JP2001082940A - Apparatus and method for generating three-dimensional model - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain three-dimensional shape data and color data on a subject at the same time for three-dimensional modeling. SOLUTION: A subject 100 is irradiated with pattern light from a pattern irradiating part 10 and a pattern is photographed by right and left cameras 14R, 14L to obtain data about the three-dimensional shape of the subject 100. The subject 100 is also photographed by a camera 16 to obtain data about the colors of the subject 100. A polarizing plate 12 is provided at the front of the pattern irradiating part 10 and a polarizing plate 18 is provided at the front of the camera 16. The polarizing directions of the polarizing plates 12, 18 are set at right angles to each other to enable the camera 16 to obtain the color data without being affected by the pattern light, to thereby obtain the three-dimensional shape data and the color data at the same time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for generating a three-dimensional model, and more particularly to a technique for inputting data of an object in a short time.

[0002]

2. Description of the Related Art Conventionally, the three-dimensional shape of a real three-dimensional object is input to a computer such as a personal computer or a workstation, and is applied to CG and the like. Three
A technique for inputting a three-dimensional shape into a computer, that is, creating three-dimensional shape data of a three-dimensional object is generally called three-dimensional modeling.

As a method of three-dimensional modeling, there are a method of measuring a three-dimensional shape of a target object based on the principle of triangulation using a laser beam, a method of measuring a three-dimensional shape using silhouette information of the target object, and the like. is there.

Some of these methods acquire only three-dimensional shape data, and others acquire color information of a target object. With respect to the latter, a three-dimensional shape is usually represented by a plurality of polygons (small planes), and color data acquired by a camera or the like is assigned to these polygons (mapping), so that a three-dimensional image viewed from an arbitrary viewpoint is obtained. Can be generated.

There are two methods for acquiring three-dimensional shape data: a contact method and a non-contact method. The non-contact method can be further divided into a passive method and an active method. The active method irradiates the object with some special light and recognizes the shape of the object by observing the light. There is an active stereo method and the like in addition to the above-described case using the laser light. In the case of the active stereo method, pattern light (for example, random pattern)
Is irradiated on the object, and this is photographed by a camera from a plurality of viewpoints. Then, a correspondence is obtained from each of the obtained images, and depth information (three-dimensional information) of each point is obtained from the principle of triangulation. In the silhouette method, which is one of the passive methods, a target object is photographed from a plurality of directions, and silhouettes of these two-dimensional images are obtained. Then, the obtained silhouette is used as a constraint condition, and an existing area of the three-dimensional object that satisfies the condition is obtained. In the silhouette method, there is a problem that a concave portion that does not appear in the silhouette outline cannot be accurately modeled. Therefore, in general, the active method tends to obtain shape data with higher quality.

Here, when three-dimensional shape data is obtained by separately irradiating pattern light, such pattern light is originally unnecessary for color information. The shape data is acquired, and then the irradiation of the pattern light is stopped to acquire the color information of the object under the general light.

[0007]

As described above, conventionally, three-dimensional shape data and color information cannot be obtained at the same time, so that it takes time to finally obtain three-dimensional shape data and color data. was there.

When the target object is a non-stationary object,
If there is a time difference between the acquisition of the shape data and the acquisition of the color information, the objects may not be in the same state at each acquisition time, and there is also a problem that it is difficult to correspond the three-dimensional shape data and the color data with high accuracy. Was.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the related art, and has as its object to provide an apparatus and a method capable of simultaneously obtaining three-dimensional shape data and color data.

[0010]

According to the present invention, there is provided a three-dimensional model generating apparatus for generating three-dimensional shape data and color data of a three-dimensional object.
Irradiating means for irradiating the three-dimensional object with pattern light, pattern light receiving means for acquiring the three-dimensional shape data by receiving the pattern light reflected from the three-dimensional object, and photographing the three-dimensional object And a photographing unit for acquiring the color data, wherein the pattern light has an insensitive characteristic to the photographing unit.

The irradiating means includes a first polarizing filter having a first polarizing direction, and the photographing means includes a second polarizing filter having a second polarizing direction perpendicular to the first polarizing direction. It is characterized by including.

