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EP0645009A1 - Procede d'etalonnage d'un systeme de traitement d'images - Google Patents

Procede d'etalonnage d'un systeme de traitement d'images

Info

Publication number
EP0645009A1
EP0645009A1 EP93912866A EP93912866A EP0645009A1 EP 0645009 A1 EP0645009 A1 EP 0645009A1 EP 93912866 A EP93912866 A EP 93912866A EP 93912866 A EP93912866 A EP 93912866A EP 0645009 A1 EP0645009 A1 EP 0645009A1
Authority
EP
European Patent Office
Prior art keywords
image
calibration
image sensor
pattern
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP93912866A
Other languages
German (de)
English (en)
Inventor
Ernst Greten
Robert Massen
Meinrad Simnacher
Erwin Herre
Michael Mittelsdorf
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Grecon Greten GmbH and Co KG
Fagus Grecon Greten GmbH and Co KG
Original Assignee
Grecon Greten GmbH and Co KG
Fagus Grecon Greten GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Grecon Greten GmbH and Co KG, Fagus Grecon Greten GmbH and Co KG filed Critical Grecon Greten GmbH and Co KG
Publication of EP0645009A1 publication Critical patent/EP0645009A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
    • G01N21/898—Irregularities in textured or patterned surfaces, e.g. textiles, wood
    • G01N21/8986—Wood
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/93—Detection standards; Calibrating baseline adjustment, drift correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/46—Wood
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G01J1/08—Arrangements of light sources specially adapted for photometry standard sources, also using luminescent or radioactive material
    • G01J2001/086—Calibrating drift correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques

