3D视觉检测-王振宇.ppt

2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,1,2019/11/25,3D-Locate&3DSensor,刘少鹏E-Mail:Shaopeng.liuximing-TelContinuouslyExceedscustomerExpectations,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2,IDReaders,CognexCoreProducts,WhatisCognex3DVision?,Cognex3Dvisionusestwodimensionalimagesandtoolsfromoneormorecameraspointofviewtogenerateinformationaboutanobjectin3Dspace.Using2DimagesandtoolsallowsCognex3Dvisiontoaccuratelypinpointa3Dpositionbyestablishingamathematicalrelationshipbetweenthe2Dcoordinatesystemsineachcamerasimageandthephysicalworld.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,WhatisVisionPro3DAdd-In?,TheVisionPro3DAdd-Inisa.NetlibraryofclassesthatenablesVisionProsoftwaretoperform3Dcalibrationandobjectlocation.AsupportedsoftwareversionofVisionProisrequiredtocreatea3DvisionapplicationusingtheVisionPro3DAdd-In.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,WhatisVisionPro3DAdd-In?,AnextensiontoVisionProfor3Dposedeterminationthatcanbeusedindifferentconfigurations:,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,VisionPro3DAdd-InGettingStarterKit,TripodMountingplate,screws,andAllenwrenchesDual-portGigEnetworkadapterCognex10mmcalibrationplateCognex20mmcalibrationplate(optional)TwoBaslerAce1.3MPcamerasandPoEpowersupplies(updateto2MPin7.2StarterKit)Two6mmlenses4ENETcablesTwo25mmx50mmx75mmspacerblocks,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,VisionPro3DStarterKitHardware,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,CalibrationOverview,3Dcalibrationestablishesamathematicalrelationshipbetweenthe2Dcoordinatesystemassociatedwiththepixelsinanacquiredimage,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCalibration,Calibrationproceduredependsonapplicationsetup:3DCameracalibration(fixedcameras,manuallymovecalibrationplatetodifferentpositions)3DRobotHand-Eyecalibration(movingcameramountedatrobothand,fixedcalibrationplate)3DRobotHand-Eyecalibration(stationarycamera,movingcalibrationplatemountedatrobothand),2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCalibration,Calibrationplate,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,Raw2DConcepts,Raw2Dspacereferstoaleft-handed2Dcoordinatesystemestablishedbyandacquiredimage.Usespixelsasunits.Originatupperleft-handcorner.ARaw2DpointinRaw2Dspaceissimplyan(x,y)coordinateidentifiedwithinaRaw2Dcoordinatesystem.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,Phys3DConcepts,Phys3Dreferstoaright-handed3Dphysicalcoordinatesystemestablishedbythe3Dcalibrationprocess.Usesphysicalunits(initiallydefinedbythecalibrationplateandspacingbetweenplateviews).Origindefinedbyfiducialmarkoncalibrationplate.XandYaxesarealignedtocalibrationgrid,Zaxisnormaltoplateextendingawayfromcamera.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCalibrationBasics,3Dcalibrationestablishesanaccuratecorrespondencebetween2Dlocationsinandimageusinga3Dcalibratedcameraanda3Dlocationinphysicalinfrontofthecamera.Thecorrespondenceiscreatedbythemathematicallinkingofthedifferenttransformations(Coordinatespaces).,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCameraCalibration,ACameraCalibrationincludestwosetsofparameters:IntrinsicparametersPropertiesoftheacquisitionsystemthatareinternaltothecamera/lenssystem(lensdistortion)ExtrinsicparametersPropertiesoftheacquisitionsystemthatareexternaltothecamera/lenssystem(positionandorientationofcamerain3Dspace),2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCameraCalibration,ACameraCalibrationisneededforall3Doperations(triangulation,poseestimation,)ACameraCalibrationcanbecreatedfromaHandEyecalibrationresultandarobotpose.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCameraCalibration,MultiplestationarycamerasRequiresoneWorldOriginViewsetRequiresTiltedViewsetsElevatedViewsetsrecommended(Optional)CalibrationWizardapplicationcanbeusedfor3DCameraCalibration.