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kristin-stafford
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高精度高速度的三维测量技术
3D stereo camera
• Stereo line scan camera
• 3D data and color image
simultaneously
3D-PIXA
Features
• CCD: tri-linear color line scan sensor
• 10 µm pixel size
• Resolutions:• 7300 @ 22 kHz• 4096 @ 36 kHz• 2048 @ 66 kHz• 1024 @ 100 kHz
• 3 x 170 MByte/s (=510 MByte/s)
• CameraLink Medium
PIXA family basic features
Overview
Stereoscopic approach
• Calibrated stereo line scan camera
• Height in real time with GPU
Features
• RGB images and height map
• Modular system concept
for custom specific solutions
• Quality and performance based on
allPIXA
Linear movement
Surface of object
Line-scan camera Height + image
Customer benefit 1/2
Highest resolutions (max 7k per line)
• Large formats
• High lateral resolutions
• Height resolution up to 10x better
than lateral resolution
Line-scan approach
Ideal for fast moving objects
Ideal for 100% inspection
Benefit 2/2
High speeds (up to 60.000 lines/s)
Highly configurable
• Via lens system
• Resolution from 10 µm to 700 µm
• lens defines the resolution
Output
• Color image (rectified)
• Height map (16 Bit image)
• Point cloud
Functional principle
Stereo correspondence
• Find corresponding points in both images using correlation (texture based)
• Result from correlation is disparity map
• Height is calculated from disparity map using calibration data
• Correlation is performed on GPU
Stereo approach: Principle
Two images from the same scene
• Both cameras takes the same scene two different viewing angles
• One point on the surface P is projected in both images (Pl und Pr)
• Calculation of height based on triangulation
Standard stereo approach • Parallel cameras and sensors
Object surfaceP
Pl
b
Z
c
Left Camera Right cameraP
rZ: distance p: Parallax p = xl - xr
b: Basis of stereo system
c: Image distance
Stereo approach: Principle
P
Pl
b
c
Object surface
Prxl xr
pParallax
ZZ: Distance
b: Basis of stereo system
c: Image distance
p: Parallax p = xl - xr
Parallaxe p
• different viewing angles results in parallax
9
Corresponding points
• Stereo image acquisition: two images
• Finding corresponding points
Pattern matching
• Left image: take ROI around Pl as pattern
• Search for best match of pattern in the right image
• Position with best match is resulting correspondence
Stereo approach: Correspondence10
Stereo approach: Correspondence
Left image
right image
11
Correlation
Position of the ROI
Embossing Soldering on a normal Wood boardon package electronic board with relief structure
Samples
3D visualized with10 µm optical resolution1 µm height resolution
Samples: Euro coin
Samples: Euro coin
Height map in pseudo color10 µm optical resolution1 µm height resolution
Samples: banknote in-taglio print
10 µm optical resolution1 µm height resolution
System options 1/2
3D-PIXA-C15
Resolution: 15 µm
Height resolution: 3 µm
Scan width: 40 mm
Height range: 1 mm
Max. speed: 0.3 m/s
3D-PIXA-C30
Resolution: 30 µm
Height resolution: 6 µm
Scan width: 105 mm
Height range: 3 mm
Max. speed: 0.6 m/s
System options 2/2
3D-PIXA dual
• Dual line-scan camera
• Flexible in base width
• Support for 10 – 700 µm
• Max. 60 kHz
• Usable pixels: max. 7000
• Available for project solutions
System options 2/2
3D-PIXA-D70
Resolution: 70 µm
Height resolution: 20 µm
Scan width: 500 mm
Height range: 30 mm
Max. speed: 1.5 m/s
3D-PIXA-D680
Resolution: 680 µm
Height resolution: 200 µm
Scan width: 2000 mm
Height range: 700 mm
Max. speed: 25 m/s
Example configurations
System configuration HW
PC
CameraLink
PC
- Bus
Imaging
3D calculation (API)
Application software
Image analysis
origin Color image Height image
System configuration
Calculation of 3D height information
• Depends on:
• Height range
• Number of graphic boards
• Line length (4K for this sample calculation)
2k systems max. 60 kHz
4k systems
Laser approach
3D-PIXA vs. Laser scanner: Illumination21
3D-PIXA - standard light source no specles
22
3D-PIXA
3D-PIXA vs. Laser scanner: Illumination
Dark-field Bright-field Co-axialCloudy-day (dome)
23 speed range
Sensor rows => range
High speed only for
• Low resolution (1/2 pixel)
• Small range (< 100 rows)
3D-PIXA
• always 21 kHz (up to 60 kHz)
3D-PIXA vs. Laser scanner: Illumination
Why choose 3D PIXA
Unique performance
3D and 2D color simultaneously
Highest resolutions, widths and speeds
Ideal for 100% inspection
Ideal for fast moving objects
Flexible as line-scan cameras
Registration of texture and 3D height
Powered by Chromasens allPIXA technology