Definitions

  • the invention relates to a method according to the preamble of claim 1.
  • Optical systems for quality control, classification and sorting are being used to an increasing extent in the context of wood processing and processing.
  • Lumber is cut out.
  • the adjustment and alignment of the four cameras and the calibration of such a system cause difficulties and have so far been insufficiently solved. If, for example, the dimension of the lumber to be tested changes, all four cameras usually have to be mechanically adjusted, their optics readjusted, the different lighting intensities corrected and the alignment of the cameras to each other readjusted. This requires a considerable amount of time of up to one day and therefore also means an economic loss, since the system cannot be operated profitably during this changeover period.
  • the invention is based on the object of calibrating to speed up, simplify and improve an image processing system.
  • Matrix or line cameras can be used as cameras.
  • the method is particularly suitable for testing sawn timber and chipboard.
  • the method enables a rapid, at least partially automatic calibration of an image processing system for the automatic inspection of the test objects.
  • setting aids By using setting aids, an accelerated and automatic setting and calibration of such a system can take place.
  • radiometric calibration and then geometric calibration it is achieved that the individual calibration settings do not have a negative effect on other calibration settings.
  • the radiometric calibration is carried out correctly, even if the geometric calibration is still missing, e.g. the cameras are still misaligned and / or defocused.
  • the geometric calibration can only be carried out with good accuracy if the radiometric calibration has been carried out beforehand.
  • the features of claim 2 improve the overall calibration if the at least one camera is a color camera.
  • test specimen In the case of sawn timber, for example, all four sides of the test specimen can be inspected. Four cameras are then preferably provided, each of which is directed to one side of the test specimen.
  • the body can be sent through the test station during breaks, for example, when no test object is passing through the cameras. Then more computer time is available for the calibration.
  • the calibration according to claim 4 can be carried out continuously or at short intervals. In the case of intermittent re-calibration, it is also advantageous in this case to take advantage of breaks in operation in order to then have more computing time available.
  • the procedure according to claim 5 can make a separate calibration body and its periodic passage through the test zone unnecessary.
  • the re-calibration can be carried out without interrupting the test operation.
  • the intermediate strip according to claim 15 is preferably of a defined brightness or color.
  • the setting according to claim 17 can e.g. manual or motorized via linear adjustment devices.
  • all optical axes can be through a common point on the
  • the period can be calculated in a manner known per se with high accuracy from the Fourier spectrum or from the autocorrelation function of the brightness signal. Both methods allow the determination of the period with an accuracy of typically 1/100 pixels.
  • the features of claim 20 or 21 are to be used advantageously in colorimetric calibration.
  • the determination of the transformation of the color space can e.g. take place at predetermined intervals.
  • FIG. 1 schematically shows the structure of a test station with four lighting devices, four line cameras aimed at a sawn timber and an image computer,
  • FIG. 2 shows a calibration body which is provided with pattern fields suitable for radiometric, geometric and colorimetric calibration
  • 17 shows a type of attachment of cameras during chipboard inspection.
  • test object 2 in this case lumber, is moved in a feed direction 3 in a test station 1.
  • an image processing system 4 is intended to examine all four sides of the test specimen 2 for specific defects 5, such as cracks, knots, branches, edge breakouts, resin gall, blue and red rot.
  • an illumination device 6 and a line camera 7 are directed onto each surface of the test object 2.
  • Each camera 7 captures a line-shaped section 8 of the surface of the test specimen 2 in a plane perpendicular to the feed direction 3.
  • the test object 2 moves at a relatively high speed of up to several m / s, for example 1 to 2 m / s.
  • matrix cameras can also be used instead of the line cameras 7.
  • black / white cameras or color cameras are to be used.
  • the calibration of the image processing system 4 is divided into a radiometric, a geometric and a colorimetric calibration.
  • the radiometric calibration in the present example relates to the following steps:
  • This calibration is carried out in that, according to FIG. 4, a line profile 12 is recorded from a template with a known gray value and from this the e.g. linear transformation rule
  • x (i) target a (i) + b (i) * x (i) i, st tl]
  • x (i) represents the electrical output signal of the pixel with the index i.
  • X. is the uncorrected value, xsol, l, the corrected
  • the coefficient a (i) indicates the required zero point shift
  • the coefficient b (i) the required (positive or negative) amplification of the electrical signal of the image point i, which is required in order to obtain the desired value from the actual value to obtain.
  • the image point In order to determine the two unknown coefficients a and b, the image point must observe two pattern fields 13 and 14 (FIGS. 2 and 8) one after the other with known, different brightness.
  • the pattern fields 13, 14 are expediently chosen so that they lie in the central brightness range detected by the line camera 7.
  • the pattern field 13 is somewhat lighter than the pattern field 14.
  • an image sensor 15, in this case designed as a pixel line, with individual pixels 16 is shown.
  • the electrical output signals of each pixel 16 are queried serially via a switching element 17, amplified by an analog video amplifier 18 and then input into an analog / digital converter 19.
  • the fact that each pixel 16 consecutively looks at the two pattern fields 13, 14 ensures that all the pixels 16 give a value in spite of the zero point and gain setting of the analog video amplifier 18 and the analog / digital converter 19 still missing there, which is still in the modulation range of the analog video amplifier 18 and the analog / digital converter 19.
  • the coefficient pair a (i) and b (i) and thus the individual transformation rule for each pixel is determined, which is necessary to adjust the individual zero point shift (ie, the individual dark current) and to correct the individual sensitivity (ie, the conversion factor of radiation power into electrical voltage) of the pixel to the desired value.
  • the transformation rule according to equation [1] can advantageously be carried out using a table calculator according to FIG. 5.
  • the table 20 is with the addressing pointer 21 from the index i and with the addressing pointer 22 from the gray value x (i). + of the pixel i (or 16) addressed. Under each of these addresses is in the
  • the calibration markings for this step of radiometric calibration consist of the two pattern fields 13, 14, each with a uniform and known, but different brightness value. These two brightness values should lie in the safe modulation range of the line scan cameras 7.
  • the correction of the different sensitivity and the different zero point of the pixels 16 of the image sensor 15 simultaneously includes the correction of the edge drop in brightness caused by the optical laws (the so-called vignetting), since this edge drop is like a lower sensitivity of the Pixel 16 arranged at the edge of the image field affects.
  • the next step of the radiometric calibration namely the zero point and the gain setting of the video amplifier 18 and the analog / digital converter 19 of each line camera 7, is carried out in that all the pixels i (or 16) in succession at the same time to a very high dark pattern field 23 (FIGS. 2, 6 and 8) with a constant brightness value and then onto a very bright pattern field 24 (FIGS. 2, 7 and 8) with a likewise constant brightness value. 6 is when viewing the very dark
  • Pattern field 23 the zero point is set so that after the analog / digital converter 19, all pixels i produce a small numerical value located at the lower modulation range, which is shown in FIG. 6 by the curve 25.
