EP0157299A1
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Image processing apparatus
Assignee: Hitachi Ltd
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Filing: 1985-03-21
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Granted: —
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Expires: 2005-03-21
Abstract
Abstract A three-dimensional object recognition system according to the present invention comprising three-dimensional position measurement means (6) to measure from a two-dimensional image of an object (1) to be recognized, three-dimensional positions of at least three points on an edge line of a specified polygonal plane of an object surface of the image; image processing means (3) to find on the basis of the three-dimensional position information, direction vectors of respective sides of the edge line as well as a normal vector of the polygonal plane and also edge angles of the respective sides of the edge line relative to a specified direction; and contour line extraction means (4) to select a filter suited for the polygonal plane on the basis of the edge angles and to detect the edge line from two-dimensional image data of the object (1) via a filtering process of the filter.
Inventors
- 👤 Takushi Okada
- 👤 Koichi Sugimoto
- 👤 Shiyuki Sakaue
- 👤 Seiji Hata
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-05 12:51
CPC Classifications
G; G06; G06T; G06T1/00; G01; G01B; G01B11/00; G01B11/24; G01B11/25; G01B11/2513; G01B11/02; G01B11/022; G06V; G06V20/00; G06V20/60; G06V20/64
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
143 words
An image processing apparatus comprising three-(6) dimensional position measurement means to measure from a two-dimensional image of an object to be recognized, three-dimensional positions of at least three points on an edge line of a specified polygonal plane of an object surface of the image; image processing means (3) to find on the basis of the three-dimensional position information, direction vectors of respective sides of the edge line as well as a normal vector of the polygonal plane and also edge angles of the respective sides of the edge'line relative to a specified direction; and (4) contour line extraction means to select a filter suited for the polygonal plane on the basis of the direction vectors, the normal vector and the edge angles and to detect the edge line from two-dimensional image data of the object via a filtering process of the filter.
Claim 2
Dependent Claim
143 words
An image processing apparatus comprising three-(6) dimensional position measurement means to measure from a two-dimensional image of an object to be recognized, three-dimensional positions of at least three points on an edge line of a specified polygonal plane of an object surface of the image; image processing means (3) to find on the basis of the three-dimensional position information, direction vectors of respective sides of the edge line as well as a normal vector of the polygonal plane and also edge angles of the respective sides of the edge'line relative to a specified direction; and (4) contour line extraction means to select a filter suited for the polygonal plane on the basis of the direction vectors, the normal vector and the edge angles and to detect the edge line from two-dimensional image data of the object via a filtering process of the filter.
Claim 3
Dependent Claim
76 words
An image processing apparatus as defined in Claim 1, wherein said three-dimensional position measurement (6) the means projects slit light beams on specified polygonal plane of the object to-be-recognized, images intersection points between the edge line of the polygonal plane and the slit light beams, and measures the three-dimensional positions concerning at least three of the intersection points on the basis of relative positional relations between directions of the slit light beams and an imaging direction.
Claim 4
Dependent Claim
99 words
A vision system comprising an imaging device which takes a two-dimensional image of an object, an image processing device which analyzes the two-dimensional image to detect a contour line, a three-dimensional (6) position measuring device which can measure three-dimensional positions of at least three points on the contour line, (4') an image correcting device which makes desired corrections for the contour line, and a three-dimensional position computing device which computes three-dimensional coordinates of the contour line on the basis of results of the three-dimensional position measurement and results of the contour line corrections, to restore the three-dimensional positions thereof.
Claim 5
Dependent Claim
99 words
A vision system comprising an imaging device which takes a two-dimensional image of an object, an image processing device which analyzes the two-dimensional image to detect a contour line, a three-dimensional (6) position measuring device which can measure three-dimensional positions of at least three points on the contour line, (4') an image correcting device which makes desired corrections for the contour line, and a three-dimensional position computing device which computes three-dimensional coordinates of the contour line on the basis of results of the three-dimensional position measurement and results of the contour line corrections, to restore the three-dimensional positions thereof.
References Cited (Backward Citations)
US4316670A
Cited
EP0091132A2
Cited
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