Further, the irradiating means irradiates pattern light in a wavelength region other than the sensitivity wavelength of the photographing means. Here, it is preferable that the irradiating unit includes a light source, and a bandpass filter that selectively transmits light in a wavelength region other than the sensitivity wavelength of the photographing unit, out of the light from the light source.

[0013] The pattern light may be a coded pattern light.

The present invention also provides a three-dimensional model generating apparatus for generating three-dimensional shape data of a three-dimensional object,
Irradiating means for irradiating the three-dimensional object with pattern light, and pattern light receiving means for acquiring the three-dimensional object shape data by receiving the pattern light reflected from the three-dimensional object; A plurality of sets of pattern light receiving means are provided around the three-dimensional object, and at least one of the adjacent pattern lights has insensitivity to the other set of pattern light receiving means. .

A plurality of sets of the irradiating means, the pattern light receiving means, and the photographing means are provided around the three-dimensional object, and at least one of the pattern lights of the adjacent set is transmitted to the other set of the photographing means. It is preferred to have a dead property. Here, one irradiation unit of the adjacent set includes
It has a first polarization filter having a first polarization direction, and the other irradiation means of the adjacent set has a second polarization filter having a second polarization direction perpendicular to the first polarization direction. It is suitable. Further, it is preferable that the irradiating unit irradiates pattern light in a wavelength region other than the sensitivity wavelength of the photographing unit.

The present invention also provides a three-dimensional model generation method for generating three-dimensional shape data and color data of a three-dimensional object. An irradiation step of irradiating the three-dimensional object with pattern light; a shape data obtaining step of obtaining the three-dimensional shape data by receiving the pattern light reflected from the three-dimensional object; A photographing step of acquiring the color data by photographing a three-dimensional object, wherein the pattern light has insensitivity to photographing means used in the photographing step.

In the irradiating step, the pattern light is polarized in a first polarization direction, and in the photographing step, light in a second polarization direction perpendicular to the first polarization direction is photographed. And

Further, in the irradiating step, pattern light in a wavelength region other than the sensitivity wavelength of the photographing means is irradiated. Here, in the irradiating step, it is preferable that light in a wavelength region other than the sensitivity wavelength of the imaging unit is selected as the pattern light by a band-pass filter and irradiated.

The pattern light may be coded pattern light.

The present invention also relates to a three-dimensional model generating method for generating three-dimensional shape data of a three-dimensional object.
An irradiation step of irradiating the three-dimensional object with pattern light, and a shape data obtaining step of obtaining the three-dimensional object shape data by receiving the pattern light reflected from the three-dimensional object by a light receiving unit, The three-dimensional object is irradiated with the pattern light from a plurality of directions, and each reflected light is received by a light receiving means, and the pattern light in at least two adjacent directions has insensitivity to the other light receiving means. It is characterized by.

Further, the pattern light is applied to the three-dimensional object from a plurality of directions, and reflected light is received by light receiving means. The photographing is performed on the three-dimensional object from the plurality of directions. The pattern light in two adjacent directions has an insensitive characteristic to the other photographing means. Here, it is preferable that one of the two adjacent pattern lights is light in a first polarization direction, and the other pattern light is light in a second polarization direction perpendicular to the first polarization direction. It is. Preferably, the pattern light has a wavelength in a wavelength region other than the sensitivity wavelength of the photographing unit.

In the present invention, the influence of the pattern light is set by setting the pattern light to be irradiated on the object to acquire the three-dimensional shape data to be insensitive to the photographing means for acquiring the color data. It is possible to acquire color data without the need to obtain three-dimensional shape data and color data at the same time. Here, the dead characteristic means that the characteristic of the pattern light exists outside the photosensitive range of the photographing means, and the characteristic includes the wavelength and the polarization direction.

The irradiating means is provided with a first polarizing filter, and the photographing means is provided with a second polarizing filter having a polarization direction perpendicular to the first polarizing filter.
By providing a polarizing filter, the pattern light having the first polarization direction becomes insensitive to the photographing means that is sensitive to the light having the second polarization direction, and the photographing means is not affected by the pattern light and the color data of the object is not affected. Can be obtained.