  • the gain is set so that all the pixels i produce a larger numerical value which lies at the upper modulation range, which is shown in FIG. 7 by the curve 26.
  • this three-stage method is iterated until a desired modulation of all pixels i (or 16) is reached, i.e. until the numerical starting value of all
  • Pixels when viewing a homogeneous surface e.g. of the pattern field 13 or 14, assumes a value that is sufficiently close to the desired value xsoi *, i *.
  • FIG. 2 shows a calibration body 32, which expediently has the same cross-sectional shape as the test object 2 and is moved instead of the test object by the test station 1 (Fig. 1) when the image processing system 4 is to be calibrated.
  • the pattern fields 13, 14, 23, 24 are applied to each of the four sides of the calibration body 32 in the form of circumferential strips.
  • the calibration body 32 instead of the calibration body 32, one can also proceed according to FIG. 3. There, within the test station 1, the same arrangement of sample fields, e.g. 13, projected. Instead of a surface of the calibration body 32 (FIG. 2) in FIG. 3, the line camera 7 records the image of the test object 2 itself that is projected in this way. The electrical signals obtained from the sample fields are then evaluated in the same way as with the calibration body 32.
  • This contrast measure K can e.g. consist of the sum of the differences in magnitude of neighboring pixel brightnesses:
  • the contrast measure K shown in FIG. 10 is maximum if the lens of the associated line scan camera 7 * is in focus.
  • the marking for focus calibration always consists of a high-frequency light / dark pattern field.
  • the pattern field 34 with the periodic dash pattern is sufficient for this, but not the only possible embodiment.
  • Other designs can e.g. high-frequency random dot patterns, pseudo-random binary patterns and similar high-frequency patterns with many light / dark edge transitions.
  • a further geometric setting consists in the alignment of all four line cameras 7 in such a way that they are aligned at right angles to the test specimen 2 and are offset from one another either in the same observation plane or by defined distances in the feed direction 3.
  • a pattern field 35 (see also FIG. 2) is used, for example, which has two relatively dark strips 36 and 37 parallel to the scanning direction, spaced apart from one another, and a lighter intermediate strip 38 arranged between them.
  • the strips 36 to 38 must each have at least the width of the image 39 of the image sensor 15 on the calibration body 32 (FIG. 2) or the test object 2 (FIG. 3). If the line camera 7 in question is not correctly aligned, the illustration 39 cuts one of the two strips 36, 37. This then results in
  • Fig. 11 Profile of the output voltage shown below.
  • the line camera 7 is aligned by manual or motorized displacement, rotation and tilting until the line profile according to FIG. 12 is homogeneous and only detects the intermediate strip 38.
  • the intermediate strip 38 is expediently of a defined brightness or a defined color.
  • Another geometric calibration consists in determining the magnification, i.e. the number of pixels per mm, for each line scan camera 7.
  • the known period of the pattern field 34 already mentioned under a), which is already used for focus calibration, is measured with the periodic line pattern and the period of the light / dark structure in the digitized brightness signal is determined. It is known to calculate this period with high accuracy from the Fourier spectrum (FIG. 14) or from the autocorrection function of the brightness signal (FIG. 15).
  • the spatial frequency which arises from the line pattern 34 is proportional to its step size, namely l / d Q. Both methods are known per se to the person skilled in the art of image processing and allow the determination of the period with an accuracy of typically 1/100 pixel.
  • Fsol n l ( v n) 'g a be measured.
  • n 4 color references, e.g. Green, yellow, red and blue.
  • Suitable ultra stable color references are e.g. by Minolta Camera Co., Ltd., 30.2-Chome, Azuchi-Machi, Higashi-Ku, Osaka 514, Japan, and Labsphere Inc., P.O. Box 70, North Futton, N.H. 03260, USA.
  • T and T are coefficients of the matrix T. T and T are thus known. If all observed color vectors Fi.s + (i) of the surface of the test specimen 2 are multiplied by T ⁇ , the corrected color vectors Fsol- * l *, (i) are obtained, which correspond to the color that is found in a color camera 7 without drift and with lighting without changing the lighting intensity and temperature would result in:
  • pattern fields 40 each with a blue 41, green 42, yellow 43 and red color reference 44 are shown in FIGS. 2 and 3.
  • This re-calibration is carried out at periodic intervals by measuring at least four color references and by calculating the inverse transformation matrix.
  • the mathematical foundations of matrix and geometric transformation mathematics are known to the person skilled in the art and need not be clarified further here.
  • all the measured pixels are transformed before the actual image evaluation with the aid of a color-roughness transformation calculator according to equation [5].
  • arithmetic units exist in the form of special matrix multiplier modules for real-time color space transformation and are available, for example, from Brooktree Corporation, 9950 Barnes Canyon Rd., San Diego, CA 92121-2790, USA, and from TRW LSI Products Inc., PO Box 2472, La Jolla, CA 92038, USA.
  • the calibration body 32 (FIG. 2) or the test specimen 2 carrying the at least one projection image with the pattern fields according to FIG. 3 can be moved zone by zone automatically or manually as well as continuously or stepwise through the image field of the line cameras 47.
  • the individual calibration calculations are carried out in the image computer 11.
  • the zones between the individual pattern fields can be designed such that they serve as optical trigger signals.
  • some of the aforementioned pattern fields can be permanently superimposed on the edge of the image field of the camera 7.
  • the recalibration can be carried out at short intervals or continuously and in any case without interrupting the running test operation.
  • the re-calibration can advantageously be carried out during breaks in operation, when no test object is passing the cameras 7. In principle, more computer time is available during these breaks.
  • the calibration is limited to the pixels concerned at the edge of the image field, but the above-mentioned basic calibration can advantageously be supplemented by this type of re-calibration.
  • 16 shows the arrangement of the line cameras 7 on a frame-like, stable carrier 45.
  • Each line camera 7 can be adjusted three-dimensionally relative to the carrier 45, one dimension 46 parallel to the feed direction 3, another dimension 47 horizontally and the third dimension 48 vertically runs.
  • Optical axes 49 of the line cameras 7 are arranged at right angles to the feed direction 3 and intersect the longitudinal axis 51 of the test object 2 at a point 50.
  • each line camera 7 can e.g. Via a known multiple slide guide either manually or - controlled by the image computer 11 - motorized.
  • the test station 1 according to FIG. 17 is intended for testing test specimens 2 designed as chipboard.
  • test specimens 2 designed as chipboard.
  • only an upper surface 52 and a lower surface 53 of the test object 2 are inspected by two line cameras 7, 7 each.
  • the line-shaped cutouts 8 of each of these line camera pairs 7, 7 extend transversely to the feed direction 3 of the test specimen 2, abut one another and are in alignment with one another.
  • the inspection of the upper surface 52 and the lower surface 53 can be carried out with only one line camera 7 or more than two line cameras 7. If necessary, side surfaces 54 and 55 of the test specimen 2 can also be inspected by a line camera 7 in accordance with FIG. 16. These line cameras would then also be mounted and adjustable on the frame-like, rigid support 45 in the same way as the line cameras 7 shown in FIG. 17.
  • the chipboard to be tested according to FIG. 17 can be raw or coated with laminates or foil. Also in the case of FIG. 17, the image processing system 4 is calibrated in the same way as described above in connection with the testing of sawn timber.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Wood Science & Technology (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Textile Engineering (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Image Processing (AREA)

