オクルージョンの計算

In any triangulation based 3D vision system occlusion can occur. For guidance on positioning the camera to minimize occlusion in a real setup, see the positioning pages for bin-picking, piece-picking, and depalletization.

Occlusion from Object Height

Occlusion can also occur from the height of an object itself, independent of any bin wall or divider. In the illustration below, the taller blue object hides the shorter orange object.

Whether a tall object occludes its neighbors depends on several factors: where it sits along the camera's horizontal axis, its height, and its distance from the camera. The camera's baseline also plays a role.

Occlusion from Multiple Bins

固定設置型のビンピッキングまたはピースピッキングでは、ビンの壁や仕切りがこの状況を引き起こす可能性があります。カメラが 2 つのコンパートメントを見ている場合は、カメラのベースラインを共有の壁または仕切りに合わせることでオクルージョンを回避できます。 3 つ以上のコンパートメントがある場合、そのような位置合わせは不可能です。例えば：

2 つ以上の箱からピッキングする
2 つ以上の仕切りのあるビンからピッキングする

ベースラインが大きい ➞ オクルージョン効果が悪化する

2 ビン、無視できるオクルージョン

4 ビン、避けられないオクルージョン

次の計算ツールは、単一の壁または間仕切り全体にわたるオクルージョン効果を示しています。最悪の場合の遮蔽を最小限に抑えるために、カメラは壁の真上に配置されます。オクルージョンが壁に対して対称であることがわかります。

How does the calculator work?

The calculator computes occlusion as bin_depth * tan(atan(baseline / 2 / distance_to_bin)).

baseline is the camera's baseline in mm.
distance_to_bin is the distance from the camera to the top of the bin in mm.
bin_depth is the depth of the bin (or divider height) in mm.

The 2D camera and projector each sit offset from the camera's center by half the baseline. With the camera centered above the shared wall, the one further from a given side is the one whose view over that wall is blocked first, so its offset (half the baseline) sets the occlusion angle on that side. The examples below use this formula directly, with real camera baselines and the calculator's own AutoStore bin depths.

Camera	Baseline	Bin depth	Distance to top	Occlusion	Note
Zivid 2+	110 mm	200 mm (Small AutoStore)	500 mm	Approximately 22.0 mm	A shorter camera-to-bin distance increases occlusion even with a shallower bin.
Zivid 2+	110 mm	330 mm (Medium AutoStore)	1000 mm	Approximately 18.2 mm
Zivid 3 XL250	250 mm	425 mm (Large AutoStore)	1000 mm	Approximately 53.1 mm	At the same 1000 mm distance, the larger baseline accounts for most of the increase in occlusion from the row above; the deeper bin adds comparatively little on its own.