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

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