AU2008258181B2

AU2008258181B2 - Separation of superposed two dimensional patterns

Info

Publication number: AU2008258181B2
Application number: AU2008258181A
Authority: AU
Inventors: Paul Joseph Ellis; Son Thai; Ben Yip
Original assignee: Canon Inc
Current assignee: Canon Inc
Priority date: 2008-12-17
Filing date: 2008-12-17
Publication date: 2010-10-21
Anticipated expiration: 2028-12-17
Also published as: AU2008258181A1

Description

S&F Ref: 884719 AUSTRALIA PATENTS ACT 1990 COMPLETE SPECIFICATION FOR A STANDARD PATENT Name and Address Canon Kabushiki Kaisha, of 30-2, Shimomaruko 3 of Applicant: chome, Ohta-ku, Tokyo, 146, Japan Actual Inventor(s): Ben Yip Paul Joseph Ellis Son Thai Address for Service: Spruson & Ferguson St Martins Tower Level 35 31 Market Street Sydney NSW 2000 (CCN 3710000177) Invention Title: Separation of superposed two dimensional patterns The following statement is a full description of this invention, including the best method of performing it known to me/us: 5845c(1 896688__1) -1 SEPARATION OF SUPERPOSED TWO DIMENSIONAL PATTERNS TECHNICAL FIELD OF THE INVENTION The current invention relates to image processing of two-dimensional patterns and in particular to the signal separation of superposed two-dimensional patterns. 5 BACKGROUND In recent years high quality color printers have become widely available. Two significant and related factors are improvements in color accuracy and improvements in resolution. For inkjet printers, typical resolutions are 1200 pixels per inch or higher, which translates into a printer ink dot size (and separation) of 20 microns or less. In many 1o systems the inkjet printer may overprint regions multiple times to reduce the effect of printer defects, such as blocked printer head nozzles. The optical density of a printed color can be very sensitive to the precise value of the displacement between overprinted regions. This means that (for high quality printers at least) it is necessary to control or calibrate the exact shift of the printer head relative to the printed medium between 15 overprints. Typically, the desired accuracy of this calibration is on the order of one micron. Many approaches have been proposed for calibrating the movements of the medium being printed relative to the head size on the medium (where, as depicted in Fig. 4, the physical distance 420 on a print medium 230 between two ink dots 410 is referred 20 to as the "head size" 420), but few prior art methods measure the effective head size as printed on the medium. One possible method to measure the effective head size on the medium is by printing dots using predefined nozzles and then measuring the separation of the dots on the medium using a microscope. However, because printed dots on the medium could 25 have a dimension of around 40 micrometers (because the printed dots may have irregular shapes), and because microscopes with the desired accuracy are typically very expensive, such measurements are not always practical. SUMMARY It is an object of the present invention to substantially overcome or at least 30 ameliorate one or more disadvantages of existing arrangements. Disclosed are arrangements, referred to as two-dimensional Ruler with Printed Patch with Hole (or "RPPH") arrangements, which seek to address the above problems by printing patches onto a print medium, superposing a two-dimensional reference ruler over the printed document, scanning the superposed patches and reference ruler, and 35 determining the head size from the locations of the patches using the ruler to enhance -2 accuracy, where the patches are designed to enhance the signal separation to facilitate image signal analysis of the superposed images. It is noted that the term "hole" is also referred to, more generally, as a "separation area" as will be described, for example, in relation to Fig. 28. 5 According to a first aspect of the present invention, there is provided a method of determining a location of a graphical object printed onto a print medium, said graphical object comprising a plurality of object marks, the method comprising the steps of: superposing a two-dimensional reference pattern having a pre-defined degree of accuracy over the printed graphical object, the two-dimensional reference pattern 10 comprising a plurality of pattern marks; scanning the superposed printed graphical object and reference pattern to produce a scanned image; determining a location coordinate of the graphical object in the scanned image; and Is refining the location coordinate dependent upon the scanned reference pattern to determine a reference pattern coordinate associated with the location coordinate, said reference pattern coordinate defining the location of the graphical object; wherein said graphical object is adapted to have a separation area in the vicinity of the location coordinate to thereby minimise occlusion of the pattern marks by the object marks in the 20 vicinity of the reference pattern coordinate. According to another aspect of the present invention, there is provided an apparatus for determining a location of a graphical object printed onto a print medium, said graphical object comprising a plurality of object marks, the apparatus comprising: a two-dimensional reference pattern glass having a pre-defined degree of 25 accuracy for superposing over the printed graphical object, the two-dimensional reference pattern comprising a plurality of pattern marks; a scanner for scanning the superposed printed graphical object and reference pattern to produce a scanned image; a memory for storing a program; and 30 a processor for executing the program, said program comprising: code for determining a location coordinate of the graphical object in the scanned image; and code for refining the location coordinate dependent upon the scanned reference pattern to determine a reference pattern coordinate associated with the location 35 coordinate, said reference pattern coordinate defining the location of the graphical object; -3 wherein said graphical object is adapted to have a separation area in the vicinity of the location coordinate to thereby minimise occlusion of the pattern marks by the object marks in the vicinity of the reference pattern coordinate. According to another aspect of the present invention, there is provided a s computer program product including a computer readable storage medium having recorded thereon a computer program for directing a processor to execute a method for determining a location of a graphical object printed onto a print medium, said graphical object comprising a plurality of object marks, the program comprising: superposing a two-dimensional reference pattern having a pre-defined degree of 10 accuracy over the printed graphical object, the two-dimensional reference pattern comprising a plurality of pattern marks; code for scanning a superposed printed graphical object and a two-dimensional reference pattern having a pre-defined degree of accuracy, the two-dimensional reference pattern comprising a plurality of pattern marks, to produce a scanned image; 15 code for determining a location coordinate of the graphical object in the scanned image; and code for refining the location coordinate dependent upon the scanned reference pattern to determine a reference pattern coordinate associated with the location coordinate, said reference pattern coordinate defining the location of the graphical object; 20 wherein said graphical object is adapted to have a separation area in the vicinity of the location coordinate to thereby minimise occlusion of the pattern marks by the object marks in the vicinity of the reference pattern coordinate. Other aspects of the invention are also disclosed. BRIEF DESCRIPTION OF THE DRAWINGS 25 One or more embodiments of the invention will now be described with reference to the following drawings, in which: Figs. 1A and 1B form a schematic block diagram of a general purpose computer system upon which the RPPH arrangements described can be practiced; Fig. 2a illustrates a simplified representation of the mechanical layout of an 30 inkjet printer; Fig. 2b illustrates a simplified representation of an alternate mechanical layout of an inkjet printer; Fig. 3 illustrates a typical layout of ink ejection nozzles of an inkjet print head (also referred to simply as a "head"); 35 Fig. 4 illustrates two ink dots ejected from a print head; -4 Fig. 5 illustrates the two groups of ink dots ejected from a print head; Fig. 6 illustrates an RPPH measurement system comprising a flat bed scanner attached to a computer; Fig. 7 illustrates an example of a two-dimensional pattern glass (also referred to 5 as a two-dimensional ruler); Fig. 8 illustrates an example of a spiral, showing a plot of the real part and the imaginary part of a logarithmic radial harmonic function; Fig. 9 is a schematic flow diagram illustrating a method to determine an accurate position, on the two-dimensional pattern glass, of a feature of interest (also referred to as a 10 feature); Fig. 10 illustrates an example of the structural inter-relationship between the two-dimensional pattern glass, the measurement system surface and the surface to be measured; Fig. 11 illustrates a side view of the placement of the head size measurement is chart printed on the print medium (eg paper) and the placement of the two-dimensional pattern glass on the scanner; Fig. 12 illustrates a set of displacement vectors which represent the fine alignment transform; Fig. 13 is a schematic flow diagram illustrating a method of determining the 20 location, relative to the two-dimensional pattern glass, of features in the scanned image; Fig. 14 is a schematic flow diagram illustrating a method to determine the affine transform using spirals; Fig. 15 is a schematic flow diagram illustrating a method of determining accurate coordinates, relative to the reference pattern, of a given location; 25 Fig. 16 is a schematic flow diagram illustrating a method to handle unwanted noise; Fig. 17a illustrates a chart mark and a corresponding mask image; Fig. 17b illustrates a chart mark and a corresponding mask image with a hair obstructing the scanned image; 30 Fig. 18 is a schematic flow diagram illustrating the procedures of measuring the head size; Fig. 19 illustrates an example of a head size measurement chart; Fig. 20 illustrates an example of a patch; Fig. 21 is a schematic flow diagram illustrating a method of estimating the 35 displacement of two image regions by correlation; -5 Figs. 22 and Fig. 23 illustrate how the printing process of a chart according to the procedure of Fig. 18 may be used to measure the head size; Fig. 24a illustrates an example of a scanned image; Fig. 24b illustrates an enlargement of a scanned image of a patch and the 5 separation area in a patch. Fig. 25 is a schematic flow diagram illustrating a method of analysing the scanned image to determine the head size according to one RPPH arrangement; Fig. 26 illustrates the head size measurement chart as in Fig. 19, but each patch is labelled with a number and a character; 10 Fig. 27 is a schematic flow diagram illustrating a method of estimating the head size from a scanned image; Fig. 28 illustrates some alternative designs of the patch and the separation area; and Fig. 29 illustrates the effect of the spatial distortion introduced by a scanner. 15 DETAILED DESCRIPTION INCLUDING BEST MODE Where reference is made in any one or more of the accompanying drawings to steps and/or features, which have the same reference numerals, those steps and/or features have for the purposes of this description the same function(s) or operation(s), unless the contrary intention appears. 20 It is to be noted that the discussions contained in the "Background" section and that above relating to prior art arrangements relate to discussions of devices which form public knowledge through their use. Such discussions should not be interpreted as a representation by the present inventor(s) or the patent applicant that such documents or devices in any way form part of the common general knowledge in the art. 25 RPPH methods are herein described for measuring the head size of an inkjet print head using a two-dimensional measurement system and a relative position estimation of printed patches (or regions). Also described is the design of these RPPH patches so as to enable accurate estimates based on cross-correlation, and separating of image signals from superposed two-dimensional reference pattern and printed patches. Broadly speaking, a 30 printed patch can be regarded as two-dimensional (printed) pattern, or as one type of two dimensional pattern. Processing Environment The RPPH methods of measuring head size to be described may be implemented using a computer system 100, such as that shown in Fig. 1A wherein the processes of this 35 RPPH approach may be implemented as software, such as one or more application -6 programs executable within the computer system 100. In particular, the steps of the methods of measuring head size are effected by instructions in the software that are carried out within the computer system 100. The use of the computer program product in the computer system 100 preferably affects an advantageous apparatus for image 5 processing, particularly for signal separation of superposed two-dimensional patterns. The networks 120 and 122 may convey image data from other sources (not shown), and image data may also be sourced from the scanner 126. The scanner 126 may be a flatbed scanner or other digital image capturing devices such as a digital camera. Intermediate storage of such RPPH programs and any data, such as image data, 10 fetched over the networks 120 and 122 or from the scanner 126 may be accomplished using the semiconductor memory 106, possibly in concert with the hard disk drive 110. Figs. 1A and 1B collectively form a schematic block diagram of a general purpose computer system 100, upon which the various arrangements described can be practiced. 