Title:
THREE-DIMENSIONAL-CONTROL-POSITION CORRECTION METHOD
Document Type and Number:
Japanese Patent JP3224687
Kind Code:
B2
Abstract:
PURPOSE: To provide a three-dimensional-contour-position correction method in which the image of the contour or the like of an object to be corrected is observed directly and in which its position and its attitude can be corrected in six degrees of freedom with high accuracy.
CONSTITUTION: The contour of a criterion object is first observed by a camera in a plurality of set positions, image data is acquired, and on arbitrary number of window regions which contain the image pattern of the contour of the object in the image data is set. The image data in the above set positions is acquired with reference to an object, to be corrected, whose shape is identical to that of the criterion object. Then, the matching processing operation of the window region of the criterion object with the image pattern of the object to be corrected is performed, and a movement amount in the direction of translation or rotation inside a plurality of images is acquired. On the basis of its result, the restraint conditional expression of a position after the movement by the translation and the rotation is obtained. Then, a translation amount and a rotation amount which are unknown are computed by the method of least squares in such a way that a distance between the three-dimensional space position after the movement of the criterion object and a curve or a straight line becomes minimum. A correction is performed on the basis of a computed value.
Inventors:
Katsuyuki Tanimizu
Kenichi Arakawa
Yoshimasa Yanagihara
Kenichi Arakawa
Yoshimasa Yanagihara
Application Number:
JP11062894A
Publication Date:
November 05, 2001
Filing Date:
May 25, 1994
Export Citation:
Assignee:
Nippon Telegraph and Telephone Corporation
International Classes:
G01B11/24; (IPC1-7): G01B11/24
Domestic Patent References:
| JP61178602A | ||||
| JP6344104A | ||||
| JP6258028A | ||||
| JP62101379A |
Attorney, Agent or Firm:
Fujiya Shiga