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Abstract
.
This paper discusses the past, present, and
future of machine vision technology,
emphasizing its practical aspects. Four types of
machine vision technology based on pattern
matching, feature parameter, window, and slitlight methods are now being widely used in
industry. However, recent applications require
more effective use of knowledge-based
processing, combined with application-specific
methods. Study is fius required for the future
progress of machine vision, especially in such
areas as sensor fusion, real-time processing, and
visualization/enhancement technology. Some
new future applications are also discussed.
c
1 Introduction
Japanese industry has been taking the initiative in
creating the "machine vision" field and has played a
major role in its advancement since its inception. In
the past 20 years, a large number of industrial
processes have been automated using machine vision,
most prominently in the semiconductor industry
where production places heavy demands on precision
and efficiency. However, many processes remain
unchanged due to the difficulties in reliable
recognition.
Although "computer vision" research has also
advanced greatly in that time, it is rather
methodology-oriented, and unfortunately does not
suggest pragmatic solutions to difficult application
problems. m a t is, research and development seems to
be stagnant from the application point of view. To
look at the future of machine vision research, it is
worthwhile to look back to what we have done, to
understand where we are now, and to think about
what direction we have to move in.
tor
---,Objects
Figure 1.
processing to industrial automation was the defectinspection machine for printed circuit boards in 1972.
[ 5 ] In 1973, an automatic wire-bonding system with
time-sharing vision was developed for transistor
assembly. 161 This was later extended to the
development of systems for automatic assembly of
ICs and LSIs. A robot for bolting molds for concrete
piles and poles, developed in 1974, was the first
application of the dynamic recognition technique of
moving objects. [7] Through these pioneering
studies, the importance of vision techniques is now
recognized in many sectors. In particular, the
successful developments of a local pattern matching
method [6] and the time-sharing vision systems based
on it made a great contribution to the semiconductor
industry. At the same time, it encouraged researchers
towards further development of machine vision
technology.
In the computer vision fields at that time,
researchers were struggling with the more general
methods of vision using imaging devices looking
obliquely at the object. A research paper that showed
the possibility of categorizing objects using a
vertically-set imaging device did not get much
attention at first. [8] However, since the SRI
algorithm based on the feature parameter method [9]
was proposed, vertical observation gradually
obtained much attention as a simple but effective
method for industrial object-recognition. This is now
a standard vision method for industrial applications.
As for the hardware for a machine vision
system, a costly minicomputer was first used in
combination with a special-purpose image processor.
To lower the cost/performance ratio, a large-scale
manufacturing system with 50 transistor assembly
machines was developed, where one minicomputer is
shared by five image processors, each servicing ten
cameras attached to the machines. [6] As the
availability of microcomputers increased, stand-alone
Monocular
Figure 3 .
Shape-from-shading
Photometric stereo
Shape-from-texture
ronment
Environment
understanding
Figure 2.
Spot I i gti t
Slit-light
Grid-light
Time-of-flizht
o+fJr ;o
Intelligent
intedace
Pattem matching
Feature parameter
Window
Passive
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3.1 Outline
Many types of machine vision technology have
been developed to date as summarized in Figure 3.
The passive technology in 3-D vision typically
includes binocular vision and the "shape-from-X"
method where X implies such words as shading,
texture, and motion. However, these methods have
not yet been fully applied to industrial use due mainly
to restrictions on processing speed and reliability.
Instead, the practical machine vision systems
commonly used in industry are based on a few
simplified, fundamental technologies. These are
passive, monocular, 2-D vision technologies:
* pattern matching method,
* feature parameter method, and
* window method.
The active technology typically uses a structured light
method or a time-of-flight method to give the distance
between the object and imaging device. One useful
structured light method is:
* slit-light method,
which is based on the triangulation principle.
These four methods are effective in industrial
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pal terns
Emitter
Res11I t,s
Decision t r e e
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corner
1-1
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Parameter x ,
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Figure 5.
Figure 6.
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Figure 7.
Center point
( b ) Timing finding
Window method
Corner point
Edge line
1.
Point v s . point
( b ) Compound features
Figure 8.
