Object checking device

Patent metadata

Field	Value
Publication number	US-11335016-B2
Application number	US-202016751490-A
Country	US
Kind code	B2
Filing date	Jan 24, 2020
Priority date	Jan 29, 2019
Publication date	May 17, 2022
Grant date	May 17, 2022

Abstract

An object checking device includes an area specifying unit, an image generator, and a difference specifying unit. The area specifying unit is configured to, based on a feature part extracted from captured image data obtained by capturing an object, specify an area corresponding to the captured image data in 3D model data of the object. The image generator is configured to generate image data of the specified area from the 3D model data. The difference specifying unit is configured to specify a part in which there is a difference between the captured image data and the image data.

First claim

The invention claimed is:

1. An object checking device comprising:
a non-transitory storage medium configured to store three-dimensional model data of an object, the object is made up of a plurality of components that are assembled together in the three-dimensional model data; and
a processor configured to:
receive a captured two-dimensional (2D) image of the object from an image capturing device, the captured 2D image comprising captured image data;
extract at least one feature part from the captured 2D image, the extracted at least one feature part including a characteristic contour;
perform pattern matching between the extracted at least one feature part and a plurality of areas in the stored three-dimensional (3D) model data to derive similarities;
identify an area in the 3D model data that has a highest similarity to the captured 2D image data;
generate 2D image data of the identified area from the 3D model data;
specify a part in which there is a difference between the captured 2D image data and the generated 2D image data;
extract a component corresponding to the part from the plurality of components based on the 3D model data; and
determine whether a position of the extracted component in the captured 2D image data is within a predetermined tolerance range of the extracted component set in the 3D model data, and
a differentiation processor configured to, when the position of the extracted component is not within the predetermined tolerance range, process the captured 2D image data such that an image of a shape of the extracted component is superimposed on the captured 2D image data in a position where the extracted component is to be disposed.

2. The object checking device according to claim 1 , further comprising:
a model processor configured to process the 3D model data such that a first area to which the captured 2D image data corresponds and a second area to which no captured 2D image data corresponds can be specified in the 3D model data.

3. An object checking device comprising circuitry configured to:
receive a captured image of an object from an image capturing device, the captured image comprising captured image data;
extract at least one feature part from the captured image, the extracted at least one feature part including a characteristic contour;
perform pattern matching between the extracted at least one feature part and a plurality of areas in stored three-dimensional (3D) model data to derive similarities;
identify an area in the 3D model data that has a highest similarity to the captured image data;
generate image data of the identified area from the 3D model data;
specify a part in which there is a difference between the captured image data and the generated image data;
extract a component corresponding to the part from a plurality of components that make up the object based on the 3D model data;
determine whether a position of the extracted component in the captured 2D image data is within a predetermined tolerance range of the extracted component set in the 3D model data; and
process, when the position of the extracted component is not within the predetermined tolerance range, the captured 2D image data such that an image of a shape of the extracted component is superimposed on the captured 2D image data in a position where the extracted component is to be disposed.

4. The object checking device according to claim 1 , wherein the generated 2D image data has the same angle of view as the captured 2D image data.

Assignees

• Subaru Corp

Inventors

• Sato Yoichi
• Sako Shoichiro
• Kikuchi Marosuke

Classifications

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G06T7/75

  involving models · CPC title

• G06T2207/30108

  Industrial image inspection · CPC title

• G06T7/97

  Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85) · CPC title

• G06T7/38

  Registration of image sequences · CPC title