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US 2019/0096080 A1Published application
Machine vision system and method for identifying locations of target elements
AssigneeMaker Trading Pte Ltd
InventorChris Liu
Life of this patent
Estimating the term…
Abstract
This document describes machine vision systems and methods for determining locations of target elements. The described machine vision system captures and uses information gleaned from the captured target elements to determine the locations of these captured target elements.
Claims44
A system for determining, in an optical device's three dimensional coordinate system, locations of target elements within the optical device's field of view, the system comprising:
- the optical device being configured to:
- capture images of a first target element and a second target element, and obtain a set of constraining rules from the captured images;
- generate an output (s, t) whereby (s, t) defines a two-dimensional location of the captured image of the first target element on the optical device's sensors;
- generate an output (u, v) whereby (u, v) defines a two-dimensional location of the captured image of the second target element on the optical device's sensors;
- a computing device communicatively coupled to the optical device, the computing device being configured to translate the output (s, t) and the output (u, v) into positions in the optical device's three dimensional coordinate system by applying a predetermined traversing scheme together with the captured outputs (s, t), (u, v) and the set of constraining rules to a calibration table, wherein the calibration table was pre-generated by,
- positioning the optical device at a plurality of calibration positions from a target screen comprising a plurality of target centres, whereby at each calibration position, for each of the target centres on the target screen, the optical device:
- captures an image of the target centre and associates, in the calibration table, a two-dimensional location of the captured image of the target centre on the optical device's sensor with a position of the target centre relative to the optical device, the position being defined as a location in the optical device's three dimensional coordinate system, whereby the optical device's location is defined as the optical device's three dimensional coordinate system's point of origin.
4 more elements
A system for determining, in a first optical device's three dimensional coordinate system, locations of target elements within the first optical device's field of view, the system comprising:
- the first optical device being configured to:
- capture an image of a first target element;
- generate an output (s, t) whereby (s, t) defines a two-dimensional location of the captured image of the first target element on the first optical device's sensors;
- a second optical device provided at a fixed location away from the first optical device, the second optical device being configured to:
- capture an image of the first target element;
- generate an output (u, v) whereby (u, v) defines a two-dimensional location of the captured image of the first target element on the second optical device's sensors;
- a computing device communicatively coupled to the first and second optical devices, the computing device being configured to translate the output (s, t) and the output (u, v) into positions in the first optical device's three dimensional coordinate system by applying a predetermined traversing scheme together with the captured output (s, t) to a first calibration table and by applying the predetermined traversing scheme together with the captured output (u, v) to a second calibration table,
- wherein each of the calibration tables was pre-generated by,
- positioning an optical device associated with the calibration table at a plurality of calibration positions from a target screen comprising a plurality of target centres, whereby at each calibration position, for each of the target centres on the target screen, the associated optical device captures an image of the target centre and associates, in the calibration table, a two-dimensional location of the captured image of the target centre on the associated optical device's sensor with a position of the target centre relative to the associated optical device, the position being defined as a location in the associated optical device's three dimensional coordinate system, whereby the associated optical device's location is defined as the associated optical device's three dimensional coordinate system's point of origin.
6 more elements
A system for determining, in a first optical device's three dimensional coordinate system, locations of target elements within the first optical device's field of view, the system comprising:
- the first optical device being configured to:
- capture an image of a first target element;
- generate an output (s, t) whereby (s, t) defines a two-dimensional location of the captured image of the first target element on the first optical device's sensors;
- a second optical device provided at a fixed location with reference to the first optical device, the second optical device being configured to:
- capture an image of a second target element, the second target element being provided at a location DT2 away from the first target element;
- generate an output (u, v) whereby (u, v) defines a two-dimensional location of the captured image of the second target element on the second optical device's sensors;
- a computing device communicatively coupled to the first and second optical devices, the computing device being configured to obtain a set of constraining rules from the captured images translate the output (s, t) and the output (u, v) into positions in the first optical device's three dimensional coordinate system by applying a predetermined traversing scheme together with the captured output (s, t) and the set of constraining rules to a first calibration table and by applying the predetermined traversing scheme together with the captured output (u, v) to a second calibration table,
- wherein each of the calibration tables was pre-generated by,
- positioning an optical device associated with the calibration table at a plurality of calibration positions from a target screen comprising a plurality of target centres, whereby at each calibration position, for each of the target centres on the target screen, the associated optical device captures an image of the target centre and associates, in the calibration table, a two-dimensional location of the captured image of the target centre on the associated optical device's sensor with a position of the target centre relative to the associated optical device, the position being defined as a location in the associated optical device's three dimensional coordinate system, whereby the associated optical device's location is defined as the associated optical device's three dimensional coordinate system's point of origin.