By irradiating pattern light having a wavelength other than the sensitivity wavelength (photosensitive wavelength) of the photographing means from the irradiation means, the pattern light is insensitive to the photographing means, and the photographing means is not affected by the pattern light. Acquisition of color data, that is, simultaneous acquisition of three-dimensional shape data and color data becomes possible. In order to irradiate light of a specific wavelength from the irradiating means, it is sufficient to provide a bandpass filter in the light source and transmit only light of a specific wavelength. Pattern light also includes laser light.

As the pattern light, coded pattern light can be used in addition to the random pattern.
By using the coded pattern light, the space can be coded with a resolution corresponding to the number of patterns, and the three-dimensional shape data of the object can be more easily obtained. When acquiring three-dimensional shape data and color data for the entire periphery of an object, it is necessary to irradiate the object with pattern light from a plurality of directions. When irradiating the pattern light from a plurality of directions, if the pattern lights from adjacent directions interfere with each other, it becomes impossible to acquire three-dimensional shape data. Therefore, not only one set of irradiating means and photographing means is made insensitive, but also an adjacent set of irradiating means and photographing means is made insensitive, so that three-dimensional shape data and color data in multiple directions can be simultaneously obtained. Can be made possible. The dead characteristic is obtained, for example, by making the polarization directions of the polarizing filters of the one irradiation unit and the other irradiation unit of the adjacent measurement unit group perpendicular to each other, preventing interference of the adjacent pattern light, and Simultaneously, pattern light can be emitted. In addition to making the polarization directions of the polarizing filters perpendicular to each other, and by setting the wavelength of the pattern light to a wavelength other than the sensitivity wavelength (photosensitive wavelength) of the imaging means, it is possible to prevent interference of the pattern light from adjacent directions and to perform imaging. For the means, it is possible to eliminate the influence of the pattern light and obtain three-dimensional shape data and color data simultaneously in a plurality of directions.

[0026]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a conceptual configuration diagram when applied to an active stereo method of irradiating pattern light. A pattern irradiator 10 is provided, and irradiates the target object 100 with predetermined pattern light. The pattern light is, for example, shown in FIG.
Can be a random pattern as shown in FIG. The pattern irradiating section 10 is provided with a polarizing filter 12, and the pattern light emitted from the pattern irradiating section 10 is polarized in a predetermined direction by the polarizing filter 12 and irradiates the object 100. In the figure, a vertical polarization filter is used as the polarization filter, and the target object 100 is irradiated with vertically polarized pattern light.

On the other hand, two cameras 14R and 14L separated from each other by a predetermined distance are arranged in the vicinity of the pattern irradiating section 10, and photograph the pattern irradiating the object 100. The cameras 14R and 14L can be constituted by CCD cameras. The images obtained by the two cameras 14R and 14L are supplied to the computer 20, and generate three-dimensional shape data of the object 100 by a stereo method.

FIG. 3 is a conceptual diagram of generating three-dimensional shape data by the stereo method. The relative positions of the cameras 14R and 14L are measured in advance and supplied to the computer 20. The computer 20 obtains a correspondence between the image (image R) obtained by the camera 14R and the image (image L) obtained by the camera 14L. The correspondence can be obtained by, for example, block matching. That is, the image is divided into blocks of 8 × 8 pixels, the image R and the image L are compared in block units, and the position where the sum of the absolute values of the differences is the minimum is determined as the optimal corresponding portion. In addition, it is efficient that the comparison in the block is performed within a limited range using the epipolar constraint. Here, the epipolar constraint means that a corresponding point of one pixel P on the image R in the image L is assumed to be a three-dimensional straight line connecting the pixel P and the camera viewpoint of the image R. Refers to a constraint that exists only on the straight line (epipolar line) projected on In both images, a point corresponding to one point of the object 100 (actually, one point of the irradiated pattern) is calculated using the image R and the image L, and then triangulation is performed based on the positional relationship between the two cameras 14R and 14L. According to the principle, a three-dimensional position of a certain point of the object 100 can be calculated. By performing the above processing for a plurality of points of the object 100, a point group in a three-dimensional space is obtained, and three-dimensional surface data can be generated by connecting adjacent points.

