SL A 3D Stereo Vision and Vision Guided Robots

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1 Tordivel AS

2 3D Stereo Vision and Vision Guided Robots Thor Vollset Founder and Managing Director TORDIVEL AS November 8th 2016 Tordivel AS

3 Company Profile Tordivel is located in Oslo, Norway Founded by Thor Vollset in years experience in 2D and 3D machine vision Continous innovation and development through projects and R&D Excellence in 3D Stereo Vision Homemarket Norway, Sweden and United Kingdom Software, Hardware, Components and OEM Solutions Machine Vision Solutions in Home Markets Global Distribution in 15 countries 70 % is export outside Norway Tordivel AS

4 Tordivel AS, Scorpion Vision Software and Scorpion 3D Stinger Technology Scorpion Vision Software Hand-made in Norway Based on Industry Standards Complete 2D and 3D Support No programming Python Language Support for OpenCV 3.1 First version in now version XI Build # licences sold Scorpion Stinger Components - Norwegian IPR Scorpion Embedded PC Scorpion 2D and 3D Stinger Cameras Integrated White and IR LED illumination

5 3D Vision Guided Robots Challenge Multiple scenarios - flexibility required Single object - Multiple objects Conveyor - Pallet - Somewhere Fixed object - Moving Objects Single Layer - Multipe Layers Reflective objects - Natural textures Oriented - Semi-Oriented - Random Object One object type - multiple object types Small object - large object - small FOV - large FOV Tordivel AS

6 3D Stereo Vision Basics Viewing an object from two or more positions just like the eyes of a person The displacement between the images contains valuable depth information The practical challenge is to find the corresponding features in the two images Occlusion and perspective can be a challenge "Epipolar Geometry1" by ZooFari Own work. Licensed under Public Domain via Wikimedia Commons - Page 6

7 Stereo Vision should be a natural step forward from 2D machine vision. With a 3D calibrated camera it is possible to extract 3D information directly from any 2D image. We know where every pixel moves in 3D space. This is the basis for the most advanced 3D Vision Guided Robots Systems Page 7

8 Accuracy in Stereo Vision The typical resolution for object location within a FOV 1200 x 800 x 800 mm is better than 1 mm in x, y and 1 to 3 mm in z. The resolution and accuracy must be verified in each application and is determined by the following elements: Size of Picking Area, Size of Object, Camera Resolution, Camera Distance and BaseLine The Z resolution can be defined by the following formula: Zres=PixelResolution / SubPixelResolutionFactor * (Distance / Baseline) PixelResolution is the size of each pixel SubPixelResolutionFactor is typically 10 the factor can be bigger if the objects or feature to be located is large Distance is the distance from the camera to the object Baseline is the distance between the two cameras in the stereo-pair Page 8

9 3D in 2D Images Background Once the object plane is located in the 3D image we can move to the 3D calibrated 2D image object plane The 2D image contains a lot more information than the 3D image - 3D resolution is limited by the RPP dot number and size or other projector Page 9

10 3D in 2D Images Bottle Counting Page 10

11 Packaging - Real-time Sausage Picking Scorpion 3D Stinger for Robot Vision Scorpion 3D Stinger RPP Camera IP-64 Enclosure IR LED and IR RPP Laser Scorpion Vision Software XI FOV : 600 mm x 300 mm x 200 mm 3D Locate in 300 ms Features ABB robot empty crate in 60 seconds Locates one sausage in 3D in 300 ms Locates every crate in 3D Reliable empty crate verification No teaching of the different sausages Handles all colors and texture without training Page 11

12 Depallatizing - Tea Sack Picking Scorpion 3D Stinger for Robot Vision Scorpion 3D Stinger ML Camera IP-64 Enclosure IR LED and IR Multiline Laser Scorpion Vision Software XI FOV : 1600 mm x 1600 mm x 3000 mm Resolution : 2 mm Features Kuka picks sacks every 10 seconds Works for all sacks independant of pattern / color 24/7/365 requirement Page 12

13 Automotive - 3D Gear Pallet Picking Scorpion 3D Stinger for Robot Vision Scorpion 3D Stinger Camera IP-64 Enclosure - IR - LED Fast feature based 3D location Object Presence verified in 3D Scorpion Vision Software XI Features ABB Robot picks 24/7 User-configurable gear types - by dimension 3D system not affected by oil and contamination Reliable empty layer check Automatic product change Picking can start at any layer and position on the pallet Generate Dense 3D Image for each Gear to double check 3D location Page 13

14 Requirement for a 3D Robot Vision Euro Pallett Scenario Camera Distance : mm Picking area : 1200 x 800 x 800 mm Resolution Requirement - zres 1-3 mm 3D Stereo Vision Camera Specification Baseline : 200 mm Camera resolution : 2.3 MPixel Strong projector - RPP or Multiple Lines need to have contrast at 2000 mm Software Requirement subpixel resolution : 1/10th Zresolution: 1200/1920 / 10 * 2000 / 200 = mm - OK Zresolution : 1200 / 1200 / 4 * 2000 / 100 = 5 mm - NOT OK Page 14

15 Automation -Track Shoe Pallet Picking Scorpion 3D Stinger for Robot Vision Scorpion 3D Stinger RPP Camera IP-64 Enclosure IR LED No Projector - Natural Texture FOV 1400 x 1000 x 1000 mm Scorpion Vision Software XI Features User-configurable product types More than 20 variants Generate dense 3D Image 3D in 2D verifies accurate final picking position Automatic product change Page 15

16 360 degree3d FOV - multiple 3D cameras Page 16

17 Tordivel has been a supplier of 2D and 3D Robot Vision since 2001 Extracting 3D features from 2D images is fast, robust and a natural extension to 2D Machine Vision. 3D Dense Image Creation is wonderful and extremely powerful - structured light and RPP makes the 3D image creation more robust. Tordivel has developed best practices for 3D Robot Vision Tordivel is ready to deploy the next generation 3D Robot Vision systems based on ultra flexible and proven Scorpion 3D Stinger Technology SL A Tordivel - Scorpion 3D Stinger for Robot Vision - Confidential - Cannot be distributed without written consent from Tordivel AS Page 17 Tordivel AS Scorpion Vision Software and Scorpion Stinger are trademarks of Tordivel AS

18 More information - Contacts Tordivel AS Thor Vollset thor@tordivel.no TordivelBlog Scorpion 3D Stinger YouTube - TordivelBlog channel Tordivel AS