15 As seen in Fig. 1A, the computer system 100 is formed by a computer module 101, input devices such as a keyboard 102, a mouse pointer device 103, a scanner 126, a camera 127, and a microphone 180, and output devices including a printer 115, a display device 114 and loudspeakers 117. An external Modulator Demodulator (Modem) transceiver device 116 may be used by the computer module 101 20 for communicating to and from a communications network 120 via a connection 121. The network 120 may be a wide-area network (WAN), such as the Internet or a private WAN. Where the connection 121 is a telephone line, the modem 116 may be a traditional "dial-up" modem. Alternatively, where the connection 121 is a high capacity (eg: cable) connection, the modem 116 may be a broadband modem. A wireless modem may also be 25 used for wireless connection to the network 120. The computer module 101 typically includes at least one processor unit 105, and a memory unit 106 for example formed from semiconductor random access memory (RAM) and semiconductor read only memory (ROM). The module 101 also includes an number of input/output (1/0) interfaces including an audio-video interface 107 that 30 couples to the video display 114, loudspeakers 117 and microphone 180, an 1/0 interface 113 for the keyboard 102, mouse 103, scanner 126, camera 127 and optionally a joystick (not illustrated), and an interface 108 for the external modem 116 and printer 115. In some implementations, the modem 116 may be incorporated within the computer module 101, for example within the interface 108. The computer module 101 also has a 35 local network interface Ill which, via a connection 123, permits coupling of the -7 computer system 100 to a local computer network 122, known as a Local Area Network (LAN). As also illustrated, the local network 122 may also couple to the wide network 120 via a connection 124, which would typically include a so-called "firewall" device or device of similar functionality. The interface 111 may be formed by an Ethernet circuit 5 card, a Bluetooth wireless arrangement or an IEEE 802.11 wireless arrangement. The interfaces 108 and 113 may afford either or both of serial and parallel connectivity, the former typically being implemented according to the Universal Serial Bus (USB) standards and having corresponding USB connectors (not illustrated). Storage devices 109 are provided and typically include a hard disk drive (HDD) 110. Other 10 storage devices such as a floppy disk drive and a magnetic tape drive (not illustrated) may also be used. An optical disk drive 112 is typically provided to act as a non-volatile source of data. Portable memory devices, such optical disks (eg: CD-ROM, DVD), USB RAM, and floppy disks for example may then be used as appropriate sources of data to the system 100. 15 The components 105 to 113 of the computer module 101 typically communicate via an interconnected bus 104 and in a manner which results in a conventional mode of operation of the computer system 100 known to those in the relevant art. Examples of computers on which the described arrangements can be practised include IBM-PC's and compatibles, Sun Sparcstations, Apple Mac T or alike computer systems evolved 20 therefrom. The RPPH method may be implemented using the computer system 100 wherein the processes of Figs. 9, 13-16, 18, 21, 25 and 27 to be described, may be implemented as one or more software application programs 133 executable within the computer system 100. In particular, the steps of the RPPH method is effected by instructions 131 in the 25 software 133 that are carried out within the computer system 100. The software instructions 131 may be formed as one or more code modules, each for performing one or more particular tasks. The software may also be divided into two separate parts, in which a first part and the corresponding code modules performs the RPPH methods and a second part and the corresponding code modules manage a user interface between the first part 30 and the user. The software 133 is generally loaded into the computer system 100 from a computer readable medium, and is then typically stored in the HDD 110, as illustrated in Fig. 1A, or the memory 106, after which the software 133 can be executed by the computer system 100. In some instances, the RPPH application programs 133 may be 35 supplied to the user encoded on one or more CD-ROM 125 and read via the -8 corresponding drive 112 prior to storage in the memory 110 or 106. Alternatively the software 133 may be read by the computer system 100 from the networks 120 or 122 or loaded into the computer system 100 from other computer readable media. Computer readable storage media refers to any storage medium that participates in providing 5 instructions and/or data to the computer system 100 for execution and/or processing. Examples of such storage media include floppy disks, magnetic tape, CD-ROM, a hard disk drive, a ROM or integrated circuit, USB memory, a magneto-optical disk, or a computer readable card such as a PCMCIA card and the like, whether or not such devices are internal or external of the computer module 101. Examples of computer readable 10 transmission media that may also participate in the provision of software, application programs, instructions and/or data to the computer module 101 include radio or infra-red transmission channels as well as a network connection to another computer or networked device, and the Internet or Intranets including e-mail transmissions and information recorded on Websites and the like. 15 The second part of the RPPH application programs 133 and the corresponding code modules mentioned above may be executed to implement one or more graphical user interfaces (GUIs) to be rendered or otherwise represented upon the display 114. Through manipulation of typically the keyboard 102 and the mouse 103, a user of the computer system 100 and the application may manipulate the interface in a functionally adaptable 20 manner to provide controlling commands and/or input to the applications associated with the GUI(s). Other forms of functionally adaptable user interfaces may also be implemented, such as an audio interface utilizing speech prompts output via the loudspeakers 117 and user voice commands input via the microphone 180. Fig. 1B is a detailed schematic block diagram of the processor 105 and a 25 "memory" 134. The memory 134 represents a logical aggregation of all the memory devices (including the HDD 110 and semiconductor memory 106) that can be accessed by the computer module 101 in Fig. 1A. When the computer module 101 is initially powered up, a power-on self-test (POST) program 150 executes. The POST program 150 is typically stored in a ROM 149 30 of the semiconductor memory 106. A program permanently stored in a hardware device such as the ROM 149 is sometimes referred to as firmware. The POST program 150 examines hardware within the computer module 101 to ensure proper functioning, and typically checks the processor 105, the memory (109, 106), and a basic input-output systems software (BIOS) module 151, also typically stored in the ROM 149, for correct 35 operation. Once the POST program 150 has run successfully, the BIOS 151 activates the -9 hard disk drive 110. Activation of the hard disk drive 110 causes a bootstrap loader program 152 that is resident on the hard disk drive 110 to execute via the processor 105. This loads an operating system 153 into the RAM memory 106 upon which the operating system 153 commences operation. The operating system 153 is a system level s application, executable by the processor 105, to fulfil various high level functions, including processor management, memory management, device management, storage management, software application interface, and generic user interface. The operating system 153 manages the memory (109, 106) in order to ensure that each process or application running on the computer module 101 has sufficient memory in io which to execute without colliding with memory allocated to another process. Furthermore, the different types of memory available in the system 100 must be used properly so that each process can run effectively. Accordingly, the aggregated memory 134 is not intended to illustrate how particular segments of memory are allocated (unless otherwise stated), but rather to provide a general view of the memory accessible is by the computer system 100 and how such is used. The processor 105 includes a number of functional modules including a control unit 139, an arithmetic logic unit (ALU) 140, and a local or internal memory 148, sometimes called a cache memory. The cache memory 148 typically includes a number of storage registers 144 - 146 in a register section. One or more internal buses 141 20 functionally interconnect these functional modules. The processor 105 typically also has one or more interfaces 142 for communicating with external devices via the system bus 104, using a connection 118. The RPPH application program 133 includes a sequence of instructions 131 that may include conditional branch and loop instructions. The program 133 may also include 25 data 132 which is used in execution of the program 133. The instructions 131 and the data 132 are stored in memory locations 128-130 and 135-137 respectively. Depending upon the relative size of the instructions 131 and the memory locations 128-130, a particular instruction may be stored in a single memory location as depicted by the instruction shown in the memory location 130. Alternately, an instruction may be 30 segmented into a number of parts each of which is stored in a separate memory location, as depicted by the instruction segments shown in the memory locations 128-129. In general, the processor 105 is given a set of instructions which are executed therein. The processor 105 then waits for a subsequent input, to which it reacts to by executing another set of instructions. Each input may be provided from one or more of a 35 number of sources, including data generated by one or more of the input devices 102, 103, -10 data received from an external source across one of the networks 120, 122, data retrieved from one of the storage devices 106, 109 or data retrieved from a storage medium 125 inserted into the corresponding reader 112. The execution of a set of the instructions may in some cases result in output of data. Execution may also involve storing data or 5 variables to the memory 134. The disclosed RPPH arrangements use input variables 154 that are stored in the memory 134 in corresponding memory locations 155-158. The RPPH arrangements produce output variables 161 that are stored in the memory 134 in corresponding memory locations 162-165. Intermediate variables may be stored in memory 1o locations 159, 160, 166 and 167. The register section 144-146, the arithmetic logic unit (ALU) 140, and the control unit 139 of the processor 105 work together to perform sequences of micro operations needed to perform "fetch, decode, and execute" cycles for every instruction in the instruction set making up the RPPH program 133. Each fetch, decode, and execute is cycle comprises: (a) a fetch operation, which fetches or reads an instruction 131 from a memory location 128; (b) a decode operation in which the control unit 139 determines which instruction has been fetched; and 20 (c) an execute operation in which the control unit 139 and/or the ALU 140 execute the instruction. Thereafter, a further fetch, decode, and execute cycle for the next instruction may be executed. Similarly, a store cycle may be performed by which the control unit 139 stores or writes a value to a memory location 132. 25 Each step or sub-process in the processes of Figs. 9, 13-16, 18, 21, 25 and 27 is associated with one or more segments of the RPPH program 133, and is performed by the register section 144-147, the ALU 140, and the control unit 139 in the processor 105 working together to perform the fetch, decode, and execute cycles for every instruction in the instruction set for the noted segments of the program 133. 30 The RPPH method may alternatively be implemented in dedicated hardware such as one or more integrated circuits performing the RPPH functions or sub functions. Such dedicated hardware may include graphic processors, digital signal processors, or one or more microprocessors and associated memories.