Referring back to FIG. 1, three-dimensional shape data of the object 100 can be obtained from the two cameras 14R and 14L as described above. In the present embodiment, the camera 16R is located near the cameras 14R and 14L. Are arranged, and the object 100 is photographed. The camera 16 can also be constituted by a CCD camera.
Polarization filter (vertical polarization filter) provided at 0
12 is provided with a filter (horizontal polarization filter) 18 whose polarization direction is vertical, and an image is taken by the camera 16 by transmitting only horizontal polarization. Since the pattern light applied to the object 100 is vertically polarized light, even if the object 100 is irradiated with the pattern light, the camera 16 does not sense the pattern light and only the horizontal polarized light from the object 100 is emitted. To sense. The image of the object 100 obtained by the camera 16, that is, the image including the color of the object 100 is similarly supplied to the computer 20, and the color data is extracted. The color data is extracted as data on two-dimensional coordinates, and becomes color data attached to the three-dimensional shape data by associating the data with the coordinates of surface data forming the three-dimensional shape data. In order to accurately associate the color data with the three-dimensional shape data, the cameras 14R and 14
The relative position to L needs to be measured in advance.
Further, it is preferable that the positions of the cameras 14R and 14L and the position of the camera 16 are sufficiently close (the viewpoint for obtaining the shape data and the viewpoint for obtaining the color data should be substantially the same),
It is preferable that two cameras 16 are prepared, a polarizing filter is provided for each of the cameras 16, and the cameras 16R and 14L are arranged near the cameras 14R and 14L, respectively.

As described above, by setting the polarization direction of the pattern light and the polarization direction of the light incident on the camera for acquiring color information to be perpendicular to each other, the pattern light can be set to be insensitive to the camera. It is possible to simultaneously acquire three-dimensional shape data and color data.

In this embodiment, the pattern irradiation unit 10
The polarization filter 12 provided in the camera 16 is a vertical polarization filter, and the polarization filter 18 provided in the camera 16 is a horizontal polarization filter 18. However, the reverse is also possible, as long as the polarization directions of both filters 12, 18 are perpendicular to each other. The setting of the polarization direction may be arbitrary.

In FIG. 1, cameras 14R, 14
The polarization filter 1 provided in the pattern irradiation unit 10 also in L
It is also preferable to provide a filter having the same polarization direction as 2.

FIG. 1 shows a case where three-dimensional shape data and color data of a part of the object 100 are acquired.
When acquiring all three-dimensional shape data and color data of the object 100, the pattern irradiation unit 10 and the polarization filter 12, the two cameras 14R and 14L, the camera 16 and the polarization filter 18 shown in FIG. And the object 10
By arranging a plurality of sets around 0, three-dimensional shape data and color data of the entire object 100 can be obtained.

FIG. 4 shows an example in which a plurality of sets of devices are arranged around the object 100. One set includes a pattern irradiator 10, a polarizing filter 12 disposed in front of the pattern irradiator 10, cameras 14R and 14L disposed on the left and right of the pattern irradiator 10, and cameras disposed near the cameras 14R and 14L. 16, a polarization filter 18, and three sets of these sets are arranged at three-fold symmetrical positions. The pattern lights irradiated on the object 100 from the three pattern irradiation units 10 in total have 120 degrees with each other, but in this case, the irradiated pattern lights partially interfere with each other. However, when irradiating a random pattern, the pattern itself has no significant meaning, so this interference does not become a serious problem. On the other hand, when irradiating a meaningful pattern light, that is, a coded pattern light, as described later, the above-described interference becomes a problem, and a measure in this case will be described later.

In FIG. 1, the pattern light is taken by the camera 16 by using the polarizing filters 12 and 18 and made insensitive.
The pattern irradiating section 10 may irradiate pattern light having a wavelength other than the photosensitive wavelength of the camera 16.

