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2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech12024/9/123D-Locate&3DSensor劉少鵬E-Mail:Shaopeng.liu@TelontinuouslyExceedscustomerExpectations2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2IDReadersCognexCoreProductsWhatisCognex3DVision?Cognex3Dvisionusestwodimensionalimagesandtoolsfromoneormorecameras’pointofviewtogenerateinformationaboutanobjectin3Dspace.Using2Dimagesandtoolsallows

Cognex3Dvisiontoaccurately

pinpointa3Dpositionbyestablishing

amathematicalrelationshipbetween

the2Dcoordinatesystemsineach

camera’simageandthephysical

world.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12WhatisVisionPro3DAdd-In?TheVisionPro3DAdd-Inisa.NetlibraryofclassesthatenablesVisionProsoftwaretoperform3Dcalibrationandobjectlocation.AsupportedsoftwareversionofVisionProisrequiredtocreatea3DvisionapplicationusingtheVisionPro3DAdd-In.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12WhatisVisionPro3DAdd-In?AnextensiontoVisionProfor3Dposedeterminationthatcanbeusedindifferentconfigurations:SingleCameraFixed3DMulti-camera3DPhotogrammetryMulti-cameraShortBaseline3DSingleCamera3DActiveVisionMulti-camerashortbaseline3DActiveVision2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12VisionPro3DAdd-InGettingStarterKitTripodMountingplate,screws,andAllenwrenchesDual-portGigEnetworkadapterCognex10mmcalibrationplateCognex20mmcalibrationplate(optional)TwoBaslerAce1.3MPcamerasandPoEpowersupplies(updateto2MPin7.2StarterKit)Two6mmlenses4ENETcablesTwo25mmx50mmx75mmspacerblocks2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12VisionPro3DStarterKitHardwareMountingHardwareAdjustablecameraplateandtripodCalibrationPlates300mmstandard600mmoptional“1-2-3”SamplePart

25x50x75mmblockCamerasTwoBaslerGigEcameras&cablesAccessoriesPoweroverEthernet(PoE)injectorsCameranetworkcard2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12CalibrationOverview3Dcalibrationestablishesamathematicalrelationshipbetweenthe2Dcoordinatesystemassociatedwiththepixelsinanacquiredimage2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCalibrationCalibrationproceduredependsonapplicationsetup:

3DCameracalibration(fixedcameras,manuallymovecalibrationplatetodifferentpositions)3DRobotHand-Eyecalibration(movingcameramountedatrobothand,fixedcalibrationplate)3DRobotHand-Eyecalibration(stationarycamera,movingcalibrationplatemountedatrobothand)2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCalibrationCalibrationplate2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12Raw2DConceptsRaw2Dspacereferstoaleft-handed2Dcoordinatesystemestablishedbyandacquiredimage.Usespixelsasunits.Originatupperleft-handcorner.ARaw2DpointinRaw2Dspaceissimplyan(x,y)coordinateidentifiedwithinaRaw2Dcoordinatesystem.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12Phys3DConceptsPhys3Dreferstoaright-handed3Dphysicalcoordinatesystemestablishedbythe3Dcalibrationprocess.Usesphysicalunits(initiallydefinedbythecalibrationplateandspacingbetweenplateviews).Origindefinedbyfiducialmarkoncalibrationplate.XandYaxesarealignedtocalibrationgrid,Zaxisnormaltoplateextendingawayfromcamera.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCalibrationBasics3Dcalibrationestablishesanaccuratecorrespondencebetween2Dlocationsinandimageusinga3Dcalibratedcameraanda3Dlocationinphysicalinfrontofthecamera.Thecorrespondenceiscreatedbythemathematicallinkingofthedifferenttransformations(Coordinatespaces).2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCameraCalibrationACameraCalibrationincludestwosetsofparameters:IntrinsicparametersPropertiesoftheacquisitionsystemthatareinternaltothecamera/lenssystem(lensdistortion)ExtrinsicparametersPropertiesoftheacquisitionsystemthatareexternaltothecamera/lenssystem(positionandorientationofcamerain3Dspace)2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCameraCalibrationACameraCalibrationisneededforall3Doperations(triangulation,poseestimation,…)

ACameraCalibrationcanbecreatedfromaHandEyecalibrationresultandarobotpose.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCameraCalibrationMultiplestationarycamerasRequiresoneWorldOriginViewsetRequiresTiltedViewsetsElevatedViewsetsrecommended(Optional)

CalibrationWizardapplicationcanbeusedfor3DCameraCalibration.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCameraCalibrationWorldOriginViewset

TheCalibrationPlatecoordinatesystemdefinesthe3DWorldCoordinateSystem(Phys3Dspace)2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCameraCalibrationTiltedViewsets

TheCalibrationPlatemustbetiltedandrotated2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCameraCalibrationElevatedViewsets

TheCalibrationplatemustbeelevatedbymultiplestepsacrosstheoperatingvolumeheight.

