EP3420531A1 - Procédé et dispositif de traitement d'images permettant de déterminer une grandeur de mesure géométrique d'un objet - Google Patents

Procédé et dispositif de traitement d'images permettant de déterminer une grandeur de mesure géométrique d'un objet

Info

Publication number
EP3420531A1
EP3420531A1 EP17705553.0A EP17705553A EP3420531A1 EP 3420531 A1 EP3420531 A1 EP 3420531A1 EP 17705553 A EP17705553 A EP 17705553A EP 3420531 A1 EP3420531 A1 EP 3420531A1
Authority
EP
European Patent Office
Prior art keywords
image
points
visual
computer
geometric
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17705553.0A
Other languages
German (de)
English (en)
Inventor
Jan-Friso Evers-Senne
Hellen ALTENDORF
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Testo SE and Co KGaA
Original Assignee
Testo SE and Co KGaA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Testo SE and Co KGaA filed Critical Testo SE and Co KGaA
Publication of EP3420531A1 publication Critical patent/EP3420531A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T5/80—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Definitions

  • the invention relates, on the one hand, to a method and, on the other hand, to an image acquisition device for determining a geometric measurement variable of an object.
  • a geometrical measured quantity can be, for example, a spatial distance and / or a surface area.
  • Such methods for determining a geometric measured quantity are known per se and are always based on at least one manual processing step and on the other on a scaling of the image by means of an additionally required scale.
  • manual preparation steps for image processing for example for distortion correction and / or for perspective equalization, which require training of a user, are required.
  • a method for determining a geometrical measured variable of an object is proposed for achieving the object, wherein: in a recording step at least one visual image of the object is recorded,
  • a true-to-scale 3D image of the object is recorded and / or calculated
  • a subset of 3D points of the 3D image is calculated
  • a geometric primitive is fitted computer-aided
  • a feature detection step a feature selection is applied to the at least one visual image in order to identify at least two feature points in the visual image
  • a geometric measurement for the at least two measurement points is calculated.
  • the invention makes it possible, on the one hand, to correct fisheye images and / or one distortion and / or one perspective distortion of the recorded visual image to determine a geometric measurement variable and, on the other hand, to increase the measurement accuracy compared to a direct use of a 3D model ,
  • no manually executed intermediate step for example for determining a geometrical measured variable, is necessary.
  • By fitting a geometric primitive in a subset of 3D points it is also possible to reduce measurement inaccuracies, for example by a noisy recording of the 3D image.
  • the geometric primitive thus corresponds to an approximation to the actual geometric shape or surface of the object.
  • the geometric measured variable is a spatial distance, in particular a width, a height, a, in particular shortest and / or largest, distance between two boundary lines, and / or a diagonal, and / or an area, in particular the entire Object or part of it.
  • the totality of all 3D points that are recorded by means of a 3D camera can also be referred to as a 3D image or point cloud.
  • the invention thus has the advantage that the aforementioned manual preparation steps for image processing can be dispensed with prior to the determination of the geometrical measured variable, since they can be executed and executed automatically.
  • a conical shell part, cylinder shell part and / or plane part is used as geometrical primitive, preferably parameterized and / or bounded. If, by means of the method according to the invention, as described and claimed herein, for example a flat surface or a part thereof, such as a building wall are measured, then for the building wall formed by fitting a trained as a plane geometric primitive in the subset of 3D points a spatial direction (in particular as a or by means of a normal direction and / or as a course direction of the planar object) are determined.
  • a grouping step is performed before the implementation of the fitting step in order to determine a spatial direction, preferably computer-aided, for each 3D point and then the 3D points are subdivided into a subset of 3D points, preferably computer-aided, according to their respective spatial directions. assigned.
  • a spatial direction preferably computer-aided
  • an image recording device with a 3D camera is used to record the 3D image.
  • Suitable 3D cameras may be, for example, a time-of-flight sensor for performing a runtime measurement of an optical signal, a laser scanner and / or a stereo camera.
  • the sequence of several visual images can be recorded, for example, by means of a visual camera, wherein preferably the individual visual images are taken from different camera poses.
