ROI Definition and Tolerances#
In this section, the Region Search and recognition tolerances for the created model are defined. These parameters determine where FlexiVision One will search for components during operation and how strict detection will be.
What is the Region Search?
The Region Search is the area within which FlexiVision One searches for and detects the components to be picked.
Procedure#
After clicking Next on the training page, the Define Robot Picking Limit Area Model page opens automatically.
Step 1: Define the area#
1 |
In the Define Robot Picking Limit Area Model page, modify the rectangle to delimit the search area |
2 |
Once the Region Search is correctly sized, click |
3 |
The Locator Model 1 Cam 1 page opens |
Tip
Size the area according to the actual robot working space, avoiding unreachable zones.
Locator Model interface overview#
Parameter |
Description |
|---|---|
Test |
Executes a real-time recognition test using the current parameters |
Accept Threshold |
Minimum score that a component must achieve to be accepted |
Results Panel |
Panel showing all detected components with details such as ID, coordinates, and score |
Video tutorial#
Video tutorial explaining the following Step 2 and Step 3:
Step 2: Prepare the scene#
4 |
Place additional components randomly within the viewing area around the reference component, making sure they cannot be confused with it. Warning Do not touch the reference component used for training, and never lose sight of it. |
Step 3: Run the test and set Accept Threshold#
5 |
Click |
6 |
Observe how many components are detected and with which scores |
7 |
Adjust the Accept Threshold according to application needs Note What is Accept Threshold? It is the minimum score that a detected component must have compared to the reference model in order to be accepted.
|
to run recognitionTip
Recommended iterative approach
Start with
Accept Threshold = 0.85Run Test and observe the results
If too many parts are accepted, including false positives, increase the threshold, for example to
0.90If too few parts are detected, meaning good parts are rejected, decrease the threshold, for example to
0.80Repeat until the optimal value for the application is found
Goal: find the highest possible value that still detects all good parts while rejecting the poorer ones.
Result interpretation#
Display of detected components#
The Results panel shows all detected components that meet the Accept Threshold:
Field |
Type |
Description |
|---|---|---|
Id |
Integer |
Progressive unique identifier, such as 0, 1, 2, and so on |
X |
Millimeters |
X coordinate of the component, referenced to the calibration grid origin |
Y |
Millimeters |
Y coordinate of the component, referenced to the calibration grid origin |
Rotation |
Degrees |
Rotation angle of the component, 0 to 360 degrees |
Score |
Percentage |
Similarity level with respect to the reference model, from 0.00 to 1.00 |
Priority System
By default, FlexiVision One automatically sorts all recognized components by descending score:
Id 0 -> component with the highest score, most similar to the reference model
Id 1 -> second best component
Id 2 -> third best component
and so on
Example interpretation#
Assume that after the test the following results appear:
Id |
X |
Y |
Rotation |
Score |
|---|---|---|---|---|
0 |
125.4 |
-45.2 |
15.3° |
0.92 |
1 |
-80.1 |
32.5 |
178.5° |
0.89 |
2 |
45.7 |
110.3 |
92.1° |
0.86 |
3 |
-150.2 |
-95.7 |
45.8° |
0.83 |
Interpretation:
Id 0: best match, 92%, and it will be picked first
Id 1: good match, 89%, second option
Id 2: fair match, 86%, third option
Id 3: acceptable match, 83%, fourth option
If Accept Threshold were 0.85:
Id 0, 1, and 2 would be accepted
Id 3 would be rejected because
0.83 < 0.85
Finalization#
Step 4: Clean up and continue#
8 |
Remove all components from the area, except the reference component and the two objects at its sides Danger Do not move the reference component Even while cleaning the scene, take care not to hit or move the reference component. Its coordinates are still required for robot calibration in the final phase. |
9 |
Click |
See also
Proceed to Clearance Configuration to define free areas.