-11 Inkjet printer and print head Fig. 2a illustrates a simplified representation of the internal arrangement of an inkjet printer. The arrangement comprises a print head 210 having ink ejection nozzles (not illustrated) organised into groups based on color and/or ink volume. The print head 5 210 is mounted on a carriage 220 and the print head 210 transverses a print medium 230 and forms image swaths during a forward passage in a scan direction 240 and a back passage opposite to the scan direction 240, by controlling the ejection of ink from the ink ejection nozzles within the nozzle banks. The inkjet printer further comprises a print medium advance mechanism 250, which transports the print medium 230 in a direction 1o 260 perpendicular to the print head scan direction 240. The distance of the print medium advance is called the line feed distance. Fig. 2b illustrates a simplified representation of the internal arrangement of a full-width fixed head printer. The arrangement comprises a print head 210 having ink ejection nozzles (not illustrated) organised into groups based on color and/or ink volume. 15 The print head 210 is stationary and forms image by controlling the ejection of ink from the ink ejection nozzles within the nozzle banks while the print medium advance mechanism 250 transports the print medium 230 in the direction 260. Fig. 3 illustrates a typical layout of ink eject nozzle banks 310 of the print head 210. Each nozzle bank 310 consists of multiple ink ejection nozzles 320 extending 20 perpendicularly to the print head scan direction 240. In order for an inkjet printer to produce images which do not contain noticeable visual artefacts, alignment is required between the nozzle banks 310 used within the same passage, and between the nozzle banks 310 used during the forward and back passages respectively. The print medium advance mechanism 250 must also be calibrated to 25 advance the print medium 230 in order to correctly align swaths. To produce optimal image quality it is necessary to characterise each individual printing system, and calibrate components of that printing system accordingly. One important parameter to measure in the process of calibration is the "head size". Fig. 4 depicts two ink dots 410 that have been ejected from the print head 210. 30 The arrangement comprises a print head 210 having ink ejection nozzles 320 (only two are drawn), ejecting inks onto a print medium 230 and forming the two ink dots 410. The physical distance 420 on the print medium 230 between two ink dots 410 is referred to as the "head size". Note that because the print head may not be exactly parallel to the print medium, and because the inks may not be ejected exactly perpendicularly to the print -12 medium, in general the head size 420 is not the same as the physical distance 430 between the two nozzles 320. Fig. 5 depicts two groups 531, 532 of ink dots 410 ejected from the print head 210. An alternative definition of the head size 420 is the average distance 510 on the print 5 medium 230 between corresponding ink dots in each group, the one group 532 being printed by the nozzle group 520, and the other group 531 being printed by the nozzle group 530. When the nozzle spacing is consistent, the distance 420 on the print medium 230 between two corresponding ink dots should be the same as the average distance 510 on the print medium 230 between the two ink groups 531, 532.The average distance 510 10 can be determined, in one RPPH example, by determining the respective "location" of each of the two ink groups 531, 532 and then determining the distance between the respective locations. The location of an ink group 531 can be determined, in one RPPH example in which the shape of the ink group 531 is known, by establishing a coordinate system, and determining the location of the ink group 531 using correlation with reference 15 to the known shape of the ink group 531. An alternative method to locate the second ink group 532, where the location of the first ink group 531 is already known and the two ink groups have the same shape, is using correlation of the second ink group 532 with reference to the first ink group 531 instead of using correlation with reference to the known shape of the ink group 532. Other methods for determining the location of an ink 20 group (or more generally of a graphical object) can also be used. For the purposes of the following discussion, the head size is defined as the average distance 510 between two ink groups the first ink group 531 and the second ink group 532. Imaging system 25 Fig. 6 shows a measurement system 600 for determining a two-dimensional position of a location on a surface 610 imaged by the system 600. The measurement system 600 comprises the flat bed scanner 126, attached to a computer 101. The computer 101 in Fig. 1 used for printing a measurement chart can be a different system from the computer 101 in Fig. 6 used for scanning a measurement chart. 30 In the preferred RPPH arrangement, the same computer 101 is used to do both printing and scanning of the measurement chart. Two-dimensional pattern glass Due to spatial distortions introduced by the scanner 126, positions on the surface 610 imaged by the system 600 do not directly correspond with pixel positions of a digital 35 image resulting from scanning the surface.

-13 In order to accurately determine the physical two-dimensional position of a feature of interest on the surface 610, the scanner surface 610 may be provided with a reference pattern having a pre-defined degree of accuracy. A feature of interest may then be located relative to the reference pattern rather than merely relying on the pixel position 5 of the feature. In the preferred arrangement of the RPPH approach, such a reference pattern may also be manufactured on a separate transparent sheet which can be placed between the scanner surface 610 and the object being imaged. Fig. 29 illustrates the effect of the spatial distortion introduced by the scanner to 126. In the described example 2900 two graphical shapes 2902 and 2908 have been printed onto a sheet of paper 2906. An illustrative two-dimensional reference pattern comprising a horizontal dashed line 2903 and two orthogonal dashed lines 2901 and 2907, spaced at a distance of 2905, is shown superposed onto the sheet 2906. This simple reference pattern is used in regard to Fig. 29 for ease of explanation, however in the is described RPPH arrangements, a two-dimensional pseudo-random noise pattern is used as the reference pattern. Other suitable reference patterns can be used. An inset 2924 illustrates the relationship between the location of the graphical shape 2902 and the respective reference pattern coordinate 2904 of the reference pattern with which the shape 2902 is associated. The shape 2902 (referred to as 2902' in the 20 inset) has a location depicted by a location coordinate 2923. This location coordinate 2923 can be determined using correlation techniques or other suitable methods. The reference pattern coordinate of the reference pattern 2901', 2903' with which the location coordinate 2923 of the shape 2902' is associated is depicted by 2904'. Although the location coordinate 2923 is not coincident with the reference pattern coordinate 2904', 25 depending upon the resolution of the reference pattern and the other system elements, the location coordinate 2923 and the reference pattern coordinate 2904' can approach each other to any required degree of accuracy. The image comprising the graphical shapes 2902 and 2908, and the reference pattern 2901, 2903 and 2907 are scanned by the scanner 126 which has a transfer function 30 depicted by a box 2910. The scanner 126 produces a scanned image 2918 of the image on the sheet of paper 2906 which is distorted by the transfer function 2910. The distortion can be seen as follows. A vertical dashed line 2911 intersects coordinates 2904 and 2915 of the respective reference patterns on the sheet of paper 2906 and the scanned image 2918. However while a vertical line 2912 intersects the coordinate 35 2909 of the reference pattern on the sheet 2906, the scanned image 2918 has, in this -14 illustrative example, been stretched laterally by the scanning process. Accordingly the vertical line 2912 intersects a horizontal dashed line 2922 on the scanned image at a point 2916 rather than at a point 2921 which corresponds to the point 2909 in the image on the paper 2906. Accordingly, the pixel-based distance 2917 between the scanned objects 2914 s and 2920 is larger in the scanned image 2918 than the corresponding physical distance 2905 between the objects 2902 and 2908 printed on the sheet of paper 2906. However, since the reference pattern 2922, 2913, 2919 has also been stretched laterally, the physical distance 2905 on the sheet of paper 2906 can be determined from the distance 2917 in the scanned image by determining the coordinates 2915 and 2921 on 10 the scanned reference pattern. Fig. 7 illustrates an example of a two-dimensional pattern glass 710 (also referred to as a two-dimensional ruler or a two-dimensional reference pattern), comprising a transparent sheet prepared with a reference pattern 720, described in detail below, on one surface. Broadly speaking, the two-dimensional ruler can be regarded as a two 15 dimensional (reference) pattern, or as one type of two-dimensional pattern. In the preferred arrangement of the RPPH approach, the two-dimensional pattern glass substrate is a material with a low coefficient of thermal expansion such as fused silica and the reference pattern 720, also referred to as a first type of two-dimensional pattern, is formed by depositing chrome particles on the substrate. Other suitable 20 arrangements for forming the reference pattern may also be used. Since the two dimensional pattern glass 710 is used as a reference, the accuracy of a measurement is determined in part by the accuracy of the two-dimensional pattern glass 710 manufacturing process. For a target measurement accuracy having a 1 micron (ie 1 micrometer) standard deviation using the measurement system 600 with a scanner optical 25 resolution of around 1600 pixels per inch (being equivalent to 15.875 microns/pixel), the reference pattern 720 can be deposited on the two-dimensional pattern glass substrate using a standard ultraviolet (UV) lithographic process with a minimum feature (pattern mark) size of around 400 nm. In the preferred RPPH arrangement, the reference pattern comprises registration 30 marks 730 and 731 which are used to determine a location (e.g. 740) approximately, and a special pattern 750, used to determine a location accurately. In the preferred RPPH arrangement, a spiral pattern is used as the registration mark, as described in detail below. Three of these spiral registration marks 730 are identical while a fourth spiral registration mark 731 is a negative image of the spiral 35 registration marks 730. As described below, these registration marks 730, 731 permit the -15 geometrical relationship between a digital image scanned by the measurement system 600 and the reference pattern 720 to be estimated, when the two-dimensional pattern glass 710, the measurement system surface 610 and the surface to be measured 1010 are arranged as described in relation to Fig. 10. Other suitable registration marks can be used 5 instead of the registration marks 730, 731. As illustrated in an enlargement 760, in the preferred RPPH arrangement the special pattern 750 comprises a two-dimensional pseudo-random noise pattern having a marking density of approximately 4%, with each pattern mark (e.g. 770) taking the form of a square which is 8 microns on each edge. 10 Logarithmic Radial Harmonic Function registration marks As described previously, in the preferred arrangement of the RPPH approach the reference pattern includes four spiral registration marks 730 and 731. Each spiral is a bitmapped version of a logarithmic radial harmonic function (LRHF). Mathematically, an LRHF is a complex-valued function defined on a plane. is Fig. 8 shows an illustration of an example of the real 810 and imaginary 820 parts of an LRHF. An LRHF has the properties of scale and rotation invariance, which means that if an LRHF is transformed by scaling or rotation the transformed LRHF is still an LRHF. An LRHF has three parameters that may be adjusted. The first parameter is 20 referred to as the Nyquist radius R, which is the radius at which the frequency of the LRHF becomes greater than 7r radians per pixel (e.g., 830). The second parameter is referred to as the spiral angle a, which is the angle that the spiral arms (e.g., 840) make with circles centred at the origin (e.g., 850). The third parameter is referred to as the phase offset #. An LRHF may be expressed in polar coordinates (r, 0), in accordance 25 with Formula (1) as follows: f(r, 0) = ej(m+nnr+) (1) where the values of m and n may be determined in accordance with the following Formulae (2): n = R7rcos a m =LRlrsin a] (2) 30 Each spiral registration mark image 730, 731 is created as a bitmap, which samples the LRHF with the Nyquist radius R, the spiral angle a and the phase offset 0. In the preferred RPPH arrangement, each spiral bitmap is a square approximately 5 millimeters on each edge with square pixels 8 microns on each edge.