  • a suitable method here can be, for example, the structure-from-motion method.
  • a marker is imaged on the object, in particular projected onto the object and / or attached to the object, and / or a distance measurement between one or the above-mentioned image acquisition device and the object is performed.
  • the Marker may, for example, a pattern, preferably from several pattern components, with a scaling and / or the determination of the spatial direction of the object by means of the imaged on the object marker is possible.
  • the distance measurement can also provide another parameter, which can be used to calculate the scaling of the object.
  • a marker preferably a mechanical marker
  • the object is imaged with the object, for example by an arrangement at or close to the object, in particular wherein the dimensions of the marker are known.
  • a scaling of the object and / or a determination of the spatial direction of the object can be easily determined.
  • it may be expedient according to a further advantageous embodiment of the invention when the marker is projected as a laser cross on the object.
  • the spatial direction of the object can be determined more accurately.
  • a projector with which the laser cross is projected or can be projected be rigidly coupled to the image pickup device.
  • a scaling : of the recorded object can thus be determined from a known optical center distance (baseline) by known methods; become.
  • a multi-beam distance measurement in particular with the individual measurements being respectively directed to different measuring points on the object, is undertaken.
  • a projection and a recording of the visual image and / or the 3D image take place from a fixed, in particular coupled, Position.
  • the visual image and the 3D image are respectively recorded from a stationary, in particular from a coupled, camera pose. With this configuration, it is sufficient to take one visual image and one 3D image at a time. It is also particularly advantageous that the simplest possible projection of feature points on the geometric primitive is possible as measuring points.
  • a significant disadvantage of previously known methods is based on the fact that for the selection of at least two feature points in a manual intermediate step, a certain amount of experience is necessary. For example, it may be necessary for the user to require a high degree of click accuracy when selecting the feature points. According to an embodiment of the method according to the invention, it may be expedient if the selection of at least two feature points in
  • Feature detection step is performed by a computer-aided automated feature detection.
  • the user only has to be careful not to lie outside the object when taking the object.
  • such high accuracy as in the manual selection in previously known methods is not required.
  • the selection of at least two Feature points is made by a manual feature selection.
  • the fit of the geometric primitive is checked and / or optimized in a plausibility check in a computer-aided manner.
  • this can be done in such a way that outliers of 3D points, which are caused in particular by measurement errors, are excluded within a subset of 3D points during the fitting of the geometric primitive.
  • the implementation of a plausibility check therefore has the advantage that the spatial direction of the geometric primitive can be calculated particularly accurately.
  • an RA SAC method and / or a region-growing method is used in the fitting step.
  • a geometrical measured variable can be, for example, a spatial distance and / or an area.
  • a suitable running time measurement may be, for example, the time-of-flight method.
  • a distortion correction and / or a correction of a local aberration of the visual image or the visual images and / or the 3D image is carried out automatically and / or computer-assisted.
  • the distortion correction and / or a correction of a local aberration should ideally be done before creating a 3D image from multiple visual images, the visual images used for this purpose. It may alternatively or additionally be provided according to the invention that the
  • Distortion correction and / or a correction of a local aberration before the fitting step is made.
  • a distortion correction step the accuracy in determining a geometric measurement variable can thus be increased.
  • the computer-aided and / or automated distortion correction and / or correction of a local aberration can enable a rapid calculation of the geometrical measurand.
  • an image recording device for determining a geometrical measured variable of an object is thus provided, with:
  • a visual camera for capturing at least one visual image and a 3D camera for capturing an SD image or a visual camera for capturing a sequence of a plurality of visual images and a 3D imaging unit for calculating a 3D image from the sequence of several visual images
  • a point cloud calculation unit for calculating a subset of 3D points of the 3D image
  • a fitting unit for fitting a geometric primitive into the subset of 3D points
