System and method for finding correspondence between cameras in a three-dimensional vision system
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United States of America Patent
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Dec 3, 2013
Grant Date -
Jun 14, 2012
app pub date -
Dec 8, 2010
filing date -
Dec 8, 2010
priority date (Note) -
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Abstract
This invention provides a system and method for determining correspondence between camera assemblies in a 3D vision system implementation having a plurality of cameras arranged at different orientations with respect to a scene, so as to acquire contemporaneous images of a runtime object and determine the pose of the object, and in which at least one of the camera assemblies includes a non-perspective lens. The searched 2D object features of the acquired non-perspective image, corresponding to trained object features in the non-perspective camera assembly, can be combined with the searched 2D object features in images of other camera assemblies (perspective or non-perspective), based on their trained object features to generate a set of 3D image features and thereby determine a 3D pose of the object. In this manner the speed and accuracy of the overall pose determination process is improved. The non-perspective lens can be a telecentric lens.
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