FI112279B - Förfarande för att bestämma motsvarande punkter - Google Patents

Förfarande för att bestämma motsvarande punkter Download PDF

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Publication number
FI112279B
FI112279B FI20012271A FI20012271A FI112279B FI 112279 B FI112279 B FI 112279B FI 20012271 A FI20012271 A FI 20012271A FI 20012271 A FI20012271 A FI 20012271A FI 112279 B FI112279 B FI 112279B
Authority
FI
Finland
Prior art keywords
points
point
cameras
cam2
cam1
Prior art date
Application number
FI20012271A
Other languages
English (en)
Finnish (fi)
Other versions
FI20012271A0 (sv
FI20012271A (sv
Inventor
Esa Leikas
Original Assignee
Mapvision Oy Ltd
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 Mapvision Oy Ltd filed Critical Mapvision Oy Ltd
Priority to FI20012271A priority Critical patent/FI112279B/sv
Publication of FI20012271A0 publication Critical patent/FI20012271A0/sv
Priority to US10/496,144 priority patent/US7046377B2/en
Priority to AU2002366117A priority patent/AU2002366117A1/en
Priority to PCT/FI2002/000928 priority patent/WO2003044460A1/en
Priority to EP02803416.3A priority patent/EP1459035B1/en
Priority to ES02803416.3T priority patent/ES2605735T3/es
Priority to JP2003546046A priority patent/JP4402458B2/ja
Publication of FI20012271A publication Critical patent/FI20012271A/sv
Application granted granted Critical
Publication of FI112279B publication Critical patent/FI112279B/sv

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/97—Determining parameters from multiple pictures

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (9)

1. Förfarande för anknytning av motsvarande punkter, som ett datorseendesystem matt, i en mängd punkter, vilket förfarande innefattar skeden: kalibrering av systemets kameror (CAM1, CAM2) och belysningsanordning (LASER); bestämning av objektets (11) läge och position; belysning av punkter pä objektets (11) yta; avbildning av de belysta punkterna med kame-rasystemet (CAM1, CAM2); anknytning av de motsvarande punkterna som avbildads med olika kameror (CAM1, CAM2); räkning av objektets (11) verkliga tredimen-sionella koordinater pä basen av de motsvarande punkterna; och lagring av koordinaterna i minnet; kännetecknat därav, att förfarandet ytterligare innefattar skeden; räkning av de tvadimensionella projektions-punkterna som motsvarar de eftersökta mätpunkterna i . .j bilderna frän objektets (11) tredimensionella model; sökning av den verkliga avbildade punkten i < · . ; näromrädet av den räknade punkten i bilderna, som ka- ,1 merorna (CAM1, CAM2) producerat; * · · ; anknytning av den verkliga punkten som iakt- 5 ‘ 1 i f tagits med olika kameror (CAM1, CAM2) som en motsva- '...· rande punkt; och upprepning av förfarandet för alia belysta < ‘ : punkter.
’ : 2. Förf arande enligt patentkrav 1, kanne- t e c k n a t därav, att punkterna som skall mätäs be-lyses frän objektets (11) tredimensionell model till > ; ’ en i förväg bestämd position. 1
: 3. Förfarande enligt patentkrav 1 eller 2, • kännetecknat därav, att punkterna flyttas för mätning av objektets (11) former. 112279
4. Förfarande enligt patentkrav 1 - 3, kännetecknat därav, att punkterna flyttas ge-nom att flytta belysningsanordningen (LASER).
5. Förfarande enligt patentkrav 1 - 3, kännetecknat därav, att punkterna flyttas ge-nom att styra strälarna via rörliga speglar.
6. Förfarande enligt patentkrav 1, kännetecknat därav, att den verkliga punkten söks i ett omräde av en i förväg bestämd storlek och form närä den räknade punkten.
7. Förfarande enligt patentkrav 1 och 6, kännetecknat därav, att det i förväg bestäm-da omrädet är ett fönster.
8. Förfarande enligt patentkrav 1, kännetecknat därav, att de iakttagna punkterna anknyts som motsvarande punkter genom att använda koordinatda-ta frän projektionsbildernas punkter.
9. Förfarande enligt patentkrav 1 och 8, kännetecknat därav, att punktens verkliga tredimensionella koordinater räknas pä basen av de iakttagna motsvarande punkterna. • 1 · * · » * · « f • · » * » '»II» * t • · * * : * *
FI20012271A 2001-11-21 2001-11-21 Förfarande för att bestämma motsvarande punkter FI112279B (sv)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FI20012271A FI112279B (sv) 2001-11-21 2001-11-21 Förfarande för att bestämma motsvarande punkter
US10/496,144 US7046377B2 (en) 2001-11-21 2002-11-20 Method for determining corresponding points in three-dimensional measurement
AU2002366117A AU2002366117A1 (en) 2001-11-21 2002-11-20 Method for determining corresponding points in three-dimensional measurement
PCT/FI2002/000928 WO2003044460A1 (en) 2001-11-21 2002-11-20 Method for determining corresponding points in three-dimensional measurement
EP02803416.3A EP1459035B1 (en) 2001-11-21 2002-11-20 Method for determining corresponding points in stereoscopic three-dimensional measurements
ES02803416.3T ES2605735T3 (es) 2001-11-21 2002-11-20 Procedimiento para determinar puntos correspondientes en mediciones tridimensionales estereoscópicas
JP2003546046A JP4402458B2 (ja) 2001-11-21 2002-11-20 三次元計測における対応ポイントを決定する方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20012271 2001-11-21
FI20012271A FI112279B (sv) 2001-11-21 2001-11-21 Förfarande för att bestämma motsvarande punkter