  • a feature detection unit for manually and / or automatically selecting at least two feature points in the at least one visual image
  • a projection unit for projecting the at least two feature points onto the geometric primitive as at least two measurement points
  • the image recording device has, for example, the advantage over prior art image recording devices that it requires the calculation of a geometrical measured variable of an object, in particular without a manual intermediate step, which must be carried out, for example, by means of a further input device, such as a PC.
  • a further input device such as a PC.
  • the user can by means of the invention
  • Imaging device directly on site make a measurement and also receives a result directly on site.
  • all functional units of the invention are identical to all functional units of the invention.
  • Image recording device so programmable that they can work automatically. In a specific embodiment, however, it may be expedient if the feature selection is at least optionally manually executable by the user.
  • the Point cloud calculation unit is set up to determine a spatial direction of a 3D point, preferably calculated automatically supported computer-aided.
  • a determination of the spatial direction of a 3D point can have the advantage that the 3D points can be assigned in a computer-assisted manner according to their spatial directions of subsets of 3D points. Therefore, the point cloud calculation unit can be set up so that the 3D points can be assigned to subsets of SD points according to their spatial directions.
  • the point cloud calculation unit can be set up such that for each 3D point, firstly a local level can be determined computer-aided, and then a normal vector is computed from it computer-assisted. A. For example, classification into subsets of the 3D points can be done according to your normal vectors.
  • the image recording device has a plausibility check device for checking and / or optimizing the geometric primitive.
  • the plausibility checking device is set up to perform an optimization of the geometric primitive until there is a minimized discrepancy between the 3D points and the actual points of the geometric primitive.
  • the actual points of the geometric primitive refer to those points that lie directly on the geometric primitive.
  • the plausibility check device therefore makes it possible to achieve increased accuracy in the calculation of the geometric measured variable.
  • the visual camera for receiving at least one visual image and the 3D camera are coupled together.
  • a coupling can be set up in particular in that the two cameras are connected to one another via a connecting element, preferably at a defined and / or adjustable distance, or are connectable to one another.
  • this image recording device has a grouping unit.
  • the grouping unit may be configured to perform an implementation of a
  • Performing grouping step computerized in particular wherein for each 3D point, a spatial direction can be determined and the 3D points are assigned according to their spatial direction of a subset of 3D points computer-aided.
  • the point cloud calculation unit and the grouping unit are designed as a single unit. It can be particularly expedient if, for each 3D point, first a local level and from this a normal vector can be computed in a computer-aided manner.
  • the image acquisition device of the invention as described and claimed herein may be preferably adapted to carry out the method of the invention as described and claimed herein. For this reason, for the inventive design of such an image pickup device, the same advantages as the Advantages which have already been described above for the method according to the invention.
  • the image recording device is a correction unit for performing, in particular for automated and / or computer-aided implementation, distortion correction and / or correction of a local aberration of the visual image or images and / or the SD image has.
  • this correction unit can be set up such that a correction step to be carried out, for example before a 3D image is produced from a sequence of visual images, takes place from the sequence for all visual images and / or that a correction step to be performed prior to projection of the at least two feature points on the geometric primitive takes place as at least two measurement points.
  • FIG. 1 is a simplified schematic representation of a visual image on which an object is shown in a certain perspective
  • Fig. 2 is a simplified schematic representation in
  • Fig. 3 shows two subsets of 3D points of a 3D image of the
  • Fig. 5 is a visual image with a strong distorting
  • Fig. 6 is a corrected by distortion correction visual image of the object.
  • FIG. 1 shows an image recording device 1 according to the invention
  • FIGS. 2 and 3 show steps of a method according to the invention in a simplified schematic manner, as can be carried out, for example, by means of the image recording device 1 according to the invention.
  • the image recording device 1 is set up to determine a geometrical measured variable 3 of an object 2.
