JP5034852B2 - Image measuring method and image measuring apparatus - Google Patents

Description

  The present invention relates to the measurement of the position and shape of parts, marks, and the like on a production line in the FA (Factor Automation) field, and in particular, it captures a very small object and matches it with a reference template of the object and a captured image. The present invention relates to an image measurement method and an image measurement apparatus that accurately measure the position and shape of an object.

  In a production line in the FA field, a part on the line is picked up by a robot or the like and is mounted on the apparatus or inserted into a designated position on the printed board. Alternatively, the shape of the mark is grasped, and the direction of the mark is aligned and pasted to the designated position of the object. However, along with the progress of miniaturization of devices such as devices, the target parts and marks are very small, and the number of parts with complicated shapes is also increasing. For this reason, it is necessary to search and measure the position and shape of the object. As a measure, the image (search image) obtained by photographing the object is matched (template matching) with the reference template of the object (if it is easily misunderstood, it is expressed as a template image), and the shape / position is measured to obtain the target device. Mounting and insertion into the printed board are performed.

FIG. 10 is a diagram illustrating a conventional subpixel position estimation method (No. 1) based on template matching. This shows a method of measuring a search object with a precision equal to or lower than a pixel (pixel) which is a basic unit of an image by conventional template matching. In addition, the measurement with the accuracy below this pixel is expressed as sub-pixel position estimation. 1) Template, 2) Search image and matching area, 3) Fitting function and peak value.
A. The template shown in 1) starts from the upper left of the search image in 2), and the search image and the template image are matched while shifting the position at a pitch of 1 pixel unit (in the direction of the arrow in the figure). The correlation value at is calculated. Since the calculation of the correlation value between two figures is generally known, a description thereof will be omitted.
A. A fitting function that approximates the correlation value calculated using the coordinate position of the pixel unit as an argument is calculated. The correlation peak position at which the fitting function becomes the peak value is estimated (here, it is assumed to be one-dimensional for the sake of explanation and represented by a quadratic curve as a function of X). In this example, there is a peak between X coordinates (319) and (320), and the position of the search object is estimated from the X coordinate position “x ₀ ”. Estimating the position is expressed as “measuring a search object”.

  However, even when the template image and the search image are the same (subpixel movement amount is zero), the search image matching region at the sampling position of “± 1” pixels does not completely match, so The correlation values at the positions are slightly different. As a result, the peak position obtained by fitting function approximation does not become zero, but shifts. Such a shift is also added to a measurement position in an arbitrary search image, which causes a search object measurement error with sub-pixel accuracy or less.

  FIG. 11 is a diagram showing a conventional subpixel position estimation method (No. 2) based on template matching. A template image obtained by photographing a part of an object is adopted as a template, and the template matching described in FIG. 10 is executed. 1) Partial template, 2) Matching by partial template is shown.

  A part of the template of the search object shown in 1) of FIG. 11 and the search image shown in 2) are matched, a fitting function is calculated, and the position of the X coordinate is estimated from the correlation peak position.

  When the correlation value is calculated by this partial matching, this error appears even more strongly because there is a large difference between the images in each matching region. Due to this error, problems such as the inability to mount components on the production line or the shift of the mark position occur.

  As described above, in the estimation of the subpixel position by the conventional template matching, the peak position is always estimated by the same fitting function regardless of the internal structure (luminance distribution) of the template image. However, in actuality, the distribution shape of the correlation value is slightly different depending on the luminance distribution of the template image, so that the peak estimation position is shifted due to the fitting function approximation, resulting in a subpixel measurement error.

  In Patent Document 1, matching is performed by shifting the position of the matching target image with respect to each of a plurality of matching basic images, and the matching position deviation is corrected based on a plurality of matching degrees and matching positions at which each matching peak is obtained, and the deviation is removed. A technique for calculating a matching position and a matching degree is disclosed.

Patent Document 2 discloses a technique for generating a plurality of model images showing different features of a model on a captured image of a model of a measurement target, calculating a maximum correlation value, and calculating a center position of the target image. Has been.
JP 09-81729 A JP-A-10-153407

  The problem to be solved is that, in template matching in which the position and shape of a search object are measured by matching a search image obtained by shooting a search object such as a minimal part or a mark on a manufacturing line in the FA field with a template image, This is a problem that it is impossible to measure 1 pixel or less (subpixel) of the basic unit.

