Inspection apparatus, method, and computer program product for machine vision inspection

An apparatus for vision machine inspection comprising:

• a processor configured to:
• receive depth information of a target acquired by an image capturing system;
• determine real-time three-dimensional information of a target object in a predetermined inspecting area based on the depth information of the target;
• receive at least one real-time color image of the target acquired by a color camera system;
• project color pixel information of one of the at least one real-time color image of the target to a three-dimensional virtual model based on the real-time three-dimensional information and the real-time color image;
• and
• generate a color three-dimensional virtual model, wherein the color three-dimensional virtual model comprises the color pixel information.

A computer program product comprising a non-transitory computer readable storage medium and computer program instructions stored therein, the computer program instructions comprising program instructions configured to:

• provide depth information of a target acquired by an image capturing system;
• determine real-time three-dimensional information of a target object in a predetermined inspecting area based on the depth information of at least one real-time image of the target;
• project color pixel information of a real-time color image of the target object to a three-dimensional virtual model based on the real-time three-dimensional information, the real-time color image acquired by a color camera;
• and
• generate a color three-dimensional virtual model, wherein the color three-dimensional virtual model comprises the color pixel information.