Method of accurately determining similarity between target image and reference image

1. A method of determining a similarity between a target image and a reference image using a vision system included in a part mounter, the method comprising:

(a) obtaining related approximation pixel-values of the reference image, wherein the related approximation pixel-values have an overall relationship between coordinates and original pixel-values f t of pixels of the reference image;

(b) obtaining target related approximation pixel-values having overall relationship between coordinates and original pixel-values of pixels of the target image; and

(c) determining the similarity using the target related approximation pixel-values and the reference related approximation pixel-values,

wherein operation (b) comprises:

(b1) setting a polynomial equation having variables and unknown constants corresponding to the coordinates (x, y) of the pixels of the target image;

(b2) completing the polynomial equation by obtaining the unknown constants of the polynomial equation under a condition that can minimize differences between the original pixel-values f s of the pixels of the target image and target related approximation pixel-values p s to be obtained as a result of the polynomial equation; and

(b3) obtaining the target related approximation pixel-values p s by respectively substituting values of the coordinates (x, y) for the polynomial equation completed in operation (b2).

2. The method of claim 1 , wherein algorithms for performing operations (a) and (b) are identical.

3. The method of claim 2 , wherein, in operation (b1), the unknown constants are a 10 , a 01 , a 20 and a 02 , and a quadratic polynomial equation

p s =a 00 +a 10 x+a 01 y+a 20 x 2 +a 11 xy+a 02 y 2

is set.

4. The method of claim 3 , wherein, in operation (b1), assuming that a matrix A s of the unknown constants of the quadratic polynomial equation is

A

s

=

[

a

00

a

10

a

01

a

20

a

11

a

02

]

,

a transposed matrix of the matrix A s is A s ′, and a coordinate matrix X is

X

=

[

1

x

y

x

2

x

⁢

⁢

y

y

2

]

,

the quadratic polynomial equation is converted into a determinant by p s =A s ′X.

5. The method of claim 4 , wherein, in operation (b2), the unknown constants A s of the quadratic polynomial equation are obtained under a condition that can minimize a sum E s of squares (p s −f s ) 2 of the differences between the original pixel-values f s of the pixels of the target image and the target related approximation pixel-values p s obtained as a result of p s =A s ′X.

6. The method of claim 5 , wherein, in operation (b2), assuming that a value Xf s is obtained for each of the pixels of the target image by multiplying the coordinate matrix X by the original pixel-values f s , that a sum ΣXf s of the values Xf s is a sensed concentrative moment U sf of the target image, that a coordinate-multiplication matrix obtained after the coordinate matrix X is multiplied by a transposed matrix X′ is XX′, and that an inverse matrix of the coordinate-multiplication coordinate XX′ is B −1 , the unknown constants A s of the polynomial equation are calculated using A s =B −1 U sf .

7. The method of claim 6 , wherein, in operation (c), assuming that a transposed matrix of a connection concentrative moment U sp of the target image is U′ sp and that a connection concentrative moment of the target image is U tp , the similarity h p is given by

h

p

=

U

sp

′

⁢

B

-

1

⁢

U

tp

U

sp

′

⁢

B

-

1

⁢

U

sp

.

8. A method of determining a similarity between a target image, which is an image of portion of a picked up part, and a reference image using a vision system included in a part mounter, the method comprising:

(a) obtaining related approximation pixel-values of the reference image having overall relationship between coordinates and original pixel-values of pixels of the reference image;

(b) obtaining target related approximation pixel-values having overall relationship between coordinates and perceived luminacnes of pixels of the target image; and

(c) determining the similarity using the target related approximation pixel-values and the reference related approximation pixel-values.