  • the image pickup device 1 has a visual camera 16 and a 3D camera 15.
  • the two cameras 15, 16 are over Connecting element 18 coupled together in a preferably defined and / or adjustable distance.
  • This embodiment according to the invention has the advantage that no distance measurement is required to determine the geometric measured variable 3.
  • the image recording device 1 has only one visual camera 16 for recording a series of multiple visual images 4 and one 3D imaging unit for calculating a 3D image 5 from the sequence of multiple visual images 4 (not shown).
  • the image recording device 1 has only one visual camera 16 for recording a series of multiple visual images 4 and one 3D imaging unit for calculating a 3D image 5 from the sequence of multiple visual images 4 (not shown).
  • Image pickup device 1 has a distance measuring unit. Furthermore, the image recording device 1 according to the invention can have a projector unit for the projection of a, in particular visual, marker on the object 2, in particular on an object plane 19.
  • the image recording device 1 according to the invention also has a point cloud calculation unit for calculating a subset 8 of 3D points 6 of the 3D image 5.
  • a geometrical primitive 7 which, as in the present case, may for example be designed as a plane part, into the subset 8 of 3D points 6, the image recording device 1 according to the invention has an adaptation unit.
  • the image recording device 1 furthermore has a feature detection unit which, for example, can be set up in order to be able to perform in the visual image by means of a manual selection of at least two feature points 9, 10. Alternatively or additionally, it can also be provided that the feature detection unit is set up in such a way, in particular programmable, to automatically select at least two feature points 9, 10 make in the visual image 4.
  • the image recording device 1 has a projection unit for the projection 11 of the at least two selected feature points 9, 10 on the geometric primitive 7 as at least two measuring points 12, 13 on.
  • the geometric measured variable 3 for the at least two measuring points 12, 13 can be determined.
  • the spatial direction 14, in particular the course direction, of the geometric primitive 7 corresponds approximately or completely to the actual spatial direction 20, in particular the course direction, of the object 2.
  • the 3D points 6 of the SD image 5 can have inaccuracies, which is why they do not lie exactly on a plane, in particular on a plane corresponding to the object plane 19, but are partially positioned outside the plane.
  • a geometric primitive 7 as shown in FIG. 2
  • the respective spatial direction of each 3D point 6 is first calculated and taken into account in order to finally perform a classification.
  • the image recording device 1 further comprises a distortion correction unit, by means of which a correction of a local error of the image of the visual image 4 and / or the 3D image 5, preferably automated and / or computer-aided, is vorrisebar.
  • a distortion correction unit by means of which a correction of a local error of the image of the visual image 4 and / or the 3D image 5, preferably automated and / or computer-aided, is vorrisebar.
  • FIGS. 4 to 6 the sequence of processing of a visual image 4 recorded by means of the visual camera 16 is shown schematically.
  • a visual image 4 and / or a 3-D image may oddly image the edges of the object 17 due to distortion errors and / or due to the capture of the image by a fisheye camera, although these edges 17 are in fact rectilinear.
  • the visual image 4 of the object 2 has a barrel-shaped distortion. As shown in FIG.
  • a distortion correction in particular automated and computer-assisted, can be performed so that a distortion-free visual image 4 is produced (see corrected visual image 4 in FIG. 5).
  • Figure 6 is a shown orthogonal representation of the visual image 4 (as a top view and / or ortho-image or ortho-photo), which can be created by means of the image pickup device 1 according to the invention, in particular from the distortion-free visual image 4.
  • the image recording device 1 is further adapted for carrying out the method according to the invention, as described and claimed herein, wherein preferably all method steps are computer-aided, preferably automated, feasible, except for
  • Feature detection step which is optionally automated and / or manually carried out.
  • the position and the orientation of an image recording device relative to the object 2 are known or ascertainable.
  • a further advantage may be if a geometrical primitive 7 is already possible by detecting a number of at least three 3D points 6 in order to be able to determine the spatial direction 20, in particular the course direction, of the object 2. The more 3D points 6 of a subset 8 are taken into account during the fitting, the higher is the accuracy of the spatial direction 14 of the geometric primitive 7 with respect to the spatial direction 20 of the object 2, wherein outliers can be excluded.

