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Fastest large volume3D inspection in motion MotionCam-3D
Control 2019 Marcel Svec
#MotionCam-3DFastest large volume
3D inspection in motion
Goal: 3D scan of a large volume in high quality and in motion
3D Sensing Trade-offs● Accuracy
● Resolution
● Speed (static vs. dynamic scene)
● Robustness to light conditions
● Large depth of field
● Large field of view
● Form-factor
● Ease of use
Static scenes - structured light
1- https://azttm.wordpress.com/2011/04/03/kinect-pattern-uncovered/2- J. Geng, "Structured-light 3D surface imaging: a tutorial," Adv. Opt. Photon. 3, 128-160 (2011).
Multiple line patterns (sequence of frames)+ High resolution+ High quality+ Reasonable scanning volume and robustness to ambient light- Can’t be used for scanning in motion
https://www.researchgate.net/figure/Binary-structured-light-patterns-The-codeword-of-a-point-p-is-created-by-the-successive_fig8_286924257
3D/DepthMap Texture Normals
Dynamic scenes - parallel structured light
Time-of-flight Active stereo Structured patterns / dots
Parallelstructured light
Low resolutionLow accuracy
Trade-off reliability vs resolution
Low resolutionLow quality features
High resolutionHigh accuracyHigh quality
MicrosoftSonyPMD
AMS/HeptagonPanasonic
Odos/RockwellEspros
AppleQualcomm/Himax
Mantis VisionOrbbec
IntelZED
Ensenso/IDSPhotoneo
Existing methods Photoneo
We parallelize sequential structured light
World’s best 3D Camera
● Scanning in motion● Novel technology - Parallel Structured Light
○ Custom CMOS image sensor○ Rolling => Global => Mosaic Shutter
● 10x Higher Resolution & Accuracy● No Motion Blur● Works Outdoors● Multiple Devices Simultaneously● Optimal Light Efficiency● Rapid Acquisition - up to 60 FPS● Patented
Photoneo CMOS image sensor
Photoneo 3D Camerais superset of Photoneo 3D Scanner
One shot mode (default)
● Resolution: 500K points● 1 frame
○ In motion
High resolution mode
● Resolution: 2M points● 4 frames
○ Static scene
Software on-the-flyswitch
Every bit of every pixel contributes to the final quality of 3D data. Each 3D point is independent measurement.
Active StereoStructured PatternsTime of Flight
Passive Stereo
3D Camera - Comparison
Mantis Vision
ZED
Intel
Panasonic
Apple
Ensenso
True
res
olut
ion
Precision
Photoneo500K points
30K points
100K points
Axes
are
not
line
ar.
10mm 5mm 1mm 0.1mm
Sony
Parallel structured light
Output / Sensor resolution True resolution Z noise
@ 1m, 50% albedo
Consumer ??? Active stereoCorrelation 1280 × 800 ~5 000 projector dots
(+features from passive stereo) 3mm
Industrial ??? Active stereoCorrelation 1280 x 1024 512 x 410 = ~210 000
(Nyquist-Shannon sampling theorem) 3mm
Consumer ??? Structured dotsRecognition 640 × 480 ~70 000 projector dots 3mm
Consumer ??? Time-of-Flight 512 × 424 256 × 212 = ~54 000(0.5x penalty - heavy spatial smoothing) 3mm
Consumer ??? Time-of-Flight 160 × 120 160 × 120 = ~19 000 3mm
Industrial ??? Time-of-Flight 640 × 480 320 × 240 = ~77 000(0.5x penalty - heavy spatial smoothing) 6mm
Consumer ??? Time-of-Flight 640 × 480 640 × 480 = ~300 000 6mm
Industrial ??? Time-of-Flight 640 x 480 640 × 480 = ~300 000 10mm
Photoneo Parallel Structured Light 1068 × 800(One shot mode) ~500 000 0.5mm
Computational Image Sensor● Photoneo developed and patented a novel, ultimate IS for Computational Photography● It's not just another image sensor with "epsilon improvement" (like lower noise or higher
resolution). It fundamentally changes the way how the image is captured and thus reveals a novel, valuable information.
● Broad applicability:3D Scanning, HDR video, Motion Tracking, Image Deblurring, Compressive sensing
Rolling Shutter Global Shutter Mosaic/Matrix Shutter
Bin Picking / Belt Picking
Automotive, general manufacturing, Logistics, e-Commerce
Palletizing, de-palletizing, machine tending
Online Quality Control and Metrology
People counting, behaviour monitoringVR, AR and ergonomics
www.channelfutures.com
Food processing / handling
Picking, Sorting,
Harvesting
Festo
Thank you
● Effective resolution is limited because:○ Surface is sampled by a projected pattern○ Projected pattern is sampled by camera
=> A surface detail should be at least ~7 camera pixels wide to be resolved by the camera
● Structured dots case● “no dot” area = no information
● Stereo case● “no dot” area = passive stereo
(= poor performance)
Active Stereo / Kinect like devices
Projector dots Camerapixel
No dot means no 3D information