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCameraCalibration,WorldOriginViewsetTheCalibrationPlatecoordinatesystemdefinesthe3DWorldCoordinateSystem(Phys3Dspace),2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCameraCalibration,TiltedViewsetsTheCalibrationPlatemustbetiltedandrotated,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCameraCalibration,ElevatedViewsetsTheCalibrationplatemustbeelevatedbymultiplestepsacrosstheoperatingvolumeheight.ItmustremainparalleltotheWorldOriginposition!ElevatedviewsimproveaccuracyofIntrinsicparams.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,AssessingtheCalibrationsQuality,UsingtheCog3DCameraCalibrationResultclass:UsetheOverallResidualsRaw2D()andOverallResidualsPhys3D()methodstoobtainstatisticsforallplateposesandcameras.TheseglobalresidualerrormeasurementsreflecttheoverallaccuracyofthecalibrationUsetheResidualsRaw2D(j,i)andResidualsPhys3D(j,i)forstatisticsonacombinationofasinglecamera(i)andasingleplatepose(j).Theseplateandcameralevelstatisticshelptoidentifyopticalormechanicalissuewithaparticularcameraofplatepose.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,Spacesassociatedwitha3Dcalibrationusingtwocameras,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DRobotHand-EyeCalibration(movingcamera(s),Fixedcalibrationplatemustbeacquiredfromdifferentdistancesandviewangles.Robot(hand)positionsmustberecorded.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,RobotHand-EyeCalibration(movingcamera(s),Coordinatespaces(MovingCamera(s),2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,RobotHand-EyeCalibration(StationaryCamera(s),Coordinatespaces(Movingcalibrationplate),2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,RobotPoseandHandEyeCalibrationresult,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,WhatistheRobotPose?,Hand3DFromRobotBase3DistheposeofHand3Dspace(TCP/Endeffector)inRobotBase3Dspace.Robot:ABB/Kuka/Mitsubishi/Denso/Keba/Cog3DTransformRigidTranslation-Cog3DVect3(X,Y,Z)Rotation-Cog3DTransformRotationEulerXYZ,EulerZYX,EulerZYZCog3DQuaternionCog3DMatrix3x3,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCoordinateMapping,Map3Dcoordinatesto2DImagespace,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DCoordinateMapping,Map2Dcoordinatesto3Dspace,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DPointTriangulation,Triangulationistheprocessofdetermininga3Dlocationofaphysicalpointusingtwoormorecamerascalibratedtothesame3Dphysicalspaceandtheir2Dprojectionsofthesamephysicalpoint.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DPointTriangulation,Youmustprovideaccurateprojectionsofthesame3Dpointtoeachofthecameras.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DModelPoseEstimationOverview,3Dmodelposeestimationistheprocessofusingcorrespondingsetsof2Dimagepointsfrom3Dcalibratedcamerastodeterminetheposeofa3Dshape.The2DpointscanbeobtainedusingcommonvisiontoolslikePMAlign,PointPointIntersect,FindEllipse,FindCircle,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,3DModelPoseEstimationConcepts,3Dposeestimationdependson3factors:Youmustbeabletoconstruct(orcommunicatetotheapplication)anaccurate3Dmodelusinga3Dmodelspace.Thepointsyouobtainmustbeaccurateprojectionsof3Dpointsofthemodel.The2Dpointsyouobtainfromthecalibratedimagesmustbecorrectlycorrespondedtothe3Dmodelpoints.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2019/11/25,ObtainingAccurate2DModelPoints,Themosteffectivetechniqueforobtaining2Dmodelpointsforanaccurate3Dalignmentistousevisiontools.UseCogFindLineTooltolocateedgeswhoselinesextendtoknowncoordinatepointsofintersection.UseCogIntersectLineLinetogenerateaccurate2Dpointinformation.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,RecommendedPartsandFeatures,Ingeneral,roundedfeaturesarenotthebestcandidatesforaccurate2Dpoints.Roundededgefeaturesin2Ddonotconsistentlycorrespondto3Dedgesaspartsrotate.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,RecommendedPartsandFeatures,Sharpcornersandcreasededgesin2Dcorrespondmoreconsistentlyto3DfeaturesaspartsrotateintheFOV.Usinglineintersecttoolsisrecommendedforthesetypesoffeatures.