9. A part mounter, the part mounter comprising:

a part-mounting head;

a nozzle coupled to the part-mounting head;

a camera arranged across from the nozzle;

a vision system coupled to the camera;

a main controller coupled to a driving system and the vision system, wherein the main controller controls the driving system based upon position information received from the vision system; and wherein the vision system photographs a target part, thereby obtaining a target image, and determines a target part type by:

(a) obtaining reference related approximation pixel-values of a reference image having an overall connection between coordinates and original pixel values of the reference image;

(b) obtaining target related approximation pixel-values having overall connection between coordinates and original pixel values of pixels of the target image; and

(c) determining a similarity between the target image and the reference image using the target related approximation pixel values and the original pixel values,

wherein operation (b) comprises:

(b1) setting a polynomial equation having variables and unknown constants corresponding to the coordinates (x, y) of the pixels of the target image;

(b2) completing the polynomial equation by obtaining the unknown constants of the polynomial equation under a condition that can minimize differences between the original pixel-values f s of the pixels of the target image and target related approximation pixel-values p s to be obtained as a result of the polynomial equation; and

(b3) obtaining the target related approximation pixel-values p s by respectively substituting values of the coordinates (x, y) for the polynomial equation completed in operation (b2).

10. The part mounter of claim 9 , further comprising an illuminator coupled to the camera, wherein the illuminator comprises a plurality of light sources.

11. A method of determining a similarity between a target image and a reference image using a vision system included in a part mounter, the method comprising:

(a) obtaining related approximation pixel-values of the reference image, wherein the related approximation pixel-values have an overall relationship between coordinates and original pixel-values f t of pixels of the reference image;

(b) obtaining target related approximation pixel-values having overall relationship between coordinates and original pixel-values of pixels of the target image; and

(c) determining the similarity using the target related approximation pixel-values and the reference related approximation pixel-values;

wherein:

algorithms for performing operations (a) and (b) are identical;

operation (b) comprises:

(b1) setting a polynomial equation having variables and unknown constants corresponding to the coordinates (x, y) of the pixels of the target image;

(b2) completing the polynomial equation by obtaining the unknown constants of the polynomial equation under a condition that can minimize differences between the original pixel-values f s of the pixels of the target image and target related approximation pixel-values p s to be obtained as a result of the polynomial equation; and

(b3) obtaining the target related approximation pixel-values p s by respectively substituting values of the coordinates (x, y) for the polynomial equation completed in operation (b2);

in operation (b1), the unknown constants are a 10 , a 01 , a 20 and a 02 , and a quadratic polynomial equation

p s =a 00 +a 10 x+a 01 y+a 20 x 2 +a 11 xy+a 02 y 2

is set; and

in operation (b1), assuming that a matrix A s of the unknown constants of the quadratic polynomial equation is

A

s

=

[

a

00

a

10

a

01

a

20

a

11

a

02

]

,

 a transposed matrix of the matrix A s is A s ′, and a coordinate matrix X is

X

=

[

1

x

y

x

2

xy

y

2

]

,

 the quadratic polynomial equation is converted into a determinant by p s =A s ′X.

12. The method of claim 11 , wherein, in operation (b2), the unknown constants A s of the quadratic polynomial equation are obtained under a condition that can minimize a sum E s of squares (p s −f s ) 2 of the differences between the original pixel-values f s of the pixels of the target image and the target related approximation pixel-values p s obtained as a result of p s =A s ′X.

13. The method of claim 12 , wherein, in operation (b2), assuming that a value Xf s is obtained for each of the pixels of the target image by multiplying the coordinate matrix X by the original pixel-values f s , that a sum ΣXf s of the values Xf s is a sensed concentrative moment U sf of the target image, that a coordinate-multiplication matrix obtained after the coordinate matrix X is multiplied by a transposed matrix X′ is XX′, and that an inverse matrix of the coordinate-multiplication coordinate XX′ is B −1 , the unknown constants A s of the polynomial equation are calculated using A s =B −1 U sf .

14. The method of claim 13 , wherein, in operation (c), assuming that a transposed matrix of a connection concentrative moment U sp of the target image is U′ sp and that a connection concentrative moment of the target image is U tp , the similarity h p is given by

h

p

=

U

sp

′

⁢

B

-

1

⁢

U

tp

U

sp

′

⁢

B

-

1

⁢

U

sp

.