  An object of the present invention is to provide an image measurement method and apparatus that realizes the position / shape measurement of a search object with subpixel accuracy below a pixel in measurement of a search image by template matching.

A first aspect of the present invention is by template matching to measure the position and shape of the search object by fitting the distribution of the correlation value by template matching of the search image taken the search object as the standard template image in the search object This is an image measurement method.

A position obtained by moving the template image by a sub pixel from the reference position from a reference position in which the origin of the template image obtained by cutting out the region of the search object from the standard template image is coincident with the origin of the standard template image; Autocorrelation values of the template image and the standard template image are respectively calculated from a position moved by +1 pixel from the pixel movement position and a position moved by -1 pixel from the subpixel movement position, and the calculated three autocorrelations A function that approximates a curve from the value is calculated, a position where the autocorrelation value of the calculated approximate function is maximum is calculated, and a difference between the calculated maximum position of the autocorrelation value and the subpixel movement position is calculated as a correction amount. The correction amount is calculated at a position where the sub-pixel movement position is moved to a plurality of different positions. Among the plurality correction amount the calculated, the correction amount is to measure the position and shape of the search target position compensation by the said search object in the correction amount of the smallest sub-pixel movement position.

According to the first invention, the error of the template image can be corrected with the correction amount of the movement position closest to the position of the search target object among the correction amounts for the plurality of sub-pixel movement positions . The position and shape can be measured with subpixel accuracy.

In the second invention, the correction amount for correcting the position of the search object in the first invention is that the region of the search object to be cut out is cut out in a plurality of regions, and the correction amount is obtained from a template image of the plurality of cut out regions. And the position of the search object is corrected with the correction amount in the minimum region among the plurality of calculated correction amounts.

According to the second invention, it is possible to calculate the correction amount in the minimum region among the plurality of correction amounts calculated from the template image of the region obtained by cutting out the error of the template image in the plurality of regions, and the search object The position and shape of the can be accurately measured.

In a third aspect based on the first aspect, the fitting based on the correlation value distribution is performed by moving the template image to a plurality of positions and calculating an autocorrelation value for each movement position. The autocorrelation value is approximated with a fitting function.

According to the third aspect of the present invention, the position / shape of the search target can be measured with high accuracy by approximating the distribution of correlation values to the fitting function.

The fourth invention is based on template matching that measures the position and shape of the search object by fitting a correlation value distribution by template matching between the standard template image of the search object and the search image obtained by photographing the search object. This is an image measurement device.
A position obtained by moving the template image by a sub pixel from the reference position from a reference position in which the origin of the template image obtained by cutting out the region of the search object from the standard template image is coincident with the origin of the standard template image; Means for calculating autocorrelation values of the template image and the standard template image respectively at a position moved by +1 pixel from the pixel movement position and a position moved by -1 pixel from the sub-pixel movement position;
Means for calculating a function that approximates a curve from the calculated three autocorrelation values; means for calculating a position at which the autocorrelation value of the calculated approximation function is maximum; and the calculated autocorrelation value maximum position and subpixel Means for calculating a difference from a movement position as a correction amount; means for calculating the correction amount at a position obtained by moving the sub-pixel movement position to a plurality of different positions;
Means for measuring the position / shape of the search object by correcting the position of the search object with the correction amount of the sub-pixel movement position with the smallest correction amount among the calculated plurality of correction amounts ;
Have

According to the fourth invention, the error of the template image can be corrected with the correction amount of the movement position closest to the position of the search target object among the correction amounts for the plurality of sub-pixel movement positions. An image measuring device that can measure the position and shape with sub-pixel accuracy can be realized.

  According to the present invention, the position of the search object is calculated with subpixel accuracy by calculating the amount of error as a correction amount in accordance with the measurement error factor of each template image and correcting the measurement result of the search image. -The shape can be measured, and measurement errors can be individually corrected to improve measurement accuracy.

Example 1
FIG. 1 is a diagram showing a block configuration of an image position measuring apparatus according to an embodiment of the present invention.