FIG. 5 shows a configuration in such a case. The pattern irradiation unit 11 irradiates pattern light having a wavelength (for example, infrared light or ultraviolet light) other than the photosensitive band (for example, visible light band) of the camera 16 that acquires color data by photographing the object 100. The cameras 14R and 14L obtain three-dimensional shape data by using a camera (such as an infrared camera) having a photosensitive characteristic with respect to the wavelength of the pattern light, and the camera 16 does not detect the pattern and outputs color data of the object 100. get. According to this configuration, the polarizing filters 12 and 18 become unnecessary, and the system configuration can be simplified particularly when a plurality of devices are arranged around the object 100 as shown in FIG. Of course, a band-pass filter is provided for each of the pattern irradiation unit 10, the cameras 14R, 14L, and the camera 16, and light from a light source, for example, a halogen lamp in the pattern irradiation unit 10 is used to filter only the pattern light of a specific wavelength λ1 by the band-pass filter. The light passes through and irradiates the object 100, and the wavelength λ is used by the cameras 14R and 14L.
1 may be received, and the camera 16 may receive light having a wavelength other than λ1. However, if light in the visible region is used as λ1, the color data of the object 100 cannot be reliably obtained by the camera 16, so that λ1 is preferably a wavelength other than the wavelength of visible light.

In the above-described embodiment, a random pattern is radiated from the pattern irradiating section 10, but it is also possible to increase the efficiency of acquiring three-dimensional shape data by irradiating coded pattern light. .

FIGS. 6A to 6F show an example of coded pattern light. (A) is a pattern in which a light part and a dark part are halved, and the pitch of the pattern becomes (１ ／), (C),. The object is irradiated with such pattern light sequentially. FIG. 7 shows a code example when pattern light is sequentially irradiated. Assuming that each pattern is 8-bit data, the bright portion of the mask A ((A) in FIG. 6) is (1111),
The dark part becomes (0000), and (1111)
0000). Similarly, the mask B ((B) in FIG. 6) becomes (11001100), and the mask C ((C) in FIG. 6) becomes (10101010). When the mask A is MSB (most significant bit) and the mask C is LSB (least significant bit), a 3-bit binary code can be assigned to each divided area. For example, (000) = 0 (decimal) is assigned to the rightmost area, and (111) = 7 (10) to the leftmost area.
Hex) can be assigned. As described above, by using the n patterns, an n-bit binary code can be assigned to the space area, and the space can be uniquely identified by the code. In FIG. 6, since a total of six patterns are used, 64 spatial regions can be uniquely identified. When the target object is irradiated with such pattern light and the spatial region of the point P of the target object is specified, the projection angle from the pattern irradiation unit to the point P can be calculated,
By combining with the position of point P obtained by the camera, P
The three-dimensional position of the point can be calculated. For details of three-dimensional position measurement by spatial coding, refer to, for example, “Three-dimensional image measurement” (by Seiji Iguchi and Kosuke Sato: Shokodo).

However, when a measuring device for irradiating the coded pattern light is arranged around the object in order to obtain three-dimensional shape data of the entire object, adjacent patterns interfere with each other and the object Pattern may be generated, and the space may not be coded accurately. Therefore, pattern light is sequentially emitted in each direction (pattern light is sequentially emitted from direction a, and then pattern light is emitted from direction b). (Sequential irradiation) can be considered, but this method cannot simultaneously irradiate pattern light from each direction, and it takes time to acquire data.

Therefore, even when the pattern light coded in this way is used, it is preferable that the pattern light can be irradiated simultaneously by skillfully using a polarizing filter.

