SYSTEM AND METHOD FOR PERFORMING VISION SYSTEM PLANAR HAND-EYE CALIBRATION FROM STRAIGHT LINE FEATURES

摘要

This invention provides a system and method for hand-eye calibration of a vision system using an object under manufacture having at least one feature. The feature can be a linear feature and the object moves in at least one degree of freedom in translation or rotation on a motion stage. The system further comprises at least a first vision system camera and vision processor. The first vision system camera is arranged to acquire an image of the first linear feature on the object under manufacture and to track motion of the first linear feature in response to moving of the motion stage in at least one degree of translation. The first linear feature is identified in at least two different positions along a plane. The system computes a mapping between pixel positions in a pixel coordinate system of the first camera and physical positions in a motion coordinate system based upon locations of the at least two positions.

主权项

1. A system for planar hand-eye calibration of a vision system using an object under manufacture having at least one feature, the object moving in at least one degree of freedom in translation or rotation on a motion stage, the system comprising:
at least a first vision system camera and vision processor, the first vision system camera being arranged to acquire an image of at least a first linear feature on the object under manufacture and track motion of the first linear feature in response to moving of the motion stage in the at least one degree of translation; and a process that identifies the first linear feature in at least two different positions along a two-dimensional (2D) plane and that computes a mapping between pixel positions in a pixel coordinate system of the first camera and physical positions in a motion coordinate system based upon locations of the at least two positions.