System and method for finding correspondence between cameras in a three-dimensional vision system

摘要

This invention provides a system and method for determining correspondence between camera assemblies in a 3D vision system implementation having a plurality of cameras arranged at different orientations with respect to a scene involving microscopic and near microscopic objects under manufacture moved by a manipulator, so as to acquire contemporaneous images of a runtime object and determine the pose of the object for the purpose of guiding manipulator motion. At least one of the camera assemblies includes a non-perspective lens. The searched 2D object features of the acquired non-perspective image, corresponding to trained object features in the non-perspective camera assembly can be combined with the searched 2D object features in images of other camera assemblies, based on their trained object features to generate a set of 3D features and thereby determine a 3D pose of the object.

主权项

1. A vision system that determines 3D pose of an object under manufacture having a size in the microscopic or near-microscopic range comprising:
a plurality of cameras in which a lens of at least one of the cameras is optically connected to a non-perspective microscope lens to acquire a non-perspective image, the cameras being respectively oriented with a discrete field of view so as to contemporaneously acquire a plurality of images of the object, respectively, at a known position with respect to the field of view; a search process, operatively connected to the cameras, that searches for 2D feature points in at least some of the acquired images, including the non-perspective image; an association process that associates the 2D feature points with known 3D model points; a pose determination process that computes the 3D pose based upon the 2D feature points and known 3D model points; and a manipulator control that moves the object to a predetermined location based upon the determined 3D pose.