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,LocatingFeaturesonFlatSurfaces,Evenwhenlocatingfeaturesonaplanarsurface,youcanemploylineartoolstogetthemostaccuratecorrespondencebetween2Dand3Dfeatures.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,RecommendedPartsandFeatures,Circularfeaturesonaplanarsurfaceofferadistinctadvantageduetotheirgeometricproperties.Acirclecansingle-handedlybeusedtorepresenta3Dplane.Asthecirclerotatesitcancommunicate2Dand3Dinformationbasedonitsappearancetoeachcamera.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,2DPatternAlignmentToolConsiderations,Planarfeaturesmaysometimesbeusedtofindcorresponding2Dfeaturesin3Dspace.However,2DpatternalignmenttoolslikePMAlignandSearchMaxhavelimitedtoleranceforpatterndeformationsousewithcautionasaccuracycanbecompromised.,ObjectPoseEstimation,3DAccuracy,Accuracycanbeinfluencedbymanyfactors:Calibrationaccuracy(robotaccuracy,accuracyofcalibrationplateandistpositions).Camerabaselinewidth.Numberofcameras.Accuracyof2Dtools.Accuracyofreferencepoints(e.g.sharporroundedcorners)Imageresolution,Summary,VisionPro-3Dcomputes3Dinformationfrom2Dandviceversa.candeterminethe3Dvidespowerfulandyeteasytousecalibrationprocedure.consumesinputdatafromfamiliar2Dvisiontools.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,42,VisionPro3DAPPlication,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,43,VisionPro3DAPPlication,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,44,VisionPro3DAPPlication,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,45,VisionPro3DAPPlication,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,46,VisionPro3DAPPlication,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,47,VisionPro3DAPPlication,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,48,VisionPro3DAPPlication,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,49,3DDisplacementSensorDS1100,3DDisplacementSensor-DS1100,Sensordesignedtoinspectandmeasurein3DHeight,Volume,Tilt,shape,OCRCalibrated3DinspectionFactorycalibratedRealworldmeasurementsinmmContrastindependentInspectionDarkobjectsondarkbackgroundIndependentofcolor,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,DS1100Package,DS1100hardwareandVisionProsoftwareVisionProMaxwithDS11003DToolsRequiredAccessoriesIP65EthernetCableIP65Power&IOCableOptionalAccessoriesRightanglemountingbracketIP69KStainlesssteelenclosure,DS1100,VisionPro,VisionPro,+,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,WhatistheDS1100?,Sensordesignedtoinspectandmeasurein3DCalibrated3DinspectionFactorycalibratedRealworldmeasurementsinmmContrastindependentInspectionLowcontrastinspectionIndependentofcolor,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,Howdoesitwork?,ImagingLens,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,WhatdoestheDS1100do?,Generatesa16bit3Drangeimage,0,65,535,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,Rangeimages,Thegrayscaleintensityrepresentsthemmheightvalue,00000035791113151515151513119753000000,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,Intensityslices,WitheachencodertickasthecameraorpartmovespasttheDS1100anintensitysliceistakenandtransformedintotherangeimageEachacquiredintensityimageofalaserstripeisthebasisofasinglerowintherangeimage.,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,DS1100Hardware,24VDCPowerIO+Encoder,Camera,658nmLaserClass2M,GigEConnector,StatusLEDs,IP65Enclosure,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,Resolution,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,Practicalimpactofacalibratedsystem,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,AccuracyandProfileRate,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,HighPrecisionmeasurements,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,Advanced3DToolset,Height,Volume,Planefitting,PlanetoPlaneAngle,2019/11/25,TEL33821031/33820483/50302319FAXdd：PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech,DS11003DViewer,Viewyourpartsin3DDetailed3Dfeatur