US 9,652,660 B2Granted

Control system, robot system, and control method

AssigneeSeiko Epson Corporation

InventorsTomoki Harada, Koichi Hashimoto, Shogo Arai

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Abstract

A control system includes a projection section that projects predetermined patterned light on a target object, a first imaging section that captures an image of the target object on which the predetermined patterned light is projected by the projection section, a second imaging section that is disposed in a position different from a position where the first imaging section is disposed and captures an image of the target object on which the predetermined patterned light is projected by the projection section, and a calculation section that calculates a three-dimensional shape of the target object based on a first point in a first captured image captured by the first imaging section and a second point in a second captured image captured by the second imaging section.

Claims9

Dependent claims

A control system comprising:

a projector that projects predetermined patterned light on a target object;
a first camera that captures a first image of the target object on which the predetermined patterned light is projected by the projector;
a second camera that is disposed in a position different from a position where the first camera is disposed and captures a second image of the target object on which the predetermined patterned light is projected by the projector;
a memory including computer-readable instructions;
and
a processor configured to execute the computer-readable instructions to:
calculate a three-dimensional shape of the target object based on a first point in the first image and a second point in the second image;
calculate, based on the first and second images, a reliability that serves as an index representing probability of coincidence of a position identified by a certain point in the first image and a position identified by each point in the second image;
and
associate each point in the first image to the each point in the second image based on the reliability.

7 more elements

A control method for causing a processor to execute computer-readable instructions stored in a memory, the method comprising executing on the processor the step of:

projecting predetermined patterned light on a target object;
causing a first camera to capture a first image of the target object on which the predetermined patterned light is projected;
causing a second camera that is disposed in a position different from a position where the first camera is disposed to capture a second image of the target object on which the predetermined patterned light is projected;
calculating a three-dimensional shape of the target object based on a first point in the first image captured by the first camera and a second point in the second image captured by the second camera;
calculating, based on the first and second images, a reliability that serves as an index representing probability of coincidence of a position identified by a certain point in the first image and a position identified by each point in the second image;
and
associating each point in the first image to the each point in the second image based on the reliability.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/810,657Filed 28 Jul 2015
Priority: JP 2014-15375029 Jul 2014
Published: US 2016/0034746 A14 Feb 2016
Granted: 16 May 2017
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

G06T 7/521
Depth or shape recovery: from laser ranging, e.g. using interferometry; from the projection of structured light
B25J 9/1697
Characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor…:…
G06T 7/593
From multiple images: from stereo images
G06V 10/421
Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation: by analysing segments…