# US 2015/0146964 A1 · Inspection apparatus, method, and computer program product for machine vision inspection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2015/0146964 A1 - Document ID: US20150146964A1 - Status: Published application - Kind: A1 - Application number: 14/092,146 - Filed: 2013-11-27 - Published: 2015-05-28 - Earliest claimed: 2013-11-27 - Assignees: Industrial Technology Research Institute - Applicants: Industrial Technology Research Institute - Inventors: CHUNG-LI TAI; CHIH-KAI CHIU; YAO-YANG TSAI - Web page: https://patentgrep.com/patent/US20150146964A1 ## CPC - G06T 7/001: {using an image reference approach} - G06T 19/20: Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts - G06T 2207/10024: Color image - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T 2207/30164: Workpiece; Machine component - G06T 2219/2012: Colour editing, changing, or manipulating; Use of colour codes - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A method for vision machine inspection comprises providing depth information of a target acquired by an image capturing system, determining real-time three-dimensional information of a target object in a predetermined inspecting area based on depth information of at least one real-time image of the target. The method further comprises projecting 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 may be acquired by a color camera system. The method further comprises generating a color three-dimensional virtual model. The color three-dimensional virtual model may comprise the color pixel information. ## Claims ### Claim 1 A method comprising: providing depth information of a target acquired by an image capturing system; determining 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; projecting 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 system; and generating a color three-dimensional virtual model, wherein the color three-dimensional virtual model comprises the color pixel information. ### Claim 2 (depends on 1) The method of claim 1, further comprising changing a viewpoint of the three-dimensional virtual model to a predetermined viewpoint. ### Claim 3 (depends on 1) The method of claim 1, further comprising identifying a defect of the target object in the predetermined inspecting area based on a reference. ### Claim 4 (depends on 1) The method of claim 1, further comprising providing one of a real-time three-dimensional virtual model of the target object by the image capturing system, a predetermined three-dimensional virtual model of the target object by the image capturing system, and a predetermined three-dimensional virtual model of the target object by a three-dimensional scanner. ### Claim 5 (depends on 1) The method of claim 1, further comprising comparing assembly information of the target object in the predetermined inspecting area to reference assembly information in the corresponding inspecting area to identify an assembly defect. ### Claim 6 (depends on 1) The method of claim 1, further comprising acquiring position and viewpoint of the image capturing system. ### Claim 7 (depends on 1) The method of claim 1, further comprising providing a plurality of reference images of the target object in the predetermined inspecting area and storing the reference images in a computer-readable storage medium. ### Claim 8 (depends on 1) The method of claim 1, further comprising providing the real-time three-dimensional information to the color camera system to acquire position information of the color camera relative to the target object. ### Claim 9 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. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the processor is configured to change a viewpoint of the three-dimensional virtual model to a predetermined viewpoint. ### Claim 11 (depends on 9) The apparatus of claim 9, wherein the processor is configured to identify a defect of the target object in the predetermined inspecting area based on a reference. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein the processor is configured to compare assembly information of the target object in the predetermined inspecting area to reference assembly information in the corresponding inspecting area to identify an assembly defect. ### Claim 13 (depends on 9) The apparatus of claim 9, wherein the processor is configured to acquire position and viewpoint of the image capturing system. ### Claim 14 (depends on 9) The apparatus of claim 9 further comprising a storage medium to store a plurality of reference images of the predetermined inspecting area. ### Claim 15 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. ### Claim 16 (depends on 15) The computer program product of claim 15, further comprising program instructions configured to change a viewpoint of the three-dimensional virtual model to a predetermined viewpoint. ### Claim 17 (depends on 15) The computer program product of claim 15, further comprising program instructions configured to identify a defect of the target object in the predetermined inspecting area based on a reference of the predetermined inspecting area. ### Claim 18 (depends on 15) The computer program product of claim 15, further comprising program instructions configured to acquire position and viewpoint of the image capturing system. ### Claim 19 (depends on 15) The computer program product of claim 15, further comprising program instructions configured to provide a plurality of reference images of the target object in the predetermined inspecting area and store the plurality of reference images in the storage medium.