6 more elements
A method for determining, in an optical device's three dimensional coordinate system, locations of target elements within the optical device's field of view, the optical device being communicatively coupled to a computing device, the method comprising:
- capturing, using the optical device, images of a first target element and a second target element, and obtain a set of constraining rules from the captured images;
- generating an output (s, t) whereby (s, t) defines a two-dimensional location of the captured image of the first target element on the optical device's sensors;
- generating an output (u, v) whereby (u, v) defines a two-dimensional location of the captured image of the second target element on the optical device's sensors;
- translating, using the computing device, the output (s, t) and the output (u, v) into positions in the optical device's three dimensional coordinate system by applying a predetermined traversing scheme together with the captured outputs (s, t), (u, v) and the set of constraining rules to a calibration table, wherein the calibration table was pre-generated by,
- positioning the optical device at a plurality of calibration positions from a target screen comprising a plurality of target centres, whereby at each calibration position, for each of the target centres on the target screen, the optical device:
- captures an image of the target centre and associates, in the calibration table, a two-dimensional location of the captured image of the target centre on the optical device's sensor with a position of the target centre relative to the optical device, the position being defined as a location in the optical device's three dimensional coordinate system, whereby the optical device's location is defined as the optical device's three dimensional coordinate system's point of origin.
3 more elements
A method for determining, in a first optical device's three dimensional coordinate system, locations of target elements within the first optical device's field of view, the first optical device and a second optical device being communicatively coupled to a computing device, the method comprising:
- capturing, using the first optical device, an image of a first target element;
- generating an output (s, t) whereby (s, t) defines a two-dimensional location of the captured image of the first target element on the first optical device's sensors;
- capturing, using a second optical device provided at a location away from the first optical device, an image of the first target element;
- generating an output (u, v) whereby (u, v) defines a two-dimensional location of the captured image of the first target element on the second optical device's sensors;
- translating, using the computing device, the output (s, t) and the output (u, v) into positions in the first optical device's three dimensional coordinate system by applying a predetermined traversing scheme together with the captured output (s, t) to a first calibration table and by applying the predetermined traversing scheme together with the captured output (u, v) to a second calibration table,
- wherein each of the calibration tables was pre-generated by,
- positioning an optical device associated with the calibration table at a plurality of calibration positions from a target screen comprising a plurality of target centres, whereby at each calibration position, for each of the target centres on the target screen, the associated optical device captures an image of the target centre and associates, in the calibration table, a two-dimensional location of the captured image of the target centre on the associated optical device's sensor with a position of the target centre relative to the associated optical device, the position being defined as a location in the associated optical device's three dimensional coordinate system, whereby the associated optical device's location is defined as the associated optical device's three dimensional coordinate system's point of origin.
4 more elements
A method for determining, in a first optical device's three dimensional coordinate system, locations of target elements within the first optical device's field of view, the first optical device and a second optical device being communicatively coupled to a computing device, the method comprising:
- capturing, using the first optical device, an image of a first target element;
- generating an output (s, t) whereby (s, t) defines a two-dimensional location of the captured image of the first target element on the first optical device's sensors;
- capturing, using a second optical device provided at a fixed location with reference to the first optical device, an image of a second target element, the second target element being provided at a location DT2 away from the first target element;
- generating an output (u, v) whereby (u, v) defines a two-dimensional location of the captured image of the second target element on the second optical device's sensors;
- obtaining, using the computing device, a set of constraining rules from the captured images;
- and
- translating, using the computing device, the output (s, t) and the output (u, v) into positions in the first optical device's three dimensional coordinate system by applying a predetermined traversing scheme together with the captured output (s, t) and the set of constraining rules to a first calibration table and by applying the predetermined traversing scheme together with the captured output (u, v) to a second calibration table,
- wherein each of the calibration tables was pre-generated by,
- positioning an optical device associated with the calibration table at a plurality of calibration positions from a target screen comprising a plurality of target centres, whereby at each calibration position, for each of the target centres on the target screen, the associated optical device captures an image of the target centre and associates, in the calibration table, a two-dimensional location of the captured image of the target centre on the associated optical device's sensor with a position of the target centre relative to the associated optical device, the position being defined as a location in the associated optical device's three dimensional coordinate system, whereby the associated optical device's location is defined as the associated optical device's three dimensional coordinate system's point of origin.
6 more elements
Dependencies are inferred from the claim text.