# US 2019/0170506 A1 · Image processing system and image processing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0170506 A1 - Document ID: US20190170506A1 - Status: Published application - Kind: A1 - Application number: 16/133,171 - Filed: 2018-09-17 - Published: 2019-06-06 - Earliest claimed: 2017-12-01 - Assignees: OMRON Corporation - Applicants: OMRON Corporation - Inventors: Shinya MATSUMOTO - Web page: https://patentgrep.com/patent/US20190170506A1 ## CPC - G01B 11/25: by projecting a pattern, e.g. {one or more lines,} moiré fringes on the object (G01B11/255 takes precedence {; image analysis for depth or shape recovery G06T7/50}) - G02B 27/0955: {Lenses (lenses per se G02B3/00)} - G02B 27/283: {used for beam splitting or combining} - G03B 21/60: characterised by the nature of the surface - G06T 1/0007: {Image acquisition} - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 7/586: from multiple light sources, e.g. photometric stereo - H04N 23/60: Control of cameras or camera modules - H04N 23/73: by influencing the exposure time - G06T 2207/10152: Varying illumination - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract An image processing system includes a first light projection unit that projects, onto an object, a light pattern for specifying a three-dimensional shape; a second light projection unit that projects, onto the object, substantially uniform light, in which illumination energy is substantially uniform in a cross-sectional direction relative to a light projection direction, at substantially the same angle as in projection performed by the first light projection unit; an image capturing unit that captures images of the object; a generation unit that generates a division image by dividing components of a first captured image, which is captured while light is projected onto the object by the first light projection unit, by components of a second captured image, which is captured while light is projected onto the object by the second light projection unit; and a calculation unit that calculates three-dimensional positions on the object with use of the division image. ## Claims ### Claim 1 An image processing system comprising: a first light projector configured to project, onto an object, a light pattern for specifying a three-dimensional shape; a second light projector configured to project, onto the object, substantially uniform light in which illumination energy is substantially uniform in a cross-sectional direction relative to a light projection direction, the second light projector projecting the substantially uniform light at substantially the same angle as in projection performed by the first light projector; a camera for capturing an image of the object; and a processor configured with a program to perform operations comprising: operation as a first light projection control unit configured to control projection of the light pattern onto the object by the first light projector; operation as a second light projection control unit configured to control projection of the substantially uniform light onto the object by the second light projector; operation as an image capturing control unit configured to control image capturing performed by the camera; operation as a first captured image recording unit configured to record a first captured image that is captured by the camera in a state where the first light projection control unit performs control such that the light pattern is projected and the second light projection control unit performs control such that the substantially uniform light is not projected; operation as a second captured image recording unit configured to record a second captured image that is captured by the camera in a state where the first light projection control unit performs control such that the light pattern is not projected and the second light projection control unit performs control such that the substantially uniform light is projected; operation as a generation unit configured to generate a division image by dividing components of the first captured image by components of the second captured image; and operation as a calculation unit configured to calculate a three-dimensional position on the object using the division image. ### Claim 2 (depends on 1) The image processing system according to claim 1, wherein the processor is configured with the program to perform operations such that operation as the generation unit comprises operation as the generation unit configured to generate the division image by obtaining a first image by subtracting components of a third captured image from components of the first captured image, the third captured image being captured in a state where ambient light is projected onto the object and the first light projector and the second light projector are not performing projection, obtaining a second image by subtracting components of the third captured image from components of the second captured image, and then dividing the first image by the second image. ### Claim 3 (depends on 1) The image processing system according to claim 1, wherein a projection time of the second light projector when capturing the second captured image is shorter than a projection time of the first light projector when capturing the first captured image. ### Claim 4 (depends on 1) The image processing system according to claim 1, wherein an exposure time of the camera when capturing the second captured image is shorter than an exposure time of the camera when capturing the first captured image. ### Claim 5 (depends on 1) The image processing system according to claim 1, wherein the first light projector and the second light projector are configured to perform projection using the same projection lens. ### Claim 6 (depends on 5) The image processing system according to claim 5, wherein the first light projector and the second light projector are configured to perform projection using the same light source. ### Claim 7 (depends on 1) The image processing system according to claim 1, wherein the first light projector is configured to perform projection using a first light source, and the second light projector is configured to project the substantially uniform light onto the object at substantially the same angle as the first light projector using a second light source separate from the first light source. ### Claim 8 (depends on 1) The image processing system according to claim 1, wherein the first light projector is configured to perform projection using a first light source and a first projection lens, and the second light projector is configured to project the substantially uniform light onto the object at substantially the same angle as in projection performed by the first light projector, using a second light source and a second projection lens that are provided separately from the first light source and the first projection lens. ### Claim 9 (depends on 7) The image processing system according to claim 7, wherein an intensity of the first light source is higher than an intensity of the second light source. ### Claim 10 (depends on 1) The image processing system according to claim 1, further comprising: a reading unit that is configured to read three-dimensional structure data regarding the object; and a matching unit that is configured to perform matching between the three-dimensional structure data regarding the object and the three-dimensional position. ### Claim 11 (depends on 2) The image processing system according to claim 2, wherein a projection time of the second light projector when capturing the second captured image is shorter than a projection time of the first light projector when capturing the first captured image. ### Claim 12 (depends on 2) The image processing system according to claim 2, wherein an exposure time of the camera when capturing the second captured image is shorter than an exposure time of the camera when capturing the first captured image. ### Claim 13 (depends on 2) The image processing system according to claim 2, wherein the first light projector and the second light projector are configured to perform projection using the same projection lens. ### Claim 14 (depends on 13) The image processing system according to claim 13, wherein the first light projector and the second light projector are configured to perform projection using the same light source. ### Claim 15 (depends on 2) The image processing system according to claim 2, wherein the first light projector is configured to perform projection using a first light source, and the second light projector is configured to project the substantially uniform light onto the object at substantially the same angle as the first light projector using a second light source provided separately from the first light source. ### Claim 16 (depends on 2) The image processing system according to claim 2, wherein the first light projector is configured to perform projection using a first light source and a first projection lens, and the second light projector is configured to project the substantially uniform light onto the object at substantially the same angle as in projection performed by the first light projector, using a second light source and a second projection lens that are provided separately from the first light source and the first projection lens. ### Claim 17 (depends on 8) The image processing system according to claim 8, wherein an intensity of the first light source is higher than an intensity of the second light source. ### Claim 18 (depends on 2) The image processing system according to claim 2, wherein the processor is further configured with the program to perform operations comprising: operation as a reading unit configured to read three-dimensional structure data regarding the object; and operation as a matching unit configured to perform matching between the three-dimensional structure data regarding the object and the three-dimensional position. ### Claim 19 An image processing method for performing image processing with an image processing system, the method comprising: controlling a first light projector configured to project, onto an object, a light pattern for specifying a three-dimensional shape; controlling a second light projector configured to project, onto the object, substantially uniform light in which illumination energy is substantially uniform in a cross-sectional direction relative to a light projection direction, the second light projector projecting the substantially uniform light at substantially the same angle as in projection performed by the first light projector; controlling a camera for capturing an image of the object; recording a first captured image that is captured by the camera in a state where: control is performed such that the light pattern is projected by the first light projector; and control is performed such that the substantially uniform light is not projected by the second light projector; recording a second captured image that is captured by the camera in a state where: control is performed such that the light pattern is not projected by the first light projector; and control is performed such that the substantially uniform light is projected by the second light projector; generating a division image by dividing components of the first captured image by components of the second captured image; and calculating a three-dimensional position on the object using the division image.