Publications (3)

Publication Number Publication Date
FI20012271A0 FI20012271A0 (sv) 2001-11-21
FI20012271A FI20012271A (sv) 2003-05-22
FI112279B true FI112279B (sv) 2003-11-14

Family

ID=8562309

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20012271A FI112279B (sv) 2001-11-21 2001-11-21 Förfarande för att bestämma motsvarande punkter

Country Status (7)

Country Link
US (1) US7046377B2 (sv)
EP (1) EP1459035B1 (sv)
JP (1) JP4402458B2 (sv)
AU (1) AU2002366117A1 (sv)
ES (1) ES2605735T3 (sv)
FI (1) FI112279B (sv)
WO (1) WO2003044460A1 (sv)

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CN102126162A (zh) * 2010-12-26 2011-07-20 北京航空航天大学 一种数控机床加工在线测量方法

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US7372581B2 (en) * 2005-04-11 2008-05-13 Faro Technologies, Inc. Three-dimensional coordinate measuring device
US20070152157A1 (en) * 2005-11-04 2007-07-05 Raydon Corporation Simulation arena entity tracking system
CN100385197C (zh) * 2006-06-08 2008-04-30 天津世纪动力光电科学仪器有限公司 便携式无导轨结构光三维扫描测量系统及其测量方法
US20080306708A1 (en) * 2007-06-05 2008-12-11 Raydon Corporation System and method for orientation and location calibration for image sensors
FI123049B (sv) * 2007-09-03 2012-10-15 Mapvision Ltd Oy System för en lagrande artificiell syn
WO2010048960A1 (en) * 2008-10-28 2010-05-06 3Shape A/S Scanner with feedback control
CN102135417B (zh) * 2010-12-26 2013-05-22 北京航空航天大学 一种全自动三维特征提取方法
CN102722886B (zh) * 2012-05-21 2015-12-09 浙江捷尚视觉科技股份有限公司 一种基于三维标定和特征点匹配的视频测速方法
CN102944191B (zh) * 2012-11-28 2015-06-10 北京航空航天大学 一种基于平面圆靶标的三维视觉测量数据拼接方法及装置
CN103528520B (zh) * 2013-10-08 2016-03-23 哈尔滨工业大学 基于双目视觉的同步运行顶升系统的检测装置与方法
CN105739339A (zh) * 2016-03-18 2016-07-06 上海斐讯数据通信技术有限公司 一种人体识别和定位的方法和系统
CN106841206B (zh) * 2016-12-19 2018-07-24 大连理工大学 大型零件化学铣削切割非接触在线检测方法
JP7014226B2 (ja) * 2017-05-01 2022-02-01 株式会社ニコン 加工装置
CN108748137B (zh) * 2018-04-11 2021-02-02 陈小龙 一种实物扫描建模方法及其应用
FR3082934B1 (fr) * 2018-06-26 2021-10-08 Safran Nacelles Dispositif et procede de projection laser pour fabrication de pieces en materiau composite par drapage
CN110702025B (zh) * 2019-05-30 2021-03-19 北京航空航天大学 一种光栅式双目立体视觉三维测量系统及方法
CN111578866B (zh) * 2020-06-16 2021-04-20 大连理工大学 一种多线激光传感器组合测量的空间位姿标定方法
CN114782434B (zh) * 2022-06-20 2022-09-27 青岛大学附属医院 一种内窥镜合作目标定位方法及系统

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CN102126162B (zh) * 2010-12-26 2013-09-25 北京航空航天大学 一种数控机床加工在线测量方法

Also Published As

Publication number Publication date
US7046377B2 (en) 2006-05-16
FI20012271A0 (sv) 2001-11-21
EP1459035B1 (en) 2016-08-31
FI20012271A (sv) 2003-05-22
US20050012056A1 (en) 2005-01-20
JP4402458B2 (ja) 2010-01-20
WO2003044460A1 (en) 2003-05-30
AU2002366117A1 (en) 2003-06-10
EP1459035A1 (en) 2004-09-22
ES2605735T3 (es) 2017-03-16
JP2005509879A (ja) 2005-04-14

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