Patent ID: 9554094
Date: 2017-01-24
CPC Classifications: G06T,H04N

Claim:
1. A system for determining displacement of a substrate with respect to a surrounding object during movement of the object relative to a field of view, the system comprising: a laser line assembly that projects a laser line along the substrate, and an image sensor that receives reflected light from the laser line to generate a range image having height information with respect to the object and the substrate within the field of view; a 2-dimensional (2D) map generated from the height information in the range image by a mapping process; and a displaced substrate result that is sent to an output device when a displacement determination process compares the height information of a first feature of the substrate to height information of a second feature of the substrate and compares the height information of the first feature of the substrate to height information of the surrounding object and determines that a displaced substrate is present and determines an orientation of the displaced substrate with respect to the object, wherein the orientation of the displaced substrate with respect to the object comprises at least one of: (a) partially displaced out of the object; and (b) completely displaced out of the object.