-16 In accordance with the above definition of radius r and angle 0, the value of a pixel in the spiral bitmap with coordinates (r, 6) may be determined in accordance with Formula (3) as follows: I if r >Rand Re(f(r,O))>0 (3) 0 otherwise 5 In the preferred RPPH arrangement, the adjustable parameters for the reference pattern spiral registration marks 730 and 731 are as follows: (1) Nyquist radius, R = 6.33; (2) Spiral angle, o = -9.08'; and (3) Phase offset, 4 = 0* for registration marks 730 and q5 = 1800 for registration 10 mark 731. Determining the accurate location of a feature on a surface Fig. 9 shows a method 900 for determining an accurate position on the two dimensional pattern glass 710 of a feature of interest on a surface. The method 900 begins at a step 910 where the two-dimensional pattern glass is 710 is placed on the measurement system surface 610 (see Fig. 10). In the preferred RPPH arrangement the pattern glass 710 is usually placed in the middle of the measurement system surface 610, where the optical resolution of the scanner 126 as tested is typically the highest. It has also been found to be advantageous to ensure that the pattern glass 710 and the measurement system surface 610 are clean and free from dust, 20 fingerprints, etc. In a following step 920, the surface to be measured 1010 is placed on the pattern glass 710 (see Fig. 10). Fig. 10 illustrates the relationship between the two-dimensional pattern glass 710, the measurement system surface 610 and the surface to be measured 1010. The two 25 dimensional pattern glass 710 is oriented to place the reference pattern 720 on the surface immediately adjacent to the surface to be measured 1010. For example, in the arrangement illustrated in Fig. 10, the pattern glass is oriented with the reference pattern 720 on the upper surface. Other suitable arrangements between the surface to be measured 1010 and the reference pattern 720 may also be used, depending on the 30 characteristics of the scanner. Note that the optical resolution and other performance characteristics of the measurement system 600 will not usually be the same in all orientations on the measurement system surface 610. As the orientation of the surface to be measured 1010 on the measurement system surface 610 is changed, the accuracy of a measurement will -17 typically also change. The optimal orientation will depend on the particular characteristics of the measurement system 600 and the measurement being made and should be determined empirically for a particular system. It has also been found to be advantageous to ensure that the surface to be s measured 1010 is flat and that the gap between the surface to be measured 1010 and the two-dimensional pattern glass 710 is as small as practicable. Fig. 11 illustrates one of the many possible ways to achieve this. As illustrated in Fig. 11, in the preferred arrangement of the RPPH approach, a flat weight 1110 is placed on top of the surface to be measured 1010. Note that too light a weight may not 10 serve the purpose, while too heavy a weight may bend the measurement system surface 610, possibly impairing system accuracy. In the preferred RPPH arrangement the suitable weight should be determined empirically. Returning to Fig. 9, in a next step 930 of the method 900, a position measurement is performed in the measurement system 600 of Fig. 6 by scanning, and thus 15 imaging, the surface 1010 to be measured through the reference pattern 720 that has been formed on the surface of the two-dimensional pattern glass 710. In the preferred RPPH arrangement, and with the relationship between the surface 1010 to be measured, the pattern glass 710, and the measurement system surface 610 being shown in Fig. 10, any position on the surface 1010 to be measured has a corresponding position relative to the 20 reference pattern 720 and hence the two-dimensional pattern glass 710. The digital image resulting from the scan, henceforth referred to as the "scanned image" or "scan", is transferred to the computer 101 where the scanned image is stored. In a final step 940 of the method 900, the scanned image is analysed to determine the measurement result. This analysis will typically entail the determination of locations 25 in the pattern glass 710 of features in the scanned image. The pixels of the scanned image include information resulting from the reference pattern 720. To determine the spatial position relative to the two-dimensional pattern glass 710 of a feature in the scanned image the RPPH application program 133 is executed within the computer 101 which detects and analyses the properties of the pattern 720 around the pixel position of that 30 feature of interest and uses the detected properties to determine the corresponding spatial position on the pattern glass 710. Having regard to Fig. 29, the RPPH approach thus identifies the pixel position 2923 of the feature of interest 2902' and uses the detected reference pattern information 2901', 2903' to determine the corresponding spatial position 2904' which is the reference pattern coordinate associated with the aforementioned 35 position 2923. This process is described in detail below.

-18 The warp-map As a result of distortions in the measurement system 600, locating a pattern mark (e.g. 770) in the scanned digital image can be problematic. In the preferred arrangement of the RPPH approach, this locating task is accomplished using a two-stage process 5 combination of "coarse alignment", and the "fine alignment" to refine the coarse alignment process. Coarse alignment represents an approximate mapping between the location of a pattern mark 770 in the reference pattern 720 and the corresponding location of the pattern mark in the scanned image. In the preferred RPPH arrangement, coarse alignment 10 uses an affine transformation. The coarse-alignment affine transform is specified by a matrix A and a vector b and transforms coordinates (x, y) in the reference pattern 720 to coordinates (xs, ys) in the scanned image according to Formula (4), below: (xs = A(x) +b (4) is Since the mapping between locations in the two-dimensional pattern glass and locations in the scanned image is usually more complicated than an affine transform, coarse alignment may not adequately represent the actual transformation. In order to represent this transformation more accurately, a fine alignment transform may be used to apply corrections to locations determined using the coarse alignment transform. Fine 20 alignment transform is a step in the fine alignment stage for locating pattern marks. The fine alignment stage for locating pattern marks includes 3 techniques: the displacement map (described in this section), simulation of the scanned image (described in section "Simulate scanned image pixel") and correlation (described in section "Converting scan coordinates to pattern glass coordinates"). 25 Fig. 12 shows how the fine alignment transform may be represented as a set of displacement vectors (e.g. 1210). Each displacement vector is associated with a location (e.g. 1220) in the scanned image 1230, and measures the amount of shift between the coarsely-aligned reference pattern image and the scanned image at that location. Such a set of displacement vectors may be referred to as a "displacement map", d. 30 In the preferred RPPH arrangement, the displacement vectors are arranged on a regular grid (e.g. 1240) in the scanned image. The grid step size is the distance between two adjacent displacement vectors in the vertical direction or the horizontal direction. The step size can be the same or different in the two directions. In the preferred arrangement, the grid step size is the same in both directions and is denoted by P. As shown in Fig. 12, -19 the exterior border of the grid 1240 should contain at least the region of interest (e.g. 1250 in Fig. 12 or 2914 in Fig. 29) in the scanned image. The grid step size, P, may be varied. A smaller value of P gives more spatial detail but may reduce the accuracy to which a displacement vector can be determined. As an example, if the region of interest 1250 in s the scanned image is a square, 400 pixels on each edge, P might be set to 256 and displacement map grid of three points in each direction, as illustrated in Fig. 12, could be used. The coarse and fine alignment transforms may be combined into a single "warp map", w. If (x, y) are the coordinates of a pattern mark 770 in the reference pattern 720, 10 then the warp map w maps (x, y) to a corresponding location in the scanned image in accordance with Formula (5) as follows: w(xy)= (Ax + bj) +d (A(x) + bj] (5) where A and b defines the course-alignment affine transform described by Formula (4), and d(x, y) is a function defining the displacement map at arbitrary 15 coordinate (x, y). However, the displacement map d(x, y) is only defined at a few places, namely the grid point locations (e.g., 1220). In order to determine a value for Formula (5) at other locations, the displacement map d is interpolated. Many methods of interpolation are known in the art. Depending on the number of points in each direction, appropriate 20 methods of interpolation along a particular grid axis might be linear, quadratic or cubic interpolation. In general, cubic interpolation is preferred if there are at least four points available. If there are three points, quadratic interpolation is preferred and otherwise linear interpolation is used. Determine locations on the pattern glass 25 Fig. 13 is a schematic flow diagram illustrating a method 1300 of determining the location, relative to the two-dimensional pattern glass 710, of features in the scanned image. In a first step 1310 of the method 1300 the coarse-alignment affine transform described above is determined from the locations of the spiral registration marks 730 and 30 731. Fig. 14 depicts a method 1400, that can be used to carry out the step 1310 of the method 1300, of determining the affine transform using the spiral registration marks 730 and 731.