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Figure 9.
processing u n i t ( I ' U )
Drfcct
Input
image
randidate
Defect
image
image
dcfert
data
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De l e c t
detect.ion c
Calibration
circuit
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pattern
generator
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circuit
Design d a t a
'Table
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(Nain f r a w compri k r )
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Input patt.ern
1
2
3
4
5
1
2
3
4
5
1
2
3
4
5
1
2
3
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5
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l==A1
1
2
3
4
5
1
2
3
4
5
1 1 1
2 2 2
3 3 3
4 4 4
5 5 5
1 1 1 1
2 2 2 2
3 3 3 3
4 4fi
1 1 1 1 1
2 2 2 2 2
2 3 3 3 3
4
4 41
5 5 3 9 3 5 5 5
9Cornpar ison
(2) Difficult-to-evaluate
Judging the effectiveness of this technology is in
general very difficult, as the heart of the technology is
xxxv
++'
I+,
Ima e sensors
(3) Difficult-to-accumulate
Different assumptions are made in every
research paper. Not all of them are practical, making
technology accumulation difficult. The processing
speed problem is usually ignored, with the assumption
that it will be solved in the future as semiconductor
technology progresses. This may be partially true.
However, there is also the possibility that vision
problems currently being studied will be worthless
because they will be solved easily by other means
before the necessary processing speed is attained.
Real
1I
i t
In-process conhol
(adaptive and predictive)
Knowledge-base, model-base
Object flow
Information flow
Machine condition
System condition
configuration
External dormation
PI1
* Product realization
* Intelligent manufacturing control
XXXB
llead
Tail
Body-2
Body-1
.
Start
, from
buffer
(LSSflR)
(LSSHR)
(LHflflflR)
NIL
Detected pattern features
PFl(123 27 5 28 11 0 0 0 0)
PFZ(256 30 3 31 2 0 0 0 0 )
Tai 1
Body
Head
xxm
(4)Visualization/enhancement technique
Vision systems for complicated 3-D objects,
objects with much more complicated surface pattems,
and hard-to-see objects will also be needed. The
matching of distorted image signals in SEM images
[23] is a typical example of recent approaches.
Texture analysis is another. A self-organizing image
filter for texture separation [24] has been
demonstrated successfully in this area. A knowledgebased inspection of complicated LSI pattems [ 191 is
also an example of recent approaches to the
recognition of hard-to-see objects.
Recognition of invisible objects is also becoming
increasingly important. One example is the inspection
of soldering of LSIs surface-mounted on a circuit
board, where the LSI leads are completely hidden
under the LSI package. For such uses, visualization
techniques and image enhancement techniques are the
keys to reliable vision systems. Obviously, the use of
X-rays is one possibility for visualization of hidden
defects. Thus, sensors must be improved by
combining them with image processing techniques.
4.3 Trends of related technologies
The fundamental technologies in future machine
vision will be:
* processor technology,
* memory technology, and
* sensor technology.
All of these are core areas in semiconductor
technology. Trends in these technologies will be
briefly discussed here.
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Figure 18. Trend of processor technology
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1980
1985
1990
1995
2000
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5 Conclusions
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References
M. Ejiri, et al. : A prototype intelligent robot that
assembles objects from plan drawings, IEEE Trans.
Computer, C-21, 2, pp.161-170 (1972)
M. Ejiri : Industrial Image Processing, Shokodo Pub.,
Tokyo (1988) (in Japanese)
M. Ejiri : Machine Vision: A Practical Technology for
Advanced Image Processing, Gordon & Breach Science
Publishers, New York (1989)
M. Ejiri, Y. Nakano and T.Chusho : Artificial
Intelligence, Shokodo Pub., Tokyo (1988) (in Japanese)
M. Ejiri et al. : A process for detecting defects in
complicated pattems, Computer Graphics and Image
Processing, 2, pp.326-339 (1973)
S.Kashioka, M.Ejiri and Y.Sakamoto, A Transistor wirebonding system utilizing multiple local pattem matching
techniques, IEEE Trans. on Syst. Man & Cybern., SMC6, 8. pp.562-570 (1976)
T.Uno, M.Ejiri and T.Tokunaga, A method of real-time
recognition of moving objects and its application, Pattem
Recognition, 8, 4, pp.201-208 (1976)
H. Yoda, S . Ikeda and M. Ejiri : Hitachi Review, 22,9,
pp.362-365 (1973). Also in Trans. SICE, 10, 3, pp.284289 (1974) (in Japanese)
G. J. Agin : Computer vision systems for industrial
inspection and assembly, IEEE Computers, 13, 5, pp.1120 (1980)
[ 101 H. Sakouand M. Ejiri : Image understanding technologies
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