FIG. 8 shows a configuration in which three-dimensional shape data and color data of the entire object 100 are obtained by using coded pattern light. Four sets of measurement units (U1, U2, U3, U4) are arranged around the object 100 at an angle of about 90 degrees. Focusing on one measurement unit U1, the measurement unit includes a shape information acquisition unit 30 and a color information acquisition unit 32,
The shape information acquisition unit 30 includes a pattern irradiation unit 30a, a polarizing plate 30b, a camera 30c, and a polarizing plate 30d. The polarizing plates 30b and 30d are provided in front of the pattern irradiating unit 30a and the camera 30c, respectively, and irradiate the pattern light from the pattern irradiating unit 30a in a predetermined direction to irradiate the target 100 with the polarized light. The reflected polarized light is received by the camera 30c. The polarization directions of the polarizing plates 30b and 30d are the same. The pattern irradiation unit 30a has an irradiation pattern variable mechanism and sequentially emits the coded pattern light shown in FIG. As the irradiation pattern variable mechanism, for example, a liquid crystal panel that sequentially displays a plurality of patterns shown in FIG. 6 can be used, and the object 100 is irradiated with the plurality of patterns by light from a light source. As the wavelength of the light source, a wavelength region other than visible light, for example, infrared light can be used. The reason for using the wavelength region other than the visible light is that the wavelength is other than the photosensitive band of the camera 32a for acquiring color data, as in the above-described embodiment.
2a makes the coded pattern light insensitive and 3
This is to enable simultaneous acquisition of dimensional shape data and color data. The color information acquisition unit 32 includes a camera 32a and a bandpass filter 32b, and the bandpass filter 32b is provided in front of the camera 32a. The band-pass filter 32b is a filter that passes only visible light, and cuts infrared light. Accordingly, the camera 32a can reliably acquire the color data of the target object 100 without being affected by the infrared pattern light. Note that the bandpass filter 32b is not essential (see FIG. 5). The same applies to other measurement units. For example, in the measurement unit U2, the polarization directions of the polarizing plates 34b and 34d provided in front of the pattern irradiation unit 34a and the camera 34c are the same, and the camera 36
a band-pass filter 36b for infrared cut in front of a
Is provided.

Each measurement unit irradiates coded pattern light to acquire three-dimensional shape data of the object 100, and at the same time, receives general light applied to the object 100 to obtain color data of the object 100. To get. That is, a camera 30c that exposes the coded pattern sequentially irradiated from the pattern irradiation unit 30a to the object 100 to infrared light.
To obtain three-dimensional shape data. At the same time, color data of the object is acquired by the camera 32a.

By the way, 2 which are 180 degrees from each other
One measuring unit, specifically U1 and U3 or U
Regarding 2 and U4, the pattern light emitted from the pattern irradiation unit 30a and the pattern light emitted from the pattern irradiation unit 38a do not interfere with each other, in other words, the pattern light from the pattern irradiation unit 30a and the pattern irradiation unit 38a
Since there is no surface of the target object 100 to which the pattern light is irradiated simultaneously (the same applies to U2 and U4), the pattern light can be irradiated simultaneously. On the other hand, with respect to adjacent measurement units, for example, U1 and U2, there is a possibility that the pattern light from the pattern irradiation unit 30a and the pattern light from the pattern irradiation unit 34a may interfere from a physical positional relationship. When the polarizing direction of the polarizing plate 30b provided in front of the pattern irradiating part 34a is the same as the polarizing direction of the polarizing plate 34b provided in front of the pattern irradiating part 34a, it is not possible to irradiate both pattern lights at the same time. Can not get the data.

Therefore, in the present embodiment, the polarizing plates 30b, 34b, and 38 are used in order to simultaneously irradiate coded pattern light from a plurality of measurement units and acquire data at the same time.
The polarization planes b and 42b are set so that the polarization directions of the adjacent polarizing plates are perpendicular to each other. That is, for example, the polarization plane is set as follows.

Polarizing plate 30b (same for polarizing plate 30d): horizontal polarizing surface Polarizing plate 34b (same for polarizing plate 34d): vertical (vertical) polarizing surface Polarizing plate 38b (same for polarizing plate 38d): horizontal polarized light Surface Polarizing plate 42b (similarly to polarizing plate 42d): Vertical (vertical) polarizing surface By setting in this way, the coded pattern lights of the adjacent measurement units have their polarizing planes perpendicular to each other, so that Even when pattern light is irradiated, three-dimensional shape data can be acquired independently without interference. The polarizing plates (for example, the polarizing plates 30b and 38b) located at the position of 180 degrees have the same polarization direction. However, as described above, there is no problem since the two pattern lights do not interfere in the first place. Absent. Therefore, it is not necessary to irradiate sequentially coded pattern lights for the measurement units U1 to U4, and the coded pattern lights can be simultaneously irradiated from the measurement units U1 to U4. Thereby, the three-dimensional shape data and the color data of the object 100 can be acquired at the same time, and the data of the entire periphery of the object 100 can be acquired efficiently in a short time.

