JP2001141457A - Three-dimensional measuring apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that the problem point of a three-dimensional measuring apparatus by a stereo method, namely, characteristic point detection must be performed on the whole screen of two screens, the substantially coincident overlapping method of the distribution pattern of the characteristics must be searched, judgment must be performed on which overlapping method is the most rational when a plurality of the methods exist, extensive calculation processing such as the calculation of a distance in regard to each point is needed, and a long calculation time is needed. SOLUTION: A photographing and ranging device 1 provided with a photographing part 3 capable of stereo photographing and a ranging part 4 capable of point ranging is put at a position looking over an intersection point 20 in which a traffic accident occurs to be photographed. The distance 24 up to a point P is measured by the ranging part 4, and a corresponding point in the two images photographed by the photographing part 3 is specified. Thereby since the correspondence of each point of the two images can be performed, the calculation of the extensive correspondence is not needed as the conventional.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional measuring device for shortening the operation time for three-dimensional measurement by the stereo method and improving the measurement accuracy.

Further, the present invention relates to a three-dimensional measuring apparatus which is particularly suitable for being used for preparing a floor plan included in a record prepared by a police officer when a traffic accident or the like occurs.

[0003]

2. Description of the Related Art When a traffic accident occurs, a record of the accident site is taken together with a hearing survey to identify the situation of the accident. A floor plan is an important element of this record,
The location where the accident occurred, the width of the road, buildings near the site, traffic lights and guardrails and other structures, the location, orientation, slip marks and the relative positional relationship of the accident vehicle are described in detail.

[0004] In preparing the site sketch, the dimensions of the accident vehicle, related structures and the like and the distance to each other are measured using a tape measure or the like, and the measurement results are written in the sketch. However, these measurements are performed manually. Police officers are involved in secondary traffic accidents during measurement, and in many cases, this measurement is performed with partial or entire traffic blocked, and it takes a relatively long time to cause traffic jams. Was.

To cope with such a problem, Japanese Patent No.
Attempts have been made to use a position measurement plotting device such as that disclosed in Japanese Patent No. 817553 to simplify such work in a short time.

The position measurement plotting device disclosed in the above publication places or attaches a marker at a key point such as an accident vehicle or a road structure, and detects the marker by photographing with a camera equipped with a measurement position detecting means. A site plan is created together with the detection data.

[0007] Since the above-mentioned markers are all attached to related items, the number of markers is large, and it is not always easy to attach the markers.

[0008] Many measurement methods have been considered for three-dimensional measurement.

The stereo method obtains two images by photographing an object with two cameras, as in human binocular vision, and obtains distance information of the object from a subtle difference based on the parallax of the images. It is.

In this method, it is assumed that it is possible to identify which point on the object corresponds to which point on the two images, and it is necessary to estimate this point from other conditions.

For the above estimation, processing such as differentiating the brightness and the like of each image on the screen area is performed, and feature points (or lines) such as edges are detected. In this way, a distribution pattern of feature points (or lines) on two images is obtained.

When the two distribution patterns are approximately coincident when they are superimposed, each point on this pattern is estimated as a corresponding point.

[0013] Since the corresponding points on each image with respect to the feature points on the object can thus be specified, the distance between these points can be calculated. For points other than the feature points, a surface is estimated from the feature points, and the positions of points on the surface are calculated.

In the case of an object having no feature at all, for example, an object consisting of only a flat wall of a single color and a fixed density, it is naturally impossible to detect a feature point, and thus it is impossible to measure the three-dimensional position of the object.

In the case where the object consists only of patterns and the like arranged at equal intervals, even if the feature points can be detected, there are a number of overlapping methods in which the distribution patterns substantially overlap. Therefore, an erroneous determination of the correspondence results in an erroneous measurement result.

Further, the feature point detection must be performed for each of the two screens, and a method of superimposing the distribution pattern of the features that roughly matches is searched for.
When there are multiple superposition methods, enormous calculation processing such as judging which superposition method is most reasonable and calculating the distance for each point is required, requiring a long calculation time become.