The image position measuring apparatus 1 includes an image input unit 10, a template image processing unit 20, a template matching processing unit 30, and a measurement result output unit 40. The function processing contents of each part are described below.
1) Image input unit 10
An image of a search object (hereinafter referred to as a standard template image), an image to be registered for matching with a search image cut out from the standard template image (hereinafter referred to as a template image), and a search image are input, and a registration unit 20 And sent to the template matching processing unit 30.
2) Template image processing unit 20
The image registration unit 21 and the correction amount calculation unit 22 are included.
3) Image registration unit 21
A standard template image is received from the image input unit 10 and registered as a template image.
4) Correction amount calculation unit 22
The error of the template itself is calculated from the template image, and is stored as a correction amount for correcting the measurement result of the search image. A method for calculating the fitting error of the template itself (calculation of correction amount) will be described later. (Fig. 2, Fig. 5)
5) Template matching processing unit 30
A correlation calculation unit 31, a sub-pixel estimation unit 32, and an estimated position correction unit 33 are configured to receive a search image from the image input unit 10, a template image and a correction amount from the template image processing unit 20, and measure and correct the search image. The measurement result is output to the measurement result output unit 40.
6) Correlation calculation unit 31
The template image is moved with respect to the search image, and correlation calculation is performed at each moved position. A process of approximating with a fitting function is performed from the moving position and the correlation value at that position. The maximum value of the fitting function and its position are calculated.
7) Subpixel position estimation unit 32
The position of the search image is estimated with sub-pixel accuracy from the maximum correlation value of the fitting function calculated by the correlation calculation unit 31 and its position.
8) Estimated position correction unit 33
The position of the search object is estimated by correcting the position of the search object estimated from the position image estimation result of the subpixel estimation unit 32 and the template image error correction amount from the template image processing unit 20.
9) Measurement result output unit 40
The measurement result of the search object from the template matching processing unit 30 is output.

FIG. 2 is a diagram showing a template image correction amount calculation procedure (part 1).
S1: A region of an object is cut out from a template image (standard template image) and registered as a template image.
S2: An autocorrelation value between the template image at the reference position set on the standard template image and the standard template image is calculated.
S3: The template image is moved by “−1” and “+1” pixels from the reference position on the standard template image, and an autocorrelation value with the standard template image at that position is calculated.

Note that the reference position is a position where the origins of the template image and the standard template image coincide with each other (corresponding to the same image), and the image does not move in pixel units (zero sub-pixel movement amount).
S4: A fitting function approximated by a quadratic curve is calculated from the calculated three positions and their correlation values.
S5: A position where the autocorrelation value of the fitting function is maximized is calculated, and a difference between the maximum autocorrelation position and the reference position is set as a template correction amount “H”.

In S4, calculation of the quadratic curve and calculation of the maximum value from the three correlation values will be described. Here, the one-dimensional position is assumed to be y with respect to the position x, and y = f (x) = ax ² + bx + c = a (x + b 2 / 4a) ² + (c−b ² / 4a). To do. The position of the _{[x 0] [x 0]} from [-1], [+ 1] positions were pixels moved _[x 0-1], [x _{0 + 1]} and its autocorrelation _{values, (x 0-1} , Y ₁ ), (x ₀ , y ₂ ), (x _{0 + 1} , y ₃ ), and the coefficients “a”, “b”, “c” are respectively a = (y ₁ + y ₃ −2 * y ₂ ) / 2, b = (y ₂ −y ₁ ) −a * (2 * x ₀₋₁ ), and “x _max ” at which the autocorrelation value becomes the maximum value is x _max = (− b / 2a).

  Although the approximation by the quadratic curve has been described here as the fitting function, if the autocorrelation value distribution by template matching becomes more complicated and cannot be approximated by the quadratic curve, the approximation suitable for the autocorrelation value distribution This can be done with a function. The description is omitted here. The fitting function approximation described later (FIGS. 2, 3, 5, and 8) is also described as an approximation with a quadratic curve.

  In addition, as an error calculation of the template itself due to autocorrelation, the influence of random noise can be suppressed by using an average image obtained by repeatedly capturing a template image from a standard image of an object as the template image. Detailed description is omitted.

FIG. 3 is a diagram showing a subpixel position estimation procedure (part 1) of the search image.
S11: An image (search image) of an object to be measured is taken.
S12: The correlation value between the photographed search image and the template image is sequentially moved from the template initial position “E0” by a predetermined position and calculated at each position.
S13: A fitting function is calculated by approximating a correlation value at a point where the calculated correlation value is maximized and three points shifted by “−1” and “+1” pixels from the position with a quadratic curve.
S14: A sub-pixel position where the correlation value of the fitting function is maximized is calculated, and the sub-pixel position is corrected with the correction amount “H” to obtain an estimated position of the search image.

  The calculation of the fitting function in S13 and S14 and the calculation of the position where the correlation value of the fitting function is maximized are performed by the same method as the procedure described at the end of FIG.

FIG. 4 is a diagram for explaining search image position estimation by correcting the template error. The fitting error of the template itself is calculated, and correction of the position measurement result of the search image is described based on the calculated error. 1) Template error, 2) Measurement error correction of search image based on template error.
4A is an error of the template itself calculated from the autocorrelation value of the template, and A is a template error correction amount for correcting the error of (a). The estimated position before correction of the search image indicated by C is corrected with the error correction amount of A to obtain the corrected estimated position indicated by D.
(Example 2)
In the first embodiment, the method of uniformly using the correction amount obtained from the same template image without sub-pixel movement as the correction amount calculation by autocorrelation matching for correcting the error of the template itself has been described. On the other hand, here, a description will be given of a method of generating a template image on the assumption that the subpixel is moved, performing matching with each of the template images, finely obtaining a correction amount, and applying an appropriate correction according to the subpixel estimated position.

FIG. 5 is a diagram showing a template image correction amount calculation procedure (part 2).
S21: The object region is cut out from the template image (standard template image) and registered as a template image.
S22: The template image is set to a position “Ri” (i = 0) obtained by moving the template image by one pixel or less (subpixel) from the reference position on the standard template image.
S23: A correlation value at the movement position of the standard template image and the template image is calculated.
S24: The template image is further moved by “−1” and “+1” pixels on the standard template image, and a correlation value with the standard template image is calculated at the two positions.
S25: A fitting function is calculated by approximating the set three positions and the correlation values at the positions with a quadratic curve.
S26: A position “Ris” at which the correlation value of the fitting function is maximized is calculated, and a correction value “Hri” (Hri = Ris−Ri) at the “Ri” position is calculated.
S27: i = i + 1.
S28: It is confirmed whether there is a next set movement position. If there is, the process proceeds to S29, and if not, the process ends.
S29: The sub-pixel movement position “Ri” of the next template is set, and the process returns to S22.

  The calculation of the fitting function in S25 and S26 and the calculation of the position where the correlation value of the fitting function is maximized have been described above.

  FIG. 6 is a diagram showing a template area selection example (No. 1). FIG. 5 shows an example in which one template region is selected from the position of the template image with respect to the standard template image calculated in FIG. 1) A template area, 2) an estimated position by autocorrelation.

  As a position “Ri” of the template image in FIG. 5, an error due to template matching at three points “A”, “B”, and “C” of 1) is calculated, and the position where the error is the smallest (here “B”). For example, the template image at the position “B” is selected.

  FIG. 7 is a diagram showing a template area selection example (No. 2). A method for selecting a template area when a template image functions as a template group is shown. As the partial template, the partial template 1, the partial template 2, and the partial template 3 are taken up (the image enclosed in parentheses as the partial template in the figure is the partial template image). Note that when a partial template image is moved, a plurality of partial templates are moved in conjunction with each other.

  As in the example of FIG. 6, a plurality of partial templates are moved in conjunction with each other, the measurement positions based on the autocorrelation described in FIG. 5 are estimated while changing the number and area of the partial templates, and the vector sum of the estimated positions is calculated. Then, a combination (number and region) of partial templates having a small vector sum is selected as a template group.

FIG. 8 is a diagram showing a sub-pixel position estimation procedure (part 2) of the search image.
S31: An image of an object to be measured (search image) is taken.
S32: The correlation value between the photographed search image and the template image is sequentially moved from the template initial position “E0” by a predetermined position and calculated at each position.
S33: A fitting function is calculated by approximating the correlation value at the three points shifted by “−1” and “+1” pixels from the position where the calculated correlation value is maximized, and a quadratic curve.
S34: The subpixel position where the correlation value of the fitting function is maximized is calculated, corrected with the correction amount “Hri” of the subpixel movement position (Ri) calculated in FIG. 5 closest to the subpixel position, and the search image Estimated position.

  The calculation of the fitting function in S33 and the calculation of the position where the correlation value of the fitting function is maximized have been described above.

  FIG. 9 is a diagram showing the correction corresponding to the sub-pixel position. As the position of the template image described in FIG. 5, the subpixel position calculated at the position moved by “1/8” pixel and the correction amount are shown.

The position of “0.0” in FIG. 9 corresponds to the position correction amount in the same image (subpixel movement amount zero). The method of Embodiment 1 corresponds to a method of uniformly adding this constant correction amount. However, in practice, the deviation of the peak estimation position is not constant, and the amount to be corrected often shows a change like a dotted line. Therefore, as shown in this example, a template image that is moved with fine sub-pixels (here, “1/8” pixel) is generated, and template matching with the image is performed at each sub-pixel point. This makes it possible to finely and appropriately correct the position correction of the search image.
(Appendix 1)
An image measuring method by template matching that measures the position and shape of the search object by fitting a distribution of correlation values by template matching of the search image obtained by photographing the template image and the search object,
Calculate an autocorrelation value between the template images of the measurement object,
An error of the template image is calculated by estimating the position of the template image from the calculated autocorrelation value,
A correction amount for correcting the error of the template image is calculated from the error,
Calculating the position of the search object by matching the search image and the template image;
An image measurement method based on template matching, wherein the position and shape of the search object are measured by correcting the calculated position of the search object with the correction amount.
(Appendix 2)
The correction amount for correcting the position of the search object according to appendix 1 is to calculate a plurality of correction amounts by moving the template to a plurality of positions,
The image measurement method according to claim 1, wherein the position of the search target is corrected with the template image at the minimum moving position and the correction amount among the calculated plurality of correction amounts.
(Appendix 3)
In the image measurement method according to appendix 1, the autocorrelation value is calculated by moving the template image to a position moved by a sub-pixel amount,
From the autocorrelation value, calculate a correction amount as an error at the movement position of the template,
A correction amount calculated at the movement position moved by the sub-pixel is calculated at a plurality of sub-pixel movement positions,
The position / shape of the search object is measured by correcting the position calculated by matching the search image and the template image with the correction amount of the sub-pixel movement position closest to the position of the search image. The image measurement method according to appendix 1.
(Appendix 4)
The fitting based on the distribution of the correlation value according to appendix 1 calculates the autocorrelation value for each movement position by moving the template image to a plurality of positions.
The image measuring method according to claim 1, wherein the moving position and the autocorrelation value at the moving position are calculated by approximation with a fitting function.
(Appendix 5)
An image measuring device by template matching that measures the position and shape of the search object by fitting a distribution of correlation values by template matching of the search image obtained by photographing the template image and the search object,
The image measuring device is
Means for calculating an autocorrelation value between the template images of the measurement object;
Means for estimating the position of the template image from the calculated autocorrelation value;
Means for calculating a correction amount for correcting an error of the template image by calculating an error of the template image from the estimated position;
Means for calculating the position of the search object by template matching between the search image and the template image,
An image measuring apparatus based on template matching, wherein the position and shape of the search object are measured by correcting the calculated position of the search object with the correction amount.
(Appendix 6)
The correction amount for correcting the position of the search object according to appendix 1 is that a plurality of the template images are photographed, and the plurality of photographed images are each used as a template image.
Calculating a correction amount from the autocorrelation values of the plurality of template images,
The image measuring method according to claim 1, wherein the average value of the calculated plurality of correction amounts is used as the correction amount of the template image.
(Appendix 7)
The correction amount calculated at the movement position moved by the sub-pixel according to Supplementary Note 3 is:
Calculating a position at which the autocorrelation value of the template image is maximized at the movement position and a position moved by ± 1 pixel from the movement position;
Calculate an error correction amount of the template from the maximum position,
The image measurement method according to claim 3, wherein the error correction amount is an error correction amount at the moving position.

FIG. 1 is a diagram showing a block configuration of an image position measuring apparatus according to an embodiment of the present invention. FIG. 2 is a diagram showing a template image correction amount calculation procedure (part 1). FIG. 3 is a diagram showing a subpixel position estimation procedure (part 1) of the search image. FIG. 4 is a diagram for explaining search image position estimation by correcting the template error. FIG. 5 is a diagram showing a template image correction amount calculation procedure (part 2). 6 is a diagram showing a template region selection example (part 1). 7 is a diagram showing a template area selection example (part 2). FIG. 8 is a diagram showing a sub-pixel position estimation procedure (part 2) of the search image. FIG. 9 is a diagram showing the correction corresponding to the sub-pixel position. FIG. 10 is a diagram illustrating a conventional subpixel position estimation method (No. 1) based on template matching. FIG. 11 is a diagram showing a conventional subpixel position estimation method (No. 2) based on template matching.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Image position measuring device 10 Image input part 20 Template image process part 21 Image registration part 22 Correction amount calculation part 30 Template matching process part 31 Correlation calculation part 32 Subpixel estimation part 33 Estimated position correction part 40 Measurement result output part

Claims (4)

An image measuring method according to template matching for measuring the position and shape of the search object by fitting the distribution of the correlation values by the template matching of the standard template image and the search image taken the search object of the search object ,
A position obtained by moving the template image by a sub pixel from the reference position from a reference position in which the origin of the template image obtained by cutting out the region of the search object from the standard template image is coincident with the origin of the standard template image; Autocorrelation values of the template image and the standard template image are respectively calculated from a position moved by +1 pixel from the pixel movement position and a position moved by -1 pixel from the sub-pixel movement position;
Calculate a function that approximates a curve from the calculated three autocorrelation values,
Calculate the position where the autocorrelation value of the calculated approximate function is maximum,
Calculating the difference between the calculated autocorrelation value maximum position and the subpixel movement position as a correction amount;
Calculating the correction amount at a position where the sub-pixel movement position is moved to a plurality of different positions;
Among the plurality correction amount the calculated, characterized in that to measure the position and shape of the correction amount is the search object correct for position of the search object with the correction amount of the smallest sub-pixel movement position An image measurement method using template matching. The region of the search object to be cut out according to claim 1 is cut out in a plurality of regions,
Calculating the correction amount from a template image of the plurality of clipped regions;
The image measurement method according to claim 1, wherein the position of the search target is corrected with a correction amount in a minimum region among the plurality of calculated correction amounts. The fitting by the correlation value distribution according to claim 1 is performed by moving the template image to a plurality of positions, calculating an autocorrelation value for each movement position, and calculating the autocorrelation value at each movement position and the movement position using a fitting function. 2. The image measurement method according to claim 1, wherein the calculation is performed by approximation . An image measuring device by template matching that measures the position and shape of the search object by fitting a distribution of correlation values by template matching between a standard template image of the search object and a search image obtained by photographing the search object. ,
A position obtained by moving the template image by a sub pixel from the reference position from a reference position in which the origin of the template image obtained by cutting out the region of the search object from the standard template image is coincident with the origin of the standard template image; Means for calculating autocorrelation values of the template image and the standard template image respectively at a position moved by +1 pixel from the pixel movement position and a position moved by -1 pixel from the sub-pixel movement position;
Means for calculating a function that approximates a curve from the calculated three autocorrelation values;
Means for calculating a position where the calculated autocorrelation value of the approximate function is maximum;
Means for calculating a difference between the calculated autocorrelation value maximum position and the subpixel movement position as a correction amount;
Means for calculating the correction amount at a position where the sub-pixel movement position is moved to a plurality of different positions;
Means for measuring the position / shape of the search object by correcting the position of the search object with the correction amount of the sub-pixel movement position with the smallest correction amount among the calculated plurality of correction amounts ;
An image measuring device by template matching characterized by having

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