FIGS. 9 and 10 show timing charts of pattern light irradiation in the conventional method and the method of the present embodiment. FIG. 9 shows conventional pattern irradiation.
(A) is a measuring unit U1, (b) is a measuring unit U2
Irradiation. In order to prevent interference between adjacent measurement units, irradiation must be performed with the irradiation times shifted from each other, and it takes time to obtain final data. On the other hand, according to the method of the present embodiment shown in FIG. 10, since the interference between the adjacent measurement units is prevented by adjusting the polarization direction, the encoding is performed simultaneously by the adjacent measurement units. This makes it possible to irradiate the patterned light, and data can be obtained efficiently.

Although FIG. 8 shows the case where the coded pattern light is irradiated to obtain the three-dimensional shape data of the object 100, the normal pattern light (random light) as shown in FIG. The same applies when irradiating pattern light. The object 1 is irradiated with a laser beam.
It is also possible to acquire three-dimensional shape data of 00.
In this case, the pattern irradiation unit 30 is used as the measurement unit.
What is necessary is just to provide a laser irradiation part instead of a, and a laser light receiving part instead of the camera 30c. The laser irradiation unit includes a rotating mirror that controls the direction of travel of the laser beam.
Scan 0. By using two mirrors that rotate about axes orthogonal to each other as rotating mirrors, the laser beam is deflected, and the object 100 can be scanned in both vertical and horizontal directions. Laser receiving part is CCD
Or a PSD, and receives the laser light reflected from the object 100 via the polarizing plate 30d. To enable simultaneous acquisition of three-dimensional shape data and color data,
Also in this case, it is preferable to use a region other than visible light (for example, infrared) as the wavelength of the laser light. Then, by making the polarization directions of the polarizing plates of the adjacent measurement units perpendicular to each other, even if a plurality of laser beams are irradiated, interference between the beams is prevented, and three-dimensional shape data can be obtained accurately. Also, in order to obtain three-dimensional shape data,
Instead of irradiating the laser beam in the form of a beam, the object 100 may be shaped into a line by using, for example, a cylindrical lens and irradiating the object 100 with the linear laser beam. In this case, only one rotating mirror is required to scan the object 100 vertically and horizontally.

[0049]

As described above, according to the present invention,
The three-dimensional shape data and the color data can be acquired simultaneously, and the efficiency of three-dimensional modeling can be increased.

[Brief description of the drawings]

FIG. 1 is a conceptual configuration diagram of an embodiment.

FIG. 2 is an explanatory diagram of random pattern light.

FIG. 3 is a diagram illustrating the principle of acquiring three-dimensional shape data by a stereo method.

FIG. 4 is a conceptual configuration diagram of acquiring three-dimensional shape data and color data for the entire circumference of an object.

FIG. 5 is a conceptual configuration diagram of another embodiment.

FIG. 6 is an explanatory diagram of coded pattern light.

FIG. 7 is an explanatory diagram of spatial coding using coded pattern light.

FIG. 8 is a conceptual configuration diagram of another embodiment.

FIG. 9 is a conventional irradiation timing chart.

FIG. 10 is an irradiation timing chart of the embodiment in FIG.

[Explanation of symbols]

10 pattern irradiation part, 12 polarizing plates, 14R, 14L
Camera, 16 cameras, 18 polarizers, 20 computers.

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Claims (18)

[Claims] 1. A three-dimensional model generating apparatus for generating three-dimensional shape data and color data of a three-dimensional object, comprising: an irradiating means for irradiating the three-dimensional object with pattern light; A pattern light receiving unit that acquires the three-dimensional shape data by receiving the pattern light; and a photographing unit that acquires the color data by photographing the three-dimensional object. A three-dimensional model generation device, wherein the three-dimensional model generation device has insensitivity to the photographing means. 2. The apparatus according to claim 1, wherein said irradiating means includes a first polarizing filter having a first polarization direction, and said photographing means includes a second polarization perpendicular to said first polarization direction. An apparatus for generating a three-dimensional model, comprising a second polarizing filter having a direction. 3. The three-dimensional model generating apparatus according to claim 1, wherein said irradiating means irradiates pattern light in a wavelength region other than a sensitivity wavelength of said photographing means. 4. The apparatus according to claim 3, wherein said irradiating means comprises: a light source; and a band-pass filter for selectively transmitting light in a wavelength region other than the sensitivity wavelength of said photographing means among light from said light source. A solid model generation device, comprising: 5. The apparatus according to claim 1, wherein the pattern light is a coded pattern light. 6. A three-dimensional model generating apparatus for generating three-dimensional shape data of a three-dimensional object, comprising: an irradiating unit for irradiating the three-dimensional object with pattern light; and the pattern light reflected from the three-dimensional object. And a pattern light receiving means for acquiring the three-dimensional object shape data by receiving the light. The plurality of sets of the irradiating means and the pattern light receiving means are provided around the three-dimensional object, and at least one of the adjacent sets is provided. Wherein the pattern light has a characteristic insensitive to the other set of the pattern light receiving means. 7. The apparatus according to claim 1, wherein a plurality of sets of the irradiating unit, the pattern light receiving unit, and the photographing unit are provided around the three-dimensional object, and at least one of adjacent sets is provided. Wherein said pattern light has insensitivity to the other set of said photographing means. 8. The apparatus of claim 7, wherein one of the irradiating means of the adjacent set has a first polarizing filter having a first polarization direction, and the other irradiating means of the adjacent set is A three-dimensional model generation device comprising a second polarization filter having a second polarization direction perpendicular to the first polarization direction. 9. The three-dimensional model generating apparatus according to claim 8, wherein said irradiating means irradiates pattern light in a wavelength region other than the sensitivity wavelength of said photographing means. 10. A three-dimensional model generating method for generating three-dimensional shape data and color data of a three-dimensional object, comprising: an irradiation step of irradiating the three-dimensional object with pattern light; A shape data acquiring step of acquiring the three-dimensional shape data by receiving the pattern light; and a photographing step of acquiring the color data by photographing the three-dimensional object. A method of generating a three-dimensional model, wherein the three-dimensional model has an insensitive characteristic to a photographing unit used in a photographing step. 11. The method according to claim 10, wherein, in the irradiating step, the pattern light is polarized in a first polarization direction, and in the photographing step, a second polarization direction perpendicular to the first polarization direction is provided. A stereo model generation method characterized by taking a picture of light. 12. The three-dimensional model generation method according to claim 10, wherein, in the irradiating step, pattern light in a wavelength region other than the sensitivity wavelength of the photographing unit is irradiated. 13. The method according to claim 12, wherein, in the irradiating step, light in a wavelength region other than the sensitivity wavelength of the photographing means is selected as the pattern light by a band-pass filter and irradiated. Model generation method. 14. The method according to claim 10, wherein the pattern light is a coded pattern light. 15. A three-dimensional model generating method for generating three-dimensional shape data of a three-dimensional object, comprising: irradiating the three-dimensional object with pattern light; and the pattern light reflected from the three-dimensional object. And a shape data obtaining step of obtaining the three-dimensional object shape data by receiving the three-dimensional object shape data by receiving the reflected light by receiving the reflected light by irradiating the three-dimensional object with the pattern light from plural directions. A three-dimensional model generating method, wherein the pattern light in at least two adjacent directions has insensitivity to the other light-receiving means. 16. The method according to claim 10, wherein the pattern light is applied to the three-dimensional object from a plurality of directions, and reflected light is respectively received by light receiving means, and the imaging is performed. A method of generating a three-dimensional model, wherein the three-dimensional object is performed from the plurality of directions, and the pattern light in at least two adjacent directions has insensitivity to the other photographing means. 17. The method according to claim 16, wherein one of the two adjacent pattern lights is light in a first polarization direction, and the other pattern light is a second light beam perpendicular to the first polarization direction. A three-dimensional model generating method, characterized in that the light has a polarization direction of: 18. The three-dimensional model generation method according to claim 17, wherein the pattern light is a wavelength in a wavelength region other than a sensitivity wavelength of the photographing unit.