| US 7,502,504 B2 | ||
| Three-dimensional visual sensor | ||
| Kazunori Ban, Yamanashi (Japan); and Ichiro Kanno, Yamanashi (Japan) | ||
| Assigned to Fanuc Ltd, Yamanashi (Japan) | ||
| Filed on Oct. 16, 2003, as Appl. No. 10/685,498. | ||
| Claims priority of application No. 2002-302559 (JP), filed on Oct. 17, 2002. | ||
| Prior Publication US 2004/0081352 A1, Apr. 29, 2004 | ||
| Int. Cl. G06K 9/00 (2006.01) | ||
| U.S. Cl. 382—152 | 20 Claims |
| 1. A three-dimensional visual sensor for obtaining three-dimensional information on an objective workpiece based on an image
of the objective workpiece captured by projecting a reference beam onto the objective workpiece, comprising:
means for detecting a two-dimensional image of a reference workpiece of a same type as the objective workpiece;
means for storing, as reference information, information about a surface of a first region including a characteristic part
of the objective workpiece and a surface of a second region as a target region of three-dimensional measurement of the objective
workpiece, said information about the first and second regions being obtained from the detected two-dimensional image of the
reference workpiece of the same type as the objective workpiece, which is captured from a predetermined position;
means for capturing an image of the objective workpiece and determining a region corresponding to said first region in the
image of the objective workpiece;
means for determining another region in the image of the objective workpiece corresponding to said second region based on
information on a position of the region determined as corresponding to said first region and said reference information stored
in said storage means; and
means for obtaining three-dimensional information on the objective workpiece in the another region.
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