern and a positional relationship between the imaging device and the object when the image for teaching was taken,
wherein
the controller executes
a detection process of detecting the object from a detected image including the object based on the result of matching between feature points extracted from the detected image and the model pattern,
wherein in the detection process,
the feature points in the detected image are acquired in the form of three-dimensional positional information based on a point of intersection of an imaginary plane on which the feature points extracted from the detected image are assumed to be present with
a line of sight of the imaging device toward the feature points of the object,
and
the object is detected from the detected image based on the result of the matching process of comparing the feature points in the detected image acquired in the form of the three-dimensional positional information with the feature points based on the model pattern stored in the form of the three-dimensional positional information.

8 more elements

Dependencies are inferred from the claim text.

Image processing system

Life of this patent

Image processing system

Life of this patent

Abstract

Claims4