# US 12,602,821 B2 · Imaging device for calculating three-dimensional position on the basis of image captured by visual sensor

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- Number: US 12,602,821 B2
- Document ID: US12602821B2
- Status: Granted
- Kind: B2
- Application number: 18/552,899
- Filed: 2021-05-20
- Published: 2024-06-06
- Granted: 2026-04-14
- Earliest claimed: 2021-05-20
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Yuuki Takahashi
- Web page: https://patentgrep.com/patent/US12602821B2

## CPC

- G01B 11/002: {for measuring two or more coordinates}
- G06T 7/73: using feature-based methods
- G01C 3/06: Use of electric means to obtain final indication
- G06T 7/571: from focus
- H04N 23/675: {comprising setting of focusing regions}
- H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
- G01B 11/026: {by measuring distance between sensor and object (G01B11/0608 takes precedence)}
- G06T 2207/30164: Workpiece; Machine component
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

This imaging device comprises a focus position detection unit for detecting a focus position when a visual sensor is in focus. The imaging device comprises a parameter setting unit for setting a parameter for calculating a three-dimensional position corresponding to a specific position in an image captured by the visual sensor. The imaging device comprises a characteristic position calculation unit for calculating the three-dimensional position of a characteristic portion using the parameter set by the parameter setting unit. The parameter setting unit sets the parameter on the basis of the focus position.

## Claims

### Claim 1

An imaging device, comprising:
a vision sensor configured to capture a two-dimensional image of a target object; and
a processor configured to
detect a focus position where the vision sensor is focused;
set a parameter for calculating a three-dimensional position corresponding to a specific position in the two-dimensional image captured by the vision sensor;
store, in a memory, setting information for setting the parameter corresponding to the focus position;
detect a predetermined feature portion in the two-dimensional image of the target object; and
calculate a three-dimensional position of the predetermined feature portion by using the parameter, wherein
the vision sensor is a single two-dimensional camera,
a distance from the target object to the vision sensor is predetermined and maintained at a predetermined value,
the processor is configured to calculate the three-dimensional position of the predetermined feature portion based on the specific position of the predetermined feature portion in the two-dimensional image by using a camera model and the distance from the target object to the vision sensor,
the camera model includes an extrinsic parameter and an intrinsic parameter, and
the processor is configured to calculate the intrinsic parameter included in the camera model based on the focus position and the setting information.

### Claim 2 (depends on 1)

The imaging device of claim 1, wherein
the vision sensor has an automatically focusing function.

### Claim 3 (depends on 1)

The imaging device of claim 1, wherein
the setting information includes parameters predetermined for a plurality of discrete focus positions, and
the processor is configured to set the parameter for calculating the three-dimensional position based on the parameters determined respectively for a plurality of focus positions stored in the memory.

### Claim 4 (depends on 1)

The imaging device of claim 1, further comprising:
a robot configured to move at least one selected from a group of the target object and the vision sensor.

### Claim 5 (depends on 4)

The imaging device of claim 4, wherein
the processor is configured to
generate an operation command for the robot so as to change an imaging position of the at least one selected from the group of the target object and the vision sensor, and
calculate a second imaging position based on a three-dimensional position of the target object in an image captured at a first imaging position,
the second imaging position is a position where a distance from the target object to the vision sensor is smaller than the distance of the first imaging position, and
the processor is configured to calculate the three-dimensional position of the predetermined feature portion based on an image captured at the second imaging position.

### Claim 6 (depends on 1)

The imaging device of claim 1, further comprising:
a display configured to display a value of the parameter.

### Claim 7 (depends on 1)

The imaging device of claim 1, wherein
the processor is configured to calculate the distance from the vision sensor to the target object based on the focus position.