-20 The method 1400 begins at an initial step 1410, where the processor 105 generates a spiral template image of a spiral 730, within the digital memory 106, for example. Each pixel in the spiral template image is complex-valued. Each value is stored as a pair of double-precision floating point numbers representing the real and imaginary 5 parts of the pixel. The spiral template image has height and width equal to Ts, the template size. The template size T, may vary. In the preferred RPPH arrangement, Ts is chosen to make the spiral template image approximately the same size as the spirals in the scanned image. In one example T, = 256. Polar coordinates (r, 0) in the spiral template are defined, with the origin in the 10 centre of the template. The pixel value at polar coordinates (r, 0) in the spiral template image may be determined in accordance with Formula (6) as follows: e"j(m+nI"nr) if r > R (6) 0 otherwise where m and n are defined by Formulae (2) above and the Nyquist radius R and the spiral angle o have the values used in the generation of the reference pattern 720. 1s At a next step 1420 of the method 1400 the processor 105 performs a correlation between the scanned image 2918 (see Fig. 29) and the complex-valued spiral template image to generate a correlation image. The correlation of two images I, and 12 is a correlation image I,,. The correlation image I, may be determined in accordance with Formula (7) below: 20 I.(X,Y)= E11(x', y')I2(x'+x, Y'+ y) (7) x-y The sum of Formula (7) ranges over all x' and y' where I is defined, and, in the image 12, the values of pixels outside the image are considered to be zero. If either of the images It or 12 is complex-valued, the correlation image I,, may be complex-valued too. The resulting correlation image Ix contains peaks (i.e., pixels with large modulus 25 relative to neighbouring pixels), at the locations of spirals 730 and 731 in the scanned image. The phase of the pixel value of a peak is related to the phase 4 of a corresponding spiral (e.g. 731) that was included in the reference pattern 720. The three spirals 730 that were generated with < = 0 have peaks with similar phase, while the one spiral 731 that was generated with # = 7r typically has a peak with opposite phase to the peaks of the 30 other three spirals. Since the underlying LRHF of the spirals is scale-invariant and rotation-invariant, detection is robust to rotation and to differences between the resolution of the scanned image and the resolution employed in the fabrication of the pattern glass 710.

-21 At a next step 1430 of the method 1400, the processor 105 examines the correlation image resulting from the step 1420, and locates the peaks corresponding to each of the four spirals 730 and 731 in accordance with the known arrangement of the spirals in reference pattern 720. s At a final step 1440 of the method 1400, the processor 105 determines the affine transform parameters A and b that minimise the error between the known coordinates of the spirals 730 and 731 in the reference pattern, transformed to scanned image coordinates according to Formula (4), above and the corresponding scanned image locations determined in the previous step 1430. 10 Returning to the method 1300 of Fig. 13, in steps 1320 and the following steps the method 1300 iterates over a set of scanned image locations in the scanned image 2918 for which the corresponding pattern glass 710 location is desired. In other words, these steps iterate over a set of scanned image locations in the scanned image 2918 whose locations are desired. 15 In the step 1320 the processor 105 determines if there is any such scanned image location for which the corresponding pattern glass 710 location has not yet been determined. If there is such a location then the method 1300 proceeds to step 1330. If there is no such location, the method 1300 concludes at a step 1351. In a next step 1330 the processor 105 obtains the next scanned image location. 20 In a following step 1340 the processor 105 locates the scanned image location in the pattern glass 710 according to a method 1500 described in detail below. Following the step 1340 the desired pattern glass location is saved for subsequent processing in a step 1350. The method 1300 then returns to the step 1320 described previously. 25 Simulate scanned image pixel Fig. 15 is a schematic flow diagram illustrating a method 1500 of determining accurate coordinates relative to the reference pattern 720 of a given location in a digital image produced by imaging a chart 1010 through the two-dimensional pattern glass 710 using the measurement system 600 as depicted in Fig. 10. 30 As described in detail below, in a step 1530 of the method 1500, the processor 105 determines a simulated version of part of the scanned image from the known reference pattern 720 and a set of parameters used to model the process of image acquisition using the measurement system 600. Before describing the method 1500, the simulation process will first be detailed.