ItmustremainparalleltotheWorldOriginposition!

ElevatedviewsimproveaccuracyofIntrinsicparams.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12AssessingtheCalibration’sQualityUsingtheCog3DCameraCalibrationResultclass:UsetheOverallResidualsRaw2D()andOverallResidualsPhys3D()methodstoobtainstatisticsforallplateposesandcameras.TheseglobalresidualerrormeasurementsreflecttheoverallaccuracyofthecalibrationUsetheResidualsRaw2D(j,i)andResidualsPhys3D(j,i)forstatisticsonacombinationofasinglecamera(i)andasingleplatepose(j).Theseplateandcameralevelstatisticshelptoidentifyopticalormechanicalissuewithaparticularcameraofplatepose.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12Spacesassociatedwitha3Dcalibrationusingtwocameras2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DRobotHand-EyeCalibration

(movingcamera(s))Fixedcalibrationplatemustbeacquiredfromdifferentdistancesandviewangles.Robot(hand)positionsmustberecorded.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12RobotHand-EyeCalibration

(movingcamera(s))Coordinatespaces(MovingCamera(s))2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12RobotHand-EyeCalibration

(StationaryCamera(s))Coordinatespaces(Movingcalibrationplate)2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12RobotPoseandHandEyeCalibrationresult2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12WhatistheRobotPose?Hand3DFromRobotBase3DistheposeofHand3Dspace(TCP/Endeffector)inRobotBase3Dspace.Robot:ABB/Kuka/Mitsubishi/Denso/Keba/…Cog3DTransformRigidTranslation----Cog3DVect3(X,Y,Z)Rotation----Cog3DTransformRotation EulerXYZ,EulerZYX,EulerZYZ…… Cog3DQuaternion

Cog3DMatrix3x32024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCoordinateMappingMap3Dcoordinatesto2DImagespace2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DCoordinateMappingMap2Dcoordinatesto3Dspace2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DPointTriangulationTriangulationistheprocessofdetermininga3Dlocationofaphysicalpointusingtwoormorecamerascalibratedtothesame3Dphysicalspaceandtheir2Dprojectionsofthesamephysicalpoint.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DPointTriangulationYoumustprovideaccurateprojectionsofthesame3Dpointtoeachofthecameras.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DModelPoseEstimationOverview3Dmodelposeestimationistheprocessofusingcorrespondingsetsof2Dimagepointsfrom3Dcalibratedcamerastodeterminetheposeofa3Dshape.The2DpointscanbeobtainedusingcommonvisiontoolslikePMAlign,PointPointIntersect,FindEllipse,FindCircle…2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/123DModelPoseEstimationConcepts3Dposeestimationdependson3factors:Youmustbeabletoconstruct(orcommunicatetotheapplication)anaccurate3Dmodelusinga3Dmodelspace.Thepointsyouobtainmustbeaccurateprojectionsof3Dpointsofthemodel.The2Dpointsyouobtainfromthecalibratedimagesmustbecorrectlycorrespondedtothe3Dmodelpoints.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2024/9/12ObtainingAccurate2DModelPointsThemosteffectivetechniqueforobtaining2Dmodelpointsforanaccurate3Dalignmentistousevisiontools.UseCogFindLineTooltolocateedgeswhoselinesextendtoknowncoordinatepointsofintersection.UseCogIntersectLineLinetogenerateaccurate2Dpointinformation.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechRecommendedPartsandFeaturesIngeneral,roundedfeaturesarenotthebestcandidatesforaccurate2Dpoints.Roundededgefeaturesin2Ddonotconsistentlycorrespondto3Dedgesaspartsrotate.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechRecommendedPartsandFeaturesSharpcornersandcreasededgesin2Dcorrespondmoreconsistentlyto3DfeaturesaspartsrotateintheFOV.Usinglineintersecttoolsisrecommendedforthesetypesoffeatures.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechLocatingFeaturesonFlatSurfacesEvenwhenlocatingfeaturesonaplanarsurface,youcanemploylineartoolstogetthemostaccuratecorrespondencebetween2Dand3Dfeatures.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechRecommendedPartsandFeaturesCircularfeaturesonaplanarsurfaceofferadistinctadvantageduetotheirgeometricproperties.Acirclecansingle-handedlybeusedtorepresenta3Dplane.Asthecirclerotatesitcancommunicate2Dand3Dinformationbasedonitsappearancetoeachcamera.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech2DPatternAlignmentToolConsiderationsPlanarfeaturesmaysometimesbeusedtofindcorresponding2Dfeaturesin3Dspace.However,2DpatternalignmenttoolslikePMAlignandSearchMaxhavelimitedtoleranceforpatterndeformationsousewithcautionasaccuracycanbecompromised.ObjectPoseEstimation3DAccuracyAccuracycanbeinfluencedbymanyfactors:Calibrationaccuracy(robotaccuracy,accuracyofcalibrationplateandistpositions).Camerabaselinewidth.Numberofcameras.Accuracyof2Dtools.Accuracyofreferencepoints(e.g.sharporroundedcorners)ImageresolutionSummaryVisionPro-3D