According to this method, field shooting is performed once (when two images are obtained simultaneously by two cameras),
Alternatively, since only two times (one camera is moved and each position is photographed), the problems of secondary traffic accidents and traffic interruptions described above are reduced, but as described above. Another feature is that the time required for the subsequent image processing becomes longer.

On the other hand, in the time-of-flight method, a light beam is applied to an object, and light reflected by the object is detected. At this time, by measuring the round trip time of the light beam, the distance to one point on the object hit by the light beam can be obtained. From this distance and the direction of the light beam, three-dimensional data of one point of the object can be obtained.

In this method, the above measurement is performed for each point of the object, and the number of points is very large.
Although the measurement time for each point is short, it takes a long time as a whole.

For this reason, this method is characterized in that the subsequent image processing time is short, but the measurement time on site is long.

[0021]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problem in the stereo method, that is, the feature point detection is performed in two steps.
What must be done for each of the entire screens, how to find a superimposition that roughly matches the feature distribution pattern, and when there are multiple superpositions, which one is the most reasonable It is an object of the present invention to solve the problem that an enormous calculation process such as calculation of distance for each point is required and a long calculation time is required.

Another object of the present invention is to solve the above-mentioned problem by using a point ranging method such as a time-of-flight method in combination with a stereo method.

[0023]

According to a first aspect of the present invention, as set forth in claim 1, an image pickup means, a distance measuring means, a first corresponding point determining means, 3 provided with second corresponding point determining means and three-dimensional data creating means
In the dimension measuring device, an image of a measurement object is captured by an imaging unit, and a distance measurement unit measures a representative point (P) of the measurement object. The points (Q) and (R) corresponding to the representative points (P) on the first and second images, respectively, are obtained by the first and second corresponding point determining means, and three-dimensional data is obtained based on the data. Creation means creates three-dimensional data.

According to a second aspect of the present invention, as set forth in claim 2, a representative point specifying means, a distance measuring means, a first corresponding point determining means, and a second corresponding means are provided. A three-dimensional measuring device comprising a point determining means, a relative position specifying means, and a three-dimensional data creating means, wherein a representative point (Q) on a first image photographed by an imaging means by the representative point specifying means is A plurality of representative points (P) designated and designated by the representative point designation means are measured by the distance measurement means. The first and second corresponding point determination means respectively determine a point (R) corresponding to the representative point (Q) on the second image captured by the imaging means and the representative point ( Find corresponding points other than R). The relative position at which the first image and the second image are captured is specified by a relative position specifying unit. The three-dimensional data creating means creates three-dimensional data based on the data obtained from the first and second corresponding point determining means and the relative position designating means.

According to a third aspect of the present invention, as set forth in claim 3, a representative point specifying unit, a distance measuring unit, a range determining unit, and a first corresponding point determining unit are provided. ,
A three-dimensional measuring apparatus comprising: a second corresponding point determining unit; a relative position specifying unit; and a three-dimensional data creating unit,
A representative point on the first image photographed by the imaging means is designated by the representative point designating means, a plurality of representative points designated by the representative point designating means are measured by the distance measuring means, and a range deciding means is designated by: A range for obtaining a point corresponding to the representative point in the second image captured by the imaging unit is determined. First
The point corresponding to the representative point on the second image is determined by the corresponding point determining means according to the range determined by the range determining means, and the second corresponding point determining means determines the point corresponding to the second point. The corresponding points other than the representative points on the image are obtained. The relative position designating means designates a relative position at which the first image and the second image are taken, and the three-dimensional data creating means comprises: the first and second corresponding point determining means; Three-dimensional data is created based on the data obtained from the means.

According to a fourth aspect of the present invention, as set forth in claim 4, an image capturing step, a distance measuring step, a first corresponding point determining step, and a second corresponding point determining step. In a three-dimensional measurement method including a step and a three-dimensional data creation step, an object is imaged in an imaging step, and a distance between a measurement point and an imaging position is measured in a distance measurement step. In the first corresponding point determining step, a first corresponding point corresponding to the measurement point in the first image is provided in the second corresponding point determining step.
A second corresponding point corresponding to the measurement point in the second image is
Required respectively. In the three-dimensional data creation step, the distance between the measurement point and the imaging position and the first
Then, three-dimensional data is created from the second corresponding point.