-22 In the preferred RPPH arrangement, the appearance in the simulated image of each pattern marking (e.g. 770) in the special pattern 750 is modelled using a two dimensional Gaussian function. As described previously, the location in the simulated image of a pattern marking (e.g. 770) may be calculated using a warp map. Specifically, 5 the simulation parameters comprise: (1) The "background" level, B is the value of a scanned image pixel where a hypothetical reference pattern is entirely clear of marks. This value can be approximated by the value of a scanned image pixel distant from any mark on the reference pattern (eg. 5mm from the nearest mark); 10 (2) The "foreground" level, F is the value of a scanned image pixel where a hypothetical reference pattern is entirely filled with marks. This value can be approximated by the value of a scanned image pixel distant from any unmarked region of the reference pattern (eg. 5mm from the nearest unmarked region); (3) the standard deviation of the Gaussian function in the horizontal and vertical is directions, a, and os,, respectively; (4) the coarse alignment parameters, namely the affine matrix, A, and vector, b; and (5) the fine alignment parameters, namely the displacement map, d. Let R denote an image of the reference pattern, where R(x, y)=l indicates the 20 presence of a pattern mark at location (x, y) and R(x, y)=O indicates the absence of a pattern mark. Then, given the simulation parameters mentioned above, the value, S, of the pixel at location (xs, ys) in the simulated image may be calculated according to Formula (8) below: S(xs,ys) = B+ el(w(x~Y)-(IsYs)) diag(ox ,oy )" ~2 8 (F - B) f JR(x,y) |di IJ (x,y)| dy dx x=.x= 2noy 0,y 25 where: w(x, y) is the warp map calculated according to Formula (5), above; diag(orx, a,) represents a 2x2 matrix with main diagonal coefficients ax and ay; represents the Euclidean norm; and IJ,(x, y) is the determinant of the Jacobian matrix of w at (x, y). 30 In the preferred RPPH arrangement, the reference image, R, ie a digital representation of the reference pattern 720 with unspecified pixel size, where the pixels tile (fully cover) the reference image, is represented as a raster array, RA, stored in the -23 digital memory 106 of the computer 100, with each pixel the same size and shape as a special pattern marking (e.g. 770), ie a square 8 microns on each edge. If the number of pixels in the x and y directions are N and N,, respectively, then in the preferred RPPH arrangement, R and RA are related according to Formula (9) below: 5 fR(x, y)=if0XA<N.andO5YA<NY (9) 0 otherwise where XA and YA are defined as follows: XA = -- + (10) 8pm 2_ YA + _8pm 2 _ In this case, S may be calculated according to Formula (11) below: S(xs, ys) = B + 10 N, -I Ny-1 I(w(x,y)-(xs ys))diag(a,,a,)"1/2 (11) (F-B)Z ER(x,y) 2|ruxa IJ, (x,y)|x 64pm 2 XA=0 YA=0 y where x and y are defined as follows: X =x x 8pm (12) Y =YA x 8ym Converting scan coordinates to pattern glass coordinates 15 The method 1500 of determining accurate coordinates relative to the reference pattern 720 of a given location in the digital image 2918 produced by imaging the chart 2906 through the two-dimensional pattern glass 710 using the measurement system 600 will now be described with reference to Fig. 15. As described above, a warp map, w, provides a mapping from coordinates in the 20 reference pattern 720 to coordinates in the scanned image 2918. In order to determine accurate coordinates relative to the reference pattern of a given location in the scanned image, the method 1500 first generates a warp map relating a region in the reference pattern to a region including the location of interest in the scanned image and then determines the location in the reference pattern mapping to the location of interest. 25 In the subsequent discussion, it is assumed that approximate values of the simulation parameters B, F, o, A and b, described previously, are known. For the purposes of the following discussion it is assumed that (1) these approximate values are denoted BO, FO, ao, AO and bo, respectively, and (2) a uniformly zero displacement map, do is defined, according to Formula (13), below: 30 do(x, y) =(0, 0) (13) -24 The method 1500 begins at a step 1510, where the processor 105 determines a window width, W, and height, H, in scanned image pixels for subsequent processing. In the preferred RPPH arrangement, W and H typically correspond to distances in the range of 700 microns to 1500 microns. 5 At a next step 1520 a region, Io, of the digital image 2918, W pixels wide and H pixels high, centred on the input digital image coordinates is extracted from the scanned image. If the coordinates of the first pixel, in scanline order, of the region 1 o are denoted (xo,yo), then the pixels of Io are related to the pixels of I according to Formula (14), below: 10 Io(x, y)= (x + xo, y+yo) (14) In a following step 1530 a new image, So, also W pixels wide and H pixels high is created in the digital memory 106 of computer 100. The value of each pixel, So(x, y), of this image is determined using the simulation parameters B 0 , F 0 , ao, A 0 , bo, and do as described above, according to Formula (15), as follows: 15 So(x,y)= S(x +xo,y +yo) (15) In a next step 1540 1 o and So are compared to determine a two-dimensional integer-coordinate translational offset A 0 , from Io to So. Other suitable methods to achieve this are known in the art. In the preferred arrangement of the RPPH approach, phase-only correlation is used. 20 In a following step 1550 the affine transform vector is adjusted to account for the offset between the scan and simulated scan images according to Formula (16): bi = bo - Ao (16) where b, is the affine transform vector after adjustment and bo is the affine transform vector before adjustment. 25 The method 1500 continues at a next step 1560 where the processor 105 minimises the difference between Io and the simulated image by varying the simulation parameters B, M, a, and d. More specifically, the error function, E, to be minimised may be the squared residual error calculated according to Formula (17) as follows: W-1 H-1 30 E = I (I(x,y)- S(x+xo,y +yo) (17) x=O y=O Non-linear minimisation requires initial conditions for the variables which are being varied. These initial conditions are defined as follows: B: Approximate value, Bo; F: Approximate value, Fo; -25 a: Approximate value, oo; and d: Zero displacement map, do. The affine transform parameters are not varied by the minimisation process, but have fixed values as follows: 5 A: Approximate value, AO; and b: Adjusted value, b 1 . In the preferred RPPH arrangement a non-linear least-squares minimisation scheme, known as the Levenberg-Marquardt method, is used, and it is noted that other suitable methods are known in the art. 10 The minimisation is performed in a step 1560. In a following step 1570 the processor 105 determines the desired reference image coordinates corresponding to the input digital image coordinates using the refined simulation parameters. Let the value of the displacement map d corresponding to the minimum value of E be denoted di. Then the refined warp map, wi, may be calculated according to Formula is (18) as follows: wi(x, y)= Ao(x, y) T + bi + di(Ao(x, y)T + a 1 ) (18) where a, is the affine transform vector produced by the minimisation step 1560 In order to determine the desired reference image coordinates (xR, YR) from w and the input digital image coordinates (xI, y,), a second minimisation process is used. 20 The error function, E, to be minimised in this step may be calculated according to Formula (19), below: C = Iw,(x,,y) - (X,y)|| 2 (19) The initial value of (XR, YR) may be calculated from the affine component of w, according to Formula (20) as follows: 25 (XR, YR)o = Ao'(x, y) - b 1 ) (20) where (xR, yR)o is the the initial value of (xR, yR) In the preferred RPPH arrangement, E is minimised by varying (XR, YR) using the Simplex algorithm of Nelder and Mead. Other suitable methods are known in the art. The desired reference image coordinates (XR, YR), correspond to the minimum 30 value of E (expected to be 0). Following step 1570, the method 1500 concludes at a step 1571. Pixel masking and dust, hair etc. rejection The method 1500 is based on the assumption that the digital image region, Io, being analysed may be modelled as dark-colored pattern marks on a uniform light-colored 35 background. It often happens, however, that other marks (referred to as "chart marks") on -26 the chart obscure the pattern marks in some subregion of 10. In addition, it also often happens that dust, hair, etc. between the chart and the two-dimensional pattern glass 710 or between the pattern glass and the measurement system surface 610 is imaged along with the pattern glass and the chart. 5 In such cases, the accuracy of the reference pattern coordinates determined by method 1500 may be improved by neglecting pixels affected by chart marks, dust or hair, etc. In the preferred arrangement of the RPPH approach, this is accomplished using a mask image, M, with the same dimensions as Io, stored in the digital memory 106 of the 10 computer system 100. The pixels of the mask image M are set according to Formula (21), below: 0 if pixel (x, y) is to be neglected M(x,y) = (21) 1 otherwise For the purposes of the subsequent discussion, if the mask image indicates that a given pixel is to be neglected, then the pixel is termed a "masked" pixel, and has a mask is image value of zero. All other pixels are termed "unmasked", and have a mask image value of one. A method 1600 of determining accurate coordinates relative to the reference pattern 720 of a given location in a scanned image produced by imaging a chart through the two-dimensional pattern glass 710 using the measurement system 600 in the case 20 where some pixels in the region of interest of the digital image are affected by chart marks, dust, hair etc. will now be described with reference to the schematic flow diagram Fig. 16. Referring also to Fig. 17a, showing an example of a mask where part of the two dimensional pattern near the centre of a patch is extracted, the method 1600 begins at a 25 step 1610 where the processor 105 sets the mask, e.g. 1710, to 0 where the corresponding pixel in the digital image region Io, e.g. 1720, is determined to be sufficiently closeto a chart mark (e.g. 1730) or 1, otherwise (e.g. 1740). Note that all pixels of M may be I if it is not initially desired to neglect any pixels in the analysis. At a next step 1620 the processor 105 determines refined simulation parameters. 30 The step 1620 is identical to steps 1510 to 1560, inclusive, of the method 1500 described previously, save for the following modifications: (1) in the step 1540 the comparison of Io and So neglects any pixels in 1o for which the corresponding pixel in M has value 0; -27 (2) in the step 1560 the error function, E, to be minimised is calculated according to Formula (22) as follows: W-1 H-1 E =j Z(I(x,y)-S(x+x,y+y))M(x,y) (22) x=0 y=O In a next step 1630, if it is desired to exclude additional pixels affected by dust s etc. the method 1600 proceeds to a step 1640. Otherwise, the method 1600 proceeds to a step 1680. In the step 1640 the processor 105 calculates a residual image, D. Each pixel in D is the difference between the corresponding pixels in Io and the image simulated with the refined simulation parameters, according to Formula (23), as follows. 1o D(x, y) =|I (x, y) - S(x + x 0 , y + y 0 )| (23) In a following step 1650 of the method 1600 the processor 105 determines the fraction, 0, of pixels to exclude. In the preferred RPPH arrangement, a typical value of 0 is 0.1. In a next step 1660 the processor 105 sorts the unmasked pixels in D in 15 decreasing order of magnitude. If the initial number of unmasked pixels is denoted n, then the pixels in M corresponding to the first Lo x nJ pixels in the sorted pixels of D are set to 0. Fig. 17b shows an example of a mask 1750 where part of the two-dimensional pattern near the centre of a patch is extracted, except for a thin and long area 1760 where a 20 piece of hair 1770 is obstructing the two-dimensional pattern in the scanned image. A next step 1670 of the method 1600 is identical to the step 1620 described previously. A final step 1680 is identical to the step 1570 of method 1500, described previously. 25 Following the step 1680, the method 1600 concludes at a step 1681. First RPPH arrangement Fig. 18 is a schematic flow diagram illustrating a method 1800 for accurately measuring the head size 510 according to the RPPH approach. The method 1800 begins at a step 1810, where a head size measurement chart is 30 printed. The design of the chart and the chart printing process are described in detail below. In a next step 1820, the two-dimensional pattern glass is placed on the measurement surface 610 as described previously for the step 910 of the method 900.

-28 In a following step 1830, the head size measurement chart is placed on the two dimensional pattern glass as described above for the step 920 of the method 900. In a next step 1840, the scanned image is acquired as described for the step 930 above. 5 In a final step 1850 of the method 1800, the scanned image is processed to determine the desired head size 510. This step will be described in detail below. It is apparent that the step 1820 of placing the two-dimensional pattern glass on the measurement surface 610 could alternately be performed prior to the step 1810. Further, the step 1820 could be eliminated if the two-dimensional pattern 750 were 10 fabricated onto the glass surface 610 of the scanner. Chart design for the first RPPH arrangement Fig. 19 shows an example of a head size measurement chart 1900. The chart has four LRHF spiral registration marks 1910, 1920, 1930 and 1940 and at least two "patches" 1950, as described below. The chart spiral registration marks are generated as is described previously with respect to the reference pattern spiral registration marks 730 and 731 but with different adjustable parameters for ease of distinguishing two dimensional pattern glass spirals from chart spirals. In this arrangement, the adjustable parameters for the chart spiral registration marks 1910, 1920, 1930 and 1940 are as follows: 20 (1) Nyquist radius, R = 3.82; (2) Spiral angle, a = 300; and (3) Phase offset, <p = 1800, 1200, 600, and 00 for marks 1910, 1920, 1930 and 1940, respectively. The spiral registration marks 1910, 1920, 1930 and 1940 are used to detect the 25 location and the orientation of the chart. It is possible to use other types of spirals or even other types of marks (e.g. crosses) to detect the location and the orientation of the chart. Furthermore, it is possible to detect the location and the orientation of the chart using the known pattern and location of the patches. Patch design 30 Fig. 20 shows a detailed example of a patch 1950. The patch 1950 consists of a group of printed ink dots (referred to as "patch marks", or more generally, "object marks"), with the dots being arranged such that the patch has both spread spatial and spread spectral support. Spread spatial support means that the ink dots are spread out approximately evenly to cover the printed area of a patch. Spread spectral support means 35 that when the patch is represented by its Fourier Transform, the resulting frequency -29 components spread out approximately evenly over the Fourier Transform representation.. The patch, or more generally the graphic object of interest, is referred to as a second type of two-dimensional pattern. When correlated with a similar patch, this will result in a distinct, sharp correlation peak. s The area near the centre of the patch is void of printed dots. This area is called a hole, or more generally a separation area 2450. In general it is advantageous for the separation area 2450 to be near the centre of the patch, ie. near to or in the vicinity of the point of interest (eg the location coordinate 2923 in Fig. 29), to minimise effects of spatial scanner distortion in the measurement system 600. The definition of the location of a to patch is chosen by the designer of the measurement system. However it is advatageous to define the location of a patch to be near the centroid of the patch since the errors due to scanner distortions are reduced. More generally, wherever the location of a graphical object is defined to be, the separation area should advantageously be located in the vicinity of or on this defined location of the graphical object. 15 The patches are printed by the nozzles of the to-be-measured head 210. The color or colors on the patches depends on the color or colors of the ink ejected by the nozzles. In the present RPPH arrangement, the patch is formed from cyan and magenta ink, but other colors can be used. In one example, the patch is a square, 3 mm on each edge. 20 Describe correlation One aspect of the analysis of the head size measurement chart 1900 is the calculation of the relative locations of pairs of patches. Many methods of performing this calculation are known in the art. In the present RPPH arrangements, phase-only correlation is used, with the correlation peak located to subpixel resolution by Fourier 25 interpolation. Other shift estimation methods such as gradient based shift estimation can be used instead. In such cases, the patch 1950 could be re-designed to ensure the best performance for the alternative shift estimation method. Fig. 21 is a schematic flow diagram illustrating a method 2100 of estimating the displacement of two equal-sized image regions by correlation. For the purposes of the 30 following discussion, let the image regions be denoted I, and 12 and the calculated average displacement between corresponding features in the image regions be denoted d. Further, let the width in pixels of each image region be denoted w, let the height in pixels be denoted h, let the uppermost leftmost pixel of each image region have coordinates (0, 0) with the first, x, coordinate increasing to the right and the second, y, coordinate increasing 3s downward.

