8-HALCON-三维定位方法

©2003-2012MVTecSoftwareGmbHHALCON三维空间定位方法段德山产品总监中国大恒（集团）有限公司北京图像视觉技术分公司TypicalApplicationsPick-and-PlaceMicroelectronicsAlignmentPrintinspectionRoboticsHALCONoffersmatchingtoolsforanyrequirementWhichmatchingmethodsuitsyourapplication?StartRigidtransformationComponentsLocaldeformationsColor(Aniso-)ScalingPerspectivedeformations3D3Dcontours3Dsurface©2003-2012MVTecSoftwareGmbHDescriptor-basedMatchingHALCONsupportsdescriptor-basedmatchingChoosebetweencalibratedanduncalibratedmatchingUncalibratedreturnsperspectivemapCalibratedreturnsposeThe3DposeofthemodelmightdifferfromthereferenceposeModelposeReferencePoseOffsetModelROIwithmodeloriginImageplaneWorldplanedefinedbyreferenceposefind_calib_descriptor_modelreturnsaposezmxmymxcyczcPoseDescriptor-basedmatchingisdoneinfoursteps1.Traininterestpoints2.Detectpoints3.MatchpointsOfflineOnline4.CalculatemapUsetexturedimagesDonotuseperiodicpatternsRobustagainstscaling,tiltandclutterMetallicobjectsarebadTrainingtakesalongtimewithmanyinterestpointsOnlyperspectivedistortionscanbefoundDescriptor-basedmatchingisbestfortextorprints©2003-2012MVTecSoftwareGmbHDeformableMatchingHALCONfindsobjectswithperspectivedistortionsHALCONfindsobjectswithperspectivedistortionsofflineonlineFirst,createaplanardeformablemodelCreatemodelFindmodelClearmodelCreateamodelfromaplanarpartoftheobjectCalculateareferenceposeforthemodelThe3DposeofthemodelmightdifferfromthereferenceposeModelposeReferencePoseOffsetModelROIwithmodeloriginImageplaneWorldplanedefinedbyreferenceposeofflineonlineSecond,findthemodelonlineCreatemodelFindmodelClearmodelAcoarse-to-finestrategyspeedsupdetectionTheshapechangesonlyalittleafterdeformationOneachpyramidlevelonlysmallcorrectionsareneededfind_planar_calib_deformable_modelreturnsaposezmxmymxcyczcPoseofflineonlineFinallyfreethememoryCreatemodelFindmodelClearmodelUseobjectswithclearedgesOnlyperspectivedistortionscanbefoundGoodformetallicobjectsPolaritychangesslowdownsearchPlanarsurfaceneededDonotmixupdifferentobjectplanesPerspective,deformablematchingisbestforobjectswithclearplanaredges©2003-2012MVTecSoftwareGmbHShape-based3DmatchingShape-based3DmatchingForaflexibleproduction,thepickingofobjectswithrobotsiscrucialTorealizethistask,the3DpositionoftheobjectshavetobedeterminedfirstInaddition,theobjectsaretypicallynotplanar,buthavea3DshapeTosolvethistaskHALCONoffersshape-based3DmatchingCanhandlegeneralobjectsDoesnotrequiremanualpreprocessingorsegmentationNoapproximateposemustbeknownTheposecanbedeterminedwithoutambiguityRobustnesstoocclusions,clutter,andcontrastchangesACADmodeloftheobjectmustbeprovidedPoseestimationwithshape-based3DmatchingHowitworksBasedona3DCADmodel,a3Dshapemodeliscreated.The3Dshapemodelconsistsof2Dviewsoftheobject.Forthis,theobjectisassumedtobeatthecenterofasphere.Thevirtualcamerasareplacedonthesphereandpointtoitscenter.Shape-based3Dmatching©2003-2012MVTecSoftwareGmbHSurface-based3DMatchingHALCONofferssurface-based3DmatchingConfigurationSurface-based3DmatchingworkflowCreatemodelImproveaccuracyPerformmatchingGetresultsEvaluationcreate_surface_modelfind_surface_modelget_surface_matching_resultrefine_surface_model_poseHALCONofferssurface-based3D-MatchingCreatemodelcreate_surface_modelget_surface_model_paramDeterminemodelposefind_surface_modelrefine_surface_model_poseGetadditionalinformationget_surface_matching_infoModelIOwrite_surface_modelread_surface_modelCleanupmemoryclear_surface_modelclear_surface_matching_resultclear_all_surface_modelsSurface-based3DmatchingiseasytotrainTrainingOnlineOfflineCAD-DataSurfacemodelSearchExamplesfor3DmodelsfromCADdataSurface-based3DmatchingiseasytotrainSurfacemodelStereoTrainingimageObjectSheetoflightTrainingSearchSurface-based3DmatchingisrobustSurface-based3Dmatchingisrobust–evenwitherroneousdataSurface-based3Dmatchingisrobust–evenwitherroneousdataSurface-based3Dmatchingisrobust–evenwithlowresolutionEnginepartDepthimagefromTOFcamera(176x144)Objectsizeabout70x45Surface-based3Dmatchingisrobust–evenwithlowresolution(TOFdata)Surface-based3Dmatchingisrobust–evenwithlowresolutionSurface-based3Dmatchingisrobust–alsowithocclusionSurface-based3Dmatchingisrobust–evenwithocclusionSurface-based3Dmatchingisrobust–evenwithocclusionSurface-based3Dmatchingisrobust–evenat(outside)theimageborderSurface-based3DmatchingisfastandoffersthefullposerangeDifferencesbetweensurface-based3Dmatchingandshape-based3DmatchingShape-based3DmatchingSurface-based3DmatchingObjectSearchimageTrainingPoserangeMemorycleargeometricedges2DimageCADdatatypicallyrestrictedhigharbitraryshape3DpointcloudCADdataor3Dpointcloudfullmedium©2003-2012MVTecSoftwareGmbHHand-EyeCalibrationImprovedhand-eyecalibrationTherearetwoscenariosforhand-eyecalibrationknownfromhand-eyecalibrationbasecameratoolneededMovingcameraStationarycamerabasecameratoolobjectobjectHand-eyecalibrationhasbecomeeasierknownfromhand-eyecalibrationMovingcamerabasecameratoolHand-eyecalibrationhasbecomeeasierStationarycamerabasecameratoolknownfromhand-eyecalibrationMovingCameraChainoftransformationsforamovingca