…computes3Dinformationfrom2Dandviceversa.…candeterminethe3Dposeofanobject.…canbeusedinmanyroboticapplications.…canbeusedwithvariouscameraconfigurations.…providespowerfulandyeteasytousecalibrationprocedure.…consumesinputdatafromfamiliar2Dvisiontools.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech42VisionPro3DAPPlication2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech43VisionPro3DAPPlication2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech44VisionPro3DAPPlication2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech45VisionPro3DAPPlication2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech46VisionPro3DAPPlication2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech47VisionPro3DAPPlication2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech48VisionPro3DAPPlication2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTech493DDisplacementSensor–DS11003DDisplacementSensor-DS1100Sensordesignedtoinspectandmeasurein3DHeight,Volume,Tilt,shape,OCRCalibrated3DinspectionFactorycalibratedRealworldmeasurementsinmmContrastindependentInspectionDarkobjectsondarkbackgroundIndependentofcolor2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechDS1100PackageDS1100hardwareandVisionProsoftwareVisionProMaxwithDS11003DToolsRequiredAccessoriesIP65EthernetCableIP65Power&IOCableOptionalAccessoriesRightanglemountingbracketIP69KStainlesssteelenclosureDS1100VisionProVisionPro+2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechWhatistheDS1100??Sensordesignedtoinspectandmeasurein3DCalibrated3DinspectionFactorycalibratedRealworldmeasurementsinmmContrastindependentInspectionLowcontrastinspectionIndependentofcolor2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechHowdoesitwork?LaserLineProjector2DCMOSSensorObjectzaxisyaxis-directionoftravelxaxis(1024pixels)ImagingLens2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechWhatdoestheDS1100do?Generatesa16bit3Drangeimage065,5352024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechRangeimagesThegrayscaleintensityrepresentsthemmheightvalue000000357911131515151515131197530000002024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechIntensityslicesWitheachencodertickasthecameraorpartmovespasttheDS1100anintensitysliceistakenandtransformedintotherangeimageEachacquiredintensityimageofalaserstripeisthebasisofasinglerowintherangeimage.2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechDS1100?Hardware24VDCPowerIO+EncoderCamera658nmLaserClass2MGigEConnectorStatusLEDsIP65Enclosure2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechResolutionMaximumdistance315mmMaxobjectheight170mm60mm58μm/pixel132mm137μm/pixelNearFar2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechPracticalimpactofacalibratedsystemHighestScanSpeedHighestX-ResolutionBestZ-Accuracy60mm58μm/pixel132mm137μm/pixel2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechAccuracyandProfileRateProfileRate 250Hz–4.5kHz

ResolutionXAxis 1024pixels92umAbsoluteAccuracy40umLocalZAccuracy5umRepeatability2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechHighPrecisionmeasurementsX=70μmZ=7μmX=110μmZ=20μmX=150μmZ=40μmXandZPrecisionNote:Zprecisionis1/16thofapelXprecisionis1pel2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechAdvanced3DToolsetHeight,Volume,Planefitting,PlanetoPlaneAngle2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechDS11003DViewerViewyourpartsin3DDetailed3DfeaturesPan,Zoom,TiltViewmultipleimagesfromdatabase2024/9/12TEL33821031/33820483/50302319FAXdd：

PlatD,Floor27,No.58,XinJinQiaoRoad,Pudong,ShanghaiShangHaiXiming-VisionTechAdvanced2DToolsetPatMax?,IDMax?,OCRMax?Applicationsrequiringboth2Dand3Dcameras2024/9/12TEL33821031/33820483/50302319FAX/p>

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