Abstract

Une éprouvette (2) entièrement ou partiellement en bois est déplacée vers l'avant (3) à travers un poste de contrôle (1) comportant un système de traitement d'images (4). Quatre caméras de ligne (7) enregistrent chacune une tranche (8) se présentant sous forme de trait de la surface de l'éprouvette (2). Les signaux d'image (11) sont exploités par un ordinateur de traitement de l'image afin de commander les fonctions permettant d'évaluer l'éprouvette (2). Des champs présentant des modèles de luminosité et/ou de lignes et/ou de structure et/ou de couleurs sont disposés dans le champ de vision de chaque capteur d'image afin de pouvoir les étalonner radiométriquement et/ou géométriquement et/ou colorimétriquement. Les signaux d'image ainsi obtenus sont exploités par un ordinateur de traitement de l'image (11) afin de récupérer les données d'étalonnage et servent à étalonner le capteur d'image correspondant.
EP93912866A 1992-06-10 1993-06-03 Procede d'etalonnage d'un systeme de traitement d'images Withdrawn EP0645009A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4218971 1992-06-10
DE4218971A DE4218971C2 (de) 1992-06-10 1992-06-10 Verfahren zur Kalibrierung eines Bildverarbeitungssystems
PCT/EP1993/001394 WO1993025894A1 (fr) 1992-06-10 1993-06-03 Procede d'etalonnage d'un systeme de traitement d'images

Publications (1)

Publication Number Publication Date
EP0645009A1 true EP0645009A1 (fr) 1995-03-29

Family

ID=6460708

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93912866A Withdrawn EP0645009A1 (fr) 1992-06-10 1993-06-03 Procede d'etalonnage d'un systeme de traitement d'images

Country Status (4)

Country Link
EP (1) EP0645009A1 (fr)
DE (1) DE4218971C2 (fr)
FI (1) FI945743A7 (fr)
WO (1) WO1993025894A1 (fr)

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WO1993025894A1 (fr) 1993-12-23
DE4218971C2 (de) 1994-09-22
DE4218971A1 (de) 1993-12-23
FI945743A0 (fi) 1994-12-07
FI945743A7 (fi) 1994-12-07

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