sl-2016-0010-a 3d stereo vision and vision guided robots ... · information directly from any 2d...

SL-2016-0010-A 3D Stereo Vision and Vision Guided Robots © Tordivel AS 2000-2016


3D Stereo Vision and

Vision Guided RobotsThor Vollset

Founder and Managing Director TORDIVEL AS

November 8th 2016


Company Profile

● Tordivel is located in Oslo, Norway○ Founded by Thor Vollset in 1992

● 20 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, 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 2000 - now version XI○ Build # 627 - 4500 licences sold

● Scorpion Stinger Components - Norwegian IPR○ Scorpion Embedded PC○ Scorpion 2D and 3D Stinger Cameras○ Integrated White and IR LED illumination


3D Vision Guided Robots Challenge

Multiple scenarios - high flexibility required● Single object - Multiple objects● Conveyor - Pallet - Somewhere● Fixed object - Moving Objects● Single Layer - Multiple Layers● Reflective objects - Natural textures● Oriented - Semi-Oriented - Random Object● One object type - multiple object types● Small object - large object - small FOV - large FOV

SL-2016-0010-A 3D Stereo Vision and Vision Guided Robots

● 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

3D Stereo Vision Basics

"Epipolar Geometry1" by ZooFari - Own work. Licensed under Public Domain via Wikimedia Commons -


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

Stereo Vision should be

a natural step forward from 2D machine 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

Accuracy in Stereo Vision


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


3D in 2D Images Bottle Counting


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

Packaging - Real-time Sausage Picking

Features● ABB robot empty crate in 60 seconds● Locates every crate in 3D● Reliable empty crate verification● No teaching of the different sausages● Handles all colors and texture without training


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

Depallatizing - Tea Sack Picking

Features● Kuka picks sacks every 10 seconds● Works for all sacks independant of pattern /

color● 24/7/365 requirement


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 XIFeatures● 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


Requirement for a 3D Robot Vision

● Euro Pallett Scenario● Camera Distance : 1200 - 2500 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 = 0.625 mm - OK

Zresolution : 1200 / 1200 / 4 * 2000 / 100 = 5 mm - NOT OK


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 XIFeatures● User-configurable product types

○ More than 20 variants ● Generate dense 3D Image ● 3D in 2D

○ verifies accurate final picking position ● Automatic product change


360 degree3D FOV - multiple 3D cameras

SL-2015-0009-A Tordivel - Scorpion 3D Stinger for Robot Vision - Confidential - Cannot be distributed without written consent from Tordivel AS© Tordivel AS 2000-2015 Scorpion Vision Software and Scorpion Stinger are trademarks of Tordivel AS

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 has been a supplier of 2D and 3D Robot Vision since 2001

Tordivel is ready to deploy the next generation 3D Robot Vision systems based on ultra flexible and proven

Scorpion 3D Stinger Technology


More information - Contacts● Tordivel AS – www.tordivel.no

○ Thor Vollset – [email protected]● TordivelBlog -

○ http://www.tordivelblog.com● Scorpion 3D Stinger

○ http://www.scorpion3dstinger.com● YouTube - TordivelBlog channel

○ http://www.youtube.com/tordivelblog

http://www.tordivel.no

mailto:[email protected]

http://www.tordivelblog.com

http://www.tordivelblog.com

http://www.scorpion3dstinger.com

http://www.scorpion3dstinger.com

http://www.youtube.com/tordivelblog

http://www.youtube.com/tordivelblog

sl-2016-0010-a 3d stereo vision and vision guided robots ... · information directly from any 2d...

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