-30 The method 2100 starts at a first step 2110 where a two-dimensional Fourier transform is applied to images I, and 12 to form the spectra Si and S2 respectively, according to Formulae (23b), below: w-I h-1 2vi + SI(k,l) = I I (X, Y) e(wh x=O y=O (23b) w-1 h-I 2zi +

S

2 (k,l) = I 1I 2 (x,y) e x=O y=O 5 where (k, 1) is an arbitrary tuple of frequency components in a Fourier Spectrum (x, y) is a set of coordinates of an arbitrary pixel in an image w and h are the image width and height i is the imaginary number unit Both spectra Si and S 2 are two-dimensional, complex-valued images the same 1o size as I, and 12 but with the uppermost leftmost pixel coordinate of (-Lw/21,-Lh/2]). In a next step 2120 of the method 2100, a conjugated spectrum S1* is formed from the spectrum Si by negating the imaginary part of each pixel according to Formula (23c) as follows: S.(x, y) = (S.(x, y)) (23c) 15 In a following step 2130, the two complex spectra Si* and S2 are pixel-wise multiplied to form a correlation spectrum E according to Formula (23d), below: E(x, y) = S.*(x, y) S 2 (x, y) (23d) The correlation spectrum E is further processed in a next step 2140 where each pixel of the complex-valued correlation spectrum E is scaled to an amplitude of one to 20 form a normalised correlation spectrum $ according to Formula (23e), below: E(x, y) if JE(x,y)| > 0 $(x, y) = IE(x, y)l (23e) 0 otherwise In a following step 2150 of the method 2100 a two-dimensional inverse Fourier transform is applied to the normalised correlation spectrum Z to form a correlation image C according to Formula (230, as follows: w-+ h-- -2xi + 25 C(x,y) = 2'E(k,l) e ( h (230 k=-[Lw] =-[h The pixel with the largest absolute amplitude in the correlation image C is located in a next step 2160. If the width of image C in pixels is denoted w and the height in pixels is denoted h, the coordinates (mr, my) in image C of this pixel are then converted -31 to a first estimate do, in image pixels, of the displacement of features in image 12 relative to corresponding features in image I, according to Formula (23g), as follows: _w[2m_, 2mm d. =(m, whr,m -hYJ) (23g) In a following step 2170 of the method 2100, this initial estimated displacement 5 is refined to sub-pixel resolution using a maximisation process. Given a displacement d, initially equal to the value do calculated in the previous step 2160, the function, y, to be maximised in this step is the Fourier-interpolated correlation image C at location d. The function -y may be calculated according to Formula (23h), below: w~~i-w h)j to 2x,y)= Z(k,l) e 2v * (23h) k=-[WJ '=-[h In the preferred RPPH arrangement, -y is maximised by varying d using the Simplex algorithm of Nelder and Mead, but other suitable methods are known in the art. Following step 2170, the method 2100 concludes at a step 2171. Print the head size measurement chart 15 Figs. 22 and Fig. 23 illustrate how the printing process of a chart according to the procedure of Fig. 18 may be used to measure the head size 510. Referring first to Fig. 22, the print head 210 (which in Fig. 22 is wide enough, as depicted by a reference numeral 2221, to print a pair of patches 2220, 2230 during a single passage) makes a passage 2210 across the printing medium 230, which is in a first 20 position, and records (prints) at least two patches, e.g. 2220 and 2230, arranged according to the patch layout shown in Fig. 19. As described previously with reference to Fig. 5, the distance between the patches in a pair of patches, such as the pair 2220 and 2230, is the desired head size 510. Referring now to Fig. 23, the printing medium advance mechanism 250 then 25 moves the printing medium 230 to a second position, and a second passage 2310 of the print head 210 records further patches, e.g. 2320' and 2330'. In the preferred RPPH arrangement, the complete measurement chart 1900 is printed after four passages of the print head 210. Note that the printing process may be different for different printers, for example, the passages 2210 and 2310 may be forward passages, backward passages or a 30 combination. An alternative chart design to measure head size can include just a single pair of patches. However in the present RPPH arrangement a plurality of pairs of patches are -32 printed, as described above, to improve the accuracy of the head size measurement by the use of statistics. Acquire the scanned image Fig. 24a illustrates a scanned image 2400 (also see 2918 in Fig. 29) of the head 5 size measurement chart 1900 imaged through the two-dimensional pattern glass 710. In the scanned image 2400, the image of the reference pattern 2420 is superposed on the image of the head size measurement chart 2410. On the scanned image 2400, individual patches 2430 can be seen. The scanner resolution must be carefully chosen to accommodate the best to accuracy with respect to the size of the dots (ie pattern marks) in the two-dimensional pattern glass 710 and with respect to the size of the dots (ie patch marks) in the patches 1950. In the preferred arrangement, the scan is acquired at a scan resolution of 2400 pixels per inch. Fig. 24b illustrates an enlarged portion of the scanned image 2400, showing a is patch 2430 with the image 2460 of the unobstructed two-dimensional reference pattern 750 showing through in the separation area 2450. The image 2460 of the pattern marks on the two-dimensional reference pattern are also superposed on the image of the patch marks from the patch 2430. Analyse the scanned image to determine the head size 20 Fig. 25 shows a flow chart for a method 2500 of analysing the scanned image 2400 to determine the head size 510. This method 2500 can be used to carry out the step 1850 of the method 1800. The method 2500 begins at a step 2510 where an affine transform between the coordinates of the measurement chart 1900 and the coordinates of the scanned image 2400 25 is determined. This is accomplished according to the method 1400 as described previously except that the LRHF registration mark adjustable parameters and locations used are those for the chart spiral registration marks 1910, 1920, 1930 and 1940 rather than the reference pattern spiral registration marks 730 and 731. Let the parameters of the affine transform be the matrix Ac and the vector bc. 30 Then the affine transform relates coordinates in the measurement chart 1900, (XC, Yc) to coordinates in the scanned image 2400, (xs, ys) according to Formula (24), below: (X = Ac xc+bc (24) YS) = c) As described previously, the parameters of the affine transformation could also be determined using other marks on the measurement chart such as the patches, e.g. 1950.

-33 Referring again to Fig. 25, at a next step 2520 the processor 105 determines the coordinates in the scanned image 2400 of each patch. Fig. 26 shows again the head size measurement chart 1900 but with each patch labelled with a number and a character. The number indicates the passage in which a 5 given patch is printed. The character indicates which nozzles of the print head 210 are used to print the patch. For example, 'A' may refer to the nozzle group 520 and 'B' to the nozzle group 530 in Fig. 5. Lines are drawn between patches that are printed at the same time. The distance (depicted illustratively by an arrow 2600) between a patch printed by nozzle group 'A' and the patch printed at the same time by nozzle group 'B' is the head io size 510. In a step 2520, the processor 105 locates each patch in the scanned image 2400. This step will be described in detail below. After determining the location of each patch in step 2520, a next step 2530 of the method 2500 determines the coordinates of each patch relative to the two-dimensional is pattern glass 710. This may be accomplished according to the method 1300 described previously. Note that the method 1300 uses the method 1500. Referring again to Fig. 24b, note further that in the steps 1510 and 1520 of the method 1500, the dimensions W and H and the region to extract from the scanned image correspond to the extraction region 20 2440. This extraction region 2440 can be slightly smaller than the separation area 2450 so that the extracted region does not include images of the dots belonging to the patch 2430 outside the separating area 2450. The centre of the extraction region 2440 is based on the computed patch centre coordinates in the step 2520 of the method 2500. Referring again to Fig. 20., note that in general the accuracy of the estimated 25 shift between patches (and hence the coarse estimation of the location coordinate 2923) depends on the size of the area with patch dots (ie patch marks) 1950 (see Figs. 19 and 20). The term "shift" represents a required displacement of one extracted image of a patch in order to match the extracted image of another patch. Similarly the accuracy of the two dimensional reference pattern matching operation (ie the accurate estimation of the 30 reference pattern coordinate 2904') depends on the size of the area of the extraction region 2440 (see Fig. 24b) and hence on the separation area 2450 (see Figs. 20 and 24b). For a given patch area, as the separation area 2450 increases in size, the area used for patch dots 1950 decreases in size and vice versa. Therefore in the RPPH approach, there is a trade-off between the separation area 2450 and the area with patch dots 1950. A large 35 separation area 2450 reduces the accuracy of the patch analysis (which provides the -34 approximate locations of patches) and a small separation area 2450 reduces the accuracy of the two-dimensional reference pattern analysis (which provides the accurate locations of patches). In the present RPPH arrangement, the optimum size of the separation area 2450 is chosen by empirical experiments. For a patch size of 3 mm by 3 mm, the 5 separation area 2450 can be 1 mm by 1 mm. In a final step 2540 of the method 2500 the desired head size is calculated from the two-dimensional pattern glass coordinates of each patch. Because the two dimensional pattern glass is rigid and not sensitive to thermal expansion, the distance between two patches in two-dimensional pattern glass 710 coordinates corresponds to the 10 physical distance between the patches on paper. Consequently, if two patches on paper are printed with a displacement (ie an inter-patch distance) of one head size 510, then the head size may be determined by measuring the distance in two-dimensional pattern glass 710 coordinates between the patches. Referring again to Fig. 26, in this RPPH arrangement, there are 32 pairs of 15 patches with each pair separated by a distance of the head size. For a given chart layout, let N denote the number of patch pairs and let X 1 , X 2 , ... , XN denote the physical distances measured for the pairs. Then the desired head size 510 may be calculated as the average distance according to Formula (25). I NV head size = -I Xi (25) N j=1 20 Locate a patch in the scanned image Fig. 27 shows a flow diagram for a method 2700 of locating each patch 2430 in the scanned image 2400. This method 2700 can be used to carry out the step 2520 of the method 2500. The method 2700 begins at a step 2720 where the location of each patch 2430 is 25 estimated using the known location of the patch in the measurement chart 1900 and the affine transform determined in the previous step 2510. In a following step 2730 of the method 2700, for each patch 2430, extract an image region that contains the patch. For a patch size of 3 mm on side, the region size could be 4.2 mm on side, which is equivalent to 400 pixels at 2400 pixels per inch. 30 Referring again to Fig. 24b, as described above, the image of the dots (ie the pattern marks) from the two-dimensional reference pattern 2460 is superposed on the image of the dots (ie the patch marks) from the patch 2430. It is desirable to separate the image signals from the two types of dots for analysis. In the present RPPH arrangement -35 the image of the dots from the two-dimensional reference pattern 2460 has a grey color and the image of the dots from the patch 2430 has cyan and magenta colors. In a step 2740 of the method 2700, the color space of each extracted patch is converted to YCbCr color space. The color space from which to convert depends on the 5 measuring system 600. In the present RPPH arrangement the scanned image 2400 is acquired in RGB color space. The step 2740 can also be done earlier at any time since the start of the method 2700 and before the step 2750, in which case the image to convert may be the whole scanned image 2400. 10 In the step 2750 of the method 2700, the sub-pixel shift between the extracted region of an 'A' patch to the extracted region of the corresponding 'B' patch is estimated. This can be accomplished by using the method 2100 described previously using the Cr color channel of the extracted patch images 2430. This method significantly reduces the interference of the two-dimensional is reference pattern dots (ie the pattern marks) 2460 (see Figs. 24a and 24b) on the analysis of the patches 2430 (see Figs. 24a and 24b). An explanation is now given. Both the white paper background and the grey dots from the two-dimensional pattern 2460 appear as color values close to 0.5 in the Cr channel. The magenta dots from a patch 2430 show up as color values close to 1.0 and the cyan dots from a patch 2430 show up as color values 20 close to 0.0. The grey dots from the two-dimensional pattern 2460 are suppressed and the contrast of the two colors (cyan and magenta) of the dots from a patch 2430 are enhanced. A last step 2760 of the method 2700 adjusts the location of the 'B' patch by the estimated shift. The method 2700 then ends at a step 2761. Extensions to the main RPPH arrangement such as different hole shapes and topology 25 In other arrangements of the RPPH approach, the shape, size and topology of the separation area 2450 can be varied. Fig. 28 illustrates some possible examples of patch designs. In one example, a separation area 2810 can be a square but the size can be larger or smaller than the size used in the preferred RPPH arrangement. 30 In other examples, the separation area 2820 or 2830 can be a vertical or horizontal rectangle. This may be needed to optimism the patch for a scanner spatial distortion that is significantly different in the vertical and horizontal directions. Other examples show that the rectangular separation area 2840 or 2850 can be as long as the side of the patch 1950, dividing the patch into disjoint sections 2845 or 2855.

