SYSTEM AND METHOD FOR DETERMINING CLUTTER IN AN ACQUIRED IMAGE

摘要

This invention provides a system and method for determining the level of clutter in an image in a manner that is rapid, and that allows a scoring process to quickly determine whether an image is above or below an acceptable level of clutter—for example to determine if the underlying imaged runtime object surface is defective without need to perform a more in-depth analysis of the features of the image. The system and method employs clutter test points that are associated with regions on the image that should contain a low gradient magnitude, indicative of emptiness. This enables the runtime image to be analyzed quickly by mapping trained clutter test points at locations in the coordinate space in which lack of emptiness indicates clutter, and if detected, can rapidly indicate differences and/or defects that allow for the subject of the image to be accepted or rejected without further image analysis.

主权项

1. A method for determining clutter in an imaged scene with a vision system comprising the steps of:
providing a runtime image of a scene; providing a trained pattern with a set of clutter test points that represent a level of emptiness in the trained pattern; establishing a runtime pose with a coordinate space for the image with respect to the trained pattern; mapping the clutter test points on the coordinate space for the image; determining a level of emptiness respectively at the mapped clutter test points; and based upon the level of emptiness, determining a level of clutter in at least a portion of the image.