Abstract

L'invention concerne d'une part un procédé et, d'autre part, un dispositif de traitement d'images (1) permettant de déterminer une grandeur de mesure géométrique (3) d'un objet (2). Ledit procédé comprend : une étape de prise d'image selon laquelle au moins une image visuelle (4) de l'objet (2) est prise ; une étape de création d'image 3D selon laquelle une image 3D à l'échelle exacte de l'objet (2) est prise et/ou calculée ; une étape de calcul de nuage de points selon laquelle un sous-ensemble de points 3D de l'image 3D est calculé ; une étape d'adaptation selon laquelle une primitive géométrique est adaptée à l'aide d'un calculateur pour le sous-ensemble des points 3D ; une étape de détection de caractéristiques selon laquelle une sélection de caractéristiques est appliquée à la ou aux images visuelles pour identifier au moins deux points caractéristiques (9,10) dans l'image visuelle (4) ; une étape de projection (11) selon laquelle les deux points caractéristiques ou plus (9,10) sont projetés sur la primitive géométrique en tant qu'au moins deux points de mesure (12,13) ; et une étape de calcul selon laquelle une grandeur de mesure géométrique (3) est calculée pour les deux points de mesure ou plus (12,13).
EP17705553.0A 2016-02-24 2017-02-13 Procédé et dispositif de traitement d'images permettant de déterminer une grandeur de mesure géométrique d'un objet Withdrawn EP3420531A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016002186.1A DE102016002186A1 (de) 2016-02-24 2016-02-24 Verfahren und Bildverarbeitungsvorrichtung zur Bestimmung einer geometrischen Messgröße eines Objektes
PCT/EP2017/000197 WO2017144162A1 (fr) 2016-02-24 2017-02-13 Procédé et dispositif de traitement d'images permettant de déterminer une grandeur de mesure géométrique d'un objet

Publications (1)

Publication Number Publication Date
EP3420531A1 true EP3420531A1 (fr) 2019-01-02

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EP17705553.0A Withdrawn EP3420531A1 (fr) 2016-02-24 2017-02-13 Procédé et dispositif de traitement d'images permettant de déterminer une grandeur de mesure géométrique d'un objet

Country Status (4)

Country Link
US (1) US20190066321A1 (fr)
EP (1) EP3420531A1 (fr)
DE (1) DE102016002186A1 (fr)
WO (1) WO2017144162A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102017107341B4 (de) 2017-04-05 2018-10-31 Testo SE & Co. KGaA Verfahren und Vorrichtung zur Bestimmung einer geometrischen Messgröße eines Objektes
DE102017107335A1 (de) 2017-04-05 2018-10-11 Testo SE & Co. KGaA Verfahren zur Identifikation von korrespondierenden Bildbereichen in einer Folge von Bildern
US10540823B2 (en) * 2018-02-20 2020-01-21 Beijing Jingdong Shangke Information Technology Co., Ltd. Method and apparatus for determining a planar surface
TWI791910B (zh) * 2019-10-16 2023-02-11 由田新技股份有限公司 用於孔狀結構之檢測資訊呈現方法、檢測方法、及檢測設備
CN113866171B (zh) * 2021-12-02 2022-03-18 武汉飞恩微电子有限公司 电路板点胶检测方法、设备及计算机可读存储介质

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DE10242852A1 (de) * 2002-09-14 2004-03-25 Technische Universität Ilmenau Abteilung Forschungsförderung und Technologietransfer Verfahren zur Minimierung des Einflusses von Störsignalen bei der Formelementeberechnung aus Koordinatenpunkten
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Publication number Publication date
US20190066321A1 (en) 2019-02-28
DE102016002186A1 (de) 2017-08-24
WO2017144162A1 (fr) 2017-08-31

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