According to a fifth aspect of the present invention, as set forth in claim 5, an imaging step, a representative point designating step, a distance measuring step, a first corresponding point determining step, This is a three-dimensional measurement method including a second corresponding point determination step, a relative position designation step, and a three-dimensional data creation step. In the imaging step, an object is imaged to obtain a plurality of images. In the representative point designation step, the first image captured in the imaging step
In the ranging step, the distance between the point on the object corresponding to the representative point of the first image and the imaging position is measured. In the first corresponding point determining step, a first corresponding point corresponding to the plurality of representative points of the first image is obtained in the second image, and in the second corresponding point determining step, the first corresponding point is determined. In the image of 2,
A second corresponding point other than the plurality of representative points of the first image is obtained. In the relative position designation step, a relative position at which the first image and the second image are captured is designated, and in the three-dimensional data creation step, based on the data of the first and second corresponding points and the relative position. Thus, three-dimensional data is created.

According to a sixth aspect of the present invention, as set forth in claim 6, an image capturing step, a representative point specifying step, a distance measuring step, a range determining step, and a first corresponding step. A three-dimensional measurement method including a point determination step, a second corresponding point determination step, a relative position designation step, and a three-dimensional data creation step. Is obtained, and in the representative point specifying step, a plurality of representative points of the first image picked up in the image pickup step are specified. In the distance measuring step, a distance between a point on the object corresponding to the representative point of the first image and the imaging position is measured, and in the range determining step, a point corresponding to the representative point in the second image is measured. Is determined. In the first corresponding point determining step, a first corresponding point corresponding to the plurality of representative points of the first image is obtained in the second image, and in the second corresponding point determining step, the first corresponding point is determined. In the second image, a second corresponding point other than the plurality of representative points of the first image is obtained. In the relative position designation step, a relative position at which the first image and the second image are captured is designated, and in the three-dimensional data creation step, based on the data of the first and second corresponding points and the relative position. Thus, three-dimensional data is created.

[0029]

FIG. 1 is an overall view showing an outline of a three-dimensional measuring apparatus according to the present invention.

The three-dimensional measuring device comprises a photographing / ranging device 1 and an arithmetic device 2. The photographing / ranging device 1
Further, it is composed of a photographing unit 3 and a distance measuring unit 4.

The photographing section 3 comprises a so-called stereo photographing device, and the images photographed through the two photographing windows 5 and 6 are digital images. A monitor display 9 and an operation unit 10 are provided on the back surface of the imaging unit 3.

The distance measuring unit 4 comprises a point distance measuring device.
In order to measure the distance to a point on the object to be measured by the time-of-flight method, a light projection window 7 and a light receiving window 8 are provided.

An image photographed by the photographing unit 3 and a distance measuring unit 4
In addition to the measurement data measured in step (1), data such as photographing conditions and measurement conditions are sent to the arithmetic unit 2 via the recording medium 11. Instead of mediating the recording medium 11, these data can be sent to the arithmetic unit 2 via a communication line.

The arithmetic unit 2 includes a monitor display 1
2, an operation unit 13 and an operation unit 14.
A personal computer can be used for the operation unit 13, and a keyboard, a mouse, and the like can be used for the operation unit 14.

FIG. 2 is a perspective view showing the usage of the photographing / ranging apparatus 1 of the present invention.

The photographing / ranging device 1 is placed on a road leading to the intersection 20, and photographs and measures the intersection 20. In FIG. 2, a dotted line 22 indicates the angle of view of the image shot through the shooting window 6, and a dotted line 23 indicates the angle of view of the image shot through the shooting window 5. The photographing / ranging device 1 is supported by a support device 21.

The distance (arrow 24) from the photographing / ranging device 1 to the point P is measured by the ranging unit 4.

FIG. 3 is an explanatory diagram simply showing a state in which photographing and ranging are performed by the photographing / ranging device 1 when viewed from directly above.

A photographing lens 32 for photographing the front of the photographing window 6, a CCD (Charge Coupled Device) 30 for reading an image formed by the photographing lens 32, and a photographing / ranging device 1. A photographing lens 33 for photