EP0381067A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
A method for registration of CAD model to video images with added clutter
Assignee: Schlumberger Technologies Inc
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Filing: 1990-01-26
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Granted: —
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Expires: 2010-01-26
Abstract
Abstract A technique for position-finding on a manufactured device such as an integrated circuit ("IC") or a printed circuit board ("PCB"), relating the observed image to a description such as the CAD database that was used to create the devices. The technique contemplates providing an optical image of the surface of the device, obtained with an imaging device such as a video camera and a microscope, generating a synthetic CAD image from the CAD database, subjecting both images to a filtering operation (Laplacian of Gaussian convolution), binarizing (taking the sign of) the results, and correlating the two filtered and binarized images (referred to as "processed" images) to determine relative alignment. One application of the invention is to allow precision positioning of a positioning head relative to a workpiece such as placing an IC device (12) on a PCB (15). A positioning head (17) to which a camera (22) is mounted is driven to the approximate location of the IC site by a positioning mechanism. The positioning mechannism need not be accurate for large increments of travel, but must be capable of providing small relative displacements with high precision. The camera image of the area near the IC site on the PCB is filtered and binarized, and correlated with a processed CAD image of the region surrounding the IC site. This establishes the actual position of the camera (and therefore the positioning head). The positioning head is then moved by the indicated amount.
Inventors
- 👤 H. Keith Nishihara
- 👤 Neil D. Hunt
- 👤 P. Anthony Crossley
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-08 11:30
CPC Classifications
G; G06; G06T; G06T7/00; G06T7/30; G06T7/32; G06T7/70; G06T7/73; G06T7/74; G06V; G06V10/00; G06V10/20; G06V10/24; G06V2201/00; G06V2201/06
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
87 words
A method of determining the correspondence between a manufactured device and the CAD model that was used to make it, comprising the steps of: generating a synthetic CAD image from the CAD database corresponding to at least a portion of the device; filtering the CAD image to provide a filtered CAD image; generating an actual image of the manufactured device; filtering the actual image to provide a filtered device image; and correlating the filtered CAD image and the filtered device image to provide a relative displacement therebetween.
Claim 2
Independent Claim
87 words
A method of determining the correspondence between a manufactured device and the CAD model that was used to make it, comprising the steps of: generating a synthetic CAD image from the CAD database corresponding to at least a portion of the device; filtering the CAD image to provide a filtered CAD image; generating an actual image of the manufactured device; filtering the actual image to provide a filtered device image; and correlating the filtered CAD image and the filtered device image to provide a relative displacement therebetween.
Claim 3
Dependent Claim
20 words
The method of claim 1 wherein at least one of said filtering steps includes high pass and low pass filtering.
Claim 4
Dependent Claim
22 words
The method of claim 1 wherein at least one of said filtering steps includes performing Laplacian and Gaussian convolutions of the image.
Claim 5
Dependent Claim
49 words
The method of claim 1, and further comprising the steps, carried out before said correlating step, of: binarizing the filtered CAD image; and binarizing the filtered device image; wherein said step of correlating is performed on the binarized versions of the filtered CAD image and the filtered device image.
Claim 6
Independent Claim
131 words
A method of determining the relative placement of two parts of a device manufactured to conform to a CAD database where the two parts were incorporated into the device during different manufacturing steps, comprising the steps of: generating from the CAD database a first CAD image representing the first part of the device; filtering the first CAD image to provide a first filtered CAD image; generating a device image of the manufactured device showing both parts incorporated thereinto; filtering the device image to provide a filtered device image; correlating the first filtered CAD image with the filtered device image to obtain the location of the first part; determining the location of the second part of the device; and comparing the locations of the first and second parts to determine relative alignment.
Claim 7
Independent Claim
131 words
A method of determining the relative placement of two parts of a device manufactured to conform to a CAD database where the two parts were incorporated into the device during different manufacturing steps, comprising the steps of: generating from the CAD database a first CAD image representing the first part of the device; filtering the first CAD image to provide a first filtered CAD image; generating a device image of the manufactured device showing both parts incorporated thereinto; filtering the device image to provide a filtered device image; correlating the first filtered CAD image with the filtered device image to obtain the location of the first part; determining the location of the second part of the device; and comparing the locations of the first and second parts to determine relative alignment.
Claim 8
Dependent Claim
61 words
The method of claim 5 wherein said determining step includes the substeps of: generating from the CAD database a second CAD image representing the second part of the device; filtering the second CAD image to provide a second filtered CAD image; and correlating the second filtered CAD image with the filtered device image to obtain the location of the second part.
Claim 9
Dependent Claim
49 words
The method of claim 5, and further comprising the steps, carried out before said correlating step, of: binarizing the filtered CAD image; and binarizing the filtered device image; wherein said step of correlating is performed on the binarized versions of the filtered CAD image and the filtered device image.
Claim 10
Independent Claim
130 words
A method of establishing a desired relative position between a camera and an article nominally conforming to a CAD database, comprising the steps of: establishing an approximate desired relative positioning between the camera and article; generating an actual image of at least a region of the article with the camera and article in the approximate desired relative positioning; generating a CAD images based on the CAD database, of at least a region of the article; filtering the actual image to produce a filtered actual image; filtering the CAD image to produce a filtered CAD image; correlating the filtered actual image and the filtered CAD image to determine a relative displacement; and establishing relative movement between the camera and the article by the relative displacement to approach the desired relative position.
Claim 11
Independent Claim
130 words
A method of establishing a desired relative position between a camera and an article nominally conforming to a CAD database, comprising the steps of: establishing an approximate desired relative positioning between the camera and article; generating an actual image of at least a region of the article with the camera and article in the approximate desired relative positioning; generating a CAD images based on the CAD database, of at least a region of the article; filtering the actual image to produce a filtered actual image; filtering the CAD image to produce a filtered CAD image; correlating the filtered actual image and the filtered CAD image to determine a relative displacement; and establishing relative movement between the camera and the article by the relative displacement to approach the desired relative position.
Claim 12
Dependent Claim
49 words
The method of claim 8, and further comprising the steps, carried out before said correlating step, of: binarizing the filtered CAD image; and binarizing the filtered actual image; wherein said step of correlating is performed on the binarized versions of the filtered CAD image and the filtered actual image.
References Cited (Backward Citations)
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