Image processing device and image processing method

Patent metadata

Field	Value
Publication number	US-12249087-B2
Application number	US-202117908082-A
Country	US
Kind code	B2
Filing date	Mar 16, 2021
Priority date	Mar 23, 2020
Publication date	Mar 11, 2025
Grant date	Mar 11, 2025

Abstract

The present invention facilitates detection of an object imaged by a three-dimensional sensor. The image processing device includes: a distance calculating unit that, on the basis of three-dimensional data acquired by the three-dimensional sensor, calculates a distance between each of points in the three-dimensional data and a reference plane; a distance image creating unit that creates a distance image having pixel values constituted by values each calculated on the basis of the distance calculated by the distance calculating unit; and an image processing unit that carries out image processing on the distance image. The reference plane may be a bearing surface bearing the object or a surface parallel with the bearing surface. The reference plane may also be a surface of the object. The image processing device may include the three-dimensional sensor.

First claim

The invention claimed is:

1. An image processing device comprising:
a memory configured to store a program; and
a processor configured to execute the program and control the image processing device to:
calculate a reference plane, based on three-dimensional data around an object on a loading surface of the object acquired by a three-dimensional sensor, the loading surface being inclined from a direction perpendicular to an optical axis of the three-dimensional sensor;
calculate, based on three-dimensional data acquired by the three-dimensional sensor, a distance between the reference plane and each of points in the three-dimensional data;
create a distance image that has, as pixel values, values calculated based on the calculated distance; and
perform image processing on the distance image.

2. The image processing device according to claim 1 , wherein the object is a workpiece.

3. The image processing device according to claim 1 , comprising the three-dimensional sensor.

4. The image processing device according to claim 1 , wherein
the image processing includes processing for converting the distance image to an image in which pixel values are exhibited as gradations.

5. The image processing device according to claim 4 , wherein
the image in which the pixel values are exhibited as gradations is a grayscale image.

6. An image processing method for an image processing device which includes a memory configured to store a program and a processor configured to execute the program and control the image processing device, the image processing method comprising:
calculating a reference plane, based on three-dimensional data around an object on a loading surface of the object acquired by a three-dimensional sensor, by the processor, the loading surface being inclined from a direction perpendicular to an optical axis of the three-dimensional sensor;
calculating, based on three-dimensional data acquired by the three-dimensional sensor, a distance between the reference plane and each of points in the three-dimensional data, by the processor;
creating a distance image that has, as pixel values, values calculated based on the calculated distance, by the processor; and
performing image processing on the distance image, by the processor.

Assignees

• Fanuc Corp

Inventors

• Murata Yuusuke
• Takizawa Shouta

Classifications

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T2207/10012

  Stereo images · CPC title

• G06T2200/04

  involving 3D image data · CPC title

• G06V20/64

  Three-dimensional [3D] objects · CPC title

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title