-36 In other examples, the separation area 2860 or 2870 can be a circle or an oval or an irregular shape. In yet further examples, the separation area can have different topologies. The separation area 2880 can be joined to the area outside the patch 1950, or the separation 5 area 2890 can comprise of a plurality of disjoint areas inside the patch 1950. Other suitable patch designs can be used in the RPPH arrangements where the patch comprises a plurality of object marks and the two-dimensional reference pattern comprises a plurality of pattern marks, by determining a location coordinate for the patch, and providing one or more separation areas in the patch in the vicinity of the location coordinate to thereby 10 minimise occlusion by said object marks of pattern marks belonging to a superposed two dimensional reference pattern, wherein the two dimensional reference pattern is superposed over the graphical object in order to facilitate determination of a reference pattern coordinate associated with the location coordinate, said reference pattern coordinate defining the location of the graphical object. In some examples, the location is coordinate coincides with the centre, or the centroid, or some other suitable location, of the separation area. Extensions to the main RPPH arrangement such as YUV or yellow color spaces In another arrangement of the RPPH approach, the accuracy of the measurements can be improved by reducing the scanner mis-registration. Scanner mis-registration is the 20 spatial misalignment of the different color channels with which the scanner operates. This mis-registration reduction can be accomplished by optimising the correlation between the images from the different color channels before converting the color space from RGB into YCbCr in the step 2740 of the method 2700. In another arrangement of the RPPH approach, in the step 2740 of the method 25 2700, other YUV color spaces (for example Luma/Luminance and Chroma/Chrominance color spaces) can also be used instead of YCbCr color space. Other color spaces can also be designed to maximise the separation of the different types of dots based on their color characteristics, or on a subset of their color characteristics. In another arrangement of the RPPH approach, the patches 1950 can be printed in 30 yellow color. In this case the B color channel in the RGB color space enhances (ie. making large color signal values) both the patch dots 2430 and the two-dimensional pattern dots 2460. The R (or Green) channel enhances the two-dimensional pattern dots 2460 but does not enhance the patch dots 2430. Hence the R or G color channel can be used to analyse the two-dimensional pattern dots 2460. Similarly, the (B minus R) or (B -37 minus G) color signal can be used to analyse the patch dots 2430. In this case the separation area 2450 in the patch 1950 may not be needed. INDUSTRIAL APPLICABILITY The arrangements described are applicable to the computer and data processing 5 industries and particularly for the high quality printing industry. The foregoing describes only some embodiments of the present invention, and modifications and/or changes can be made thereto without departing from the scope and spirit of the invention, the embodiments being illustrative and not restrictive. In the context of this specification, the word "comprising" means "including 10 principally but not necessarily solely" or "having" or "including", and not "consisting only of'. Variations of the word "comprising", such as "comprise" and "comprises" have correspondingly varied meanings.

Claims

1. A method of determining a location of a graphical object printed onto a print 5 medium, said graphical object comprising a plurality of object marks, the method comprising the steps of: superposing a two-dimensional reference pattern having a pre-defined degree of accuracy over the printed graphical object, the two-dimensional reference pattern comprising a plurality of pattern marks; 10 scanning the superposed printed graphical object and reference pattern to produce a scanned image; determining a location coordinate of the graphical object in the scanned image; and refining the location coordinate dependent upon the scanned reference pattern to 15 determine a reference pattern coordinate associated with the location coordinate, said reference pattern coordinate defining the location of the graphical object; wherein said graphical object is adapted to have a separation area in the vicinity of the location coordinate to thereby minimise occlusion of the pattern marks by the object marks in the vicinity of the reference pattern coordinate. 20

2. The method according to claim I where said reference pattern is a pseudo random noise pattern.

3. The method according to claim I where said graphical object comprises a spread 25 spectrum pattern.

4. The method according to claim 1 where said graphical object is in the form of a patch or a plurality of patches. 30

5. The method according to claim 4 where said patch has a rectangular shape.

6. The method according to claim 5 where said location coordinate is at the centre of said patch. -39

7. The method according to claim 1 where said separating area has a rectangular shape.

8. The method according to claim 7 where the centre of said separating area 5 coincides with said location coordinate.

9. The method according to claim I where the size of said separating area is chosen to trade-off between accuracy of the determination of the location coordinate and accuracy of the determination of the reference pattern coordinate. 10

10. The method according to claim I where said reference pattern is a pseudo random noise pattern in grey color, and said graphical object is a spread spectrum pattern with cyan or magenta dots or both. is

11. The method according to claim 10, where the noise pattern and said graphical object utilise the Cr color channel in the YCbCr color space.

12. The method according to claim I wherein said separating area comprises a plurality of areas in the vicinity of the location coordinate. 20

13. The method according to claim 12 wherein the location coordinate coincides with the centroid of said separating area.

14. The method according to claim 10, comprising a further step of reducing scanner 25 mis-registration by optimising correlation between the different scan color channels.

15. The method according to claim 10, wherein noise pattern and said graphical object utilise the Chroma channels in a Luma/ Chroma color space. 30

16. The method according to claim 10, wherein said reference pattern is a pseudo random noise pattern in grey color, and said graphical object is a spread spectrum pattern in yellow color, and the chosen subset of color characteristics is either the R or G or (B minus R) or (B minus G) color signal in the RGB color space. -40

17. An apparatus for determining a location of a graphical object printed onto a print medium, said graphical object comprising a plurality of object marks, the apparatus compnsing: a two-dimensional reference pattern glass having a pre-defined degree of 5 accuracy for superposing over the printed graphical object, the two-dimensional reference pattern comprising a plurality of pattern marks; a scanner for scanning the superposed printed graphical object and reference pattern to produce a scanned image; a memory for storing a program; and 10 a processor for executing the program, said program comprising: code for determining a location coordinate of the graphical object in the scanned image; and code for refining the location coordinate dependent upon the scanned reference pattern to determine a reference pattern coordinate associated with the location is coordinate, said reference pattern coordinate defining the location of the graphical object; wherein said graphical object is adapted to have a separation area in the vicinity of the location coordinate to thereby minimise occlusion of the pattern marks by the object marks in the vicinity of the reference pattern coordinate. 20

18. A computer program product including a computer readable storage medium having recorded thereon a computer program for directing a processor to execute a method for determining a location of a graphical object printed onto a print medium, said graphical object comprising a plurality of object marks, the program comprising: superposing a two-dimensional reference pattern having a pre-defined degree of 25 accuracy over the printed graphical object, the two-dimensional reference pattern comprising a plurality of pattern marks; code for scanning a superposed printed graphical object and a two-dimensional reference pattern having a pre-defined degree of accuracy, the two-dimensional reference pattern comprising a plurality of pattern marks, to produce a scanned image; 30 code for determining a location coordinate of the graphical object in the scanned image; and code for refining the location coordinate dependent upon the scanned reference pattern to determine a reference pattern coordinate associated with the location coordinate, said reference pattern coordinate defining the location of the graphical object; 3s wherein said graphical object is adapted to have a separation area in the vicinity of the -41 location coordinate to thereby minimise occlusion of the pattern marks by the object marks in the vicinity of the reference pattern coordinate. Dated 17 December 2008 5 CANON KABUSHIKI KAISHA Patent Attorneys for the Applicant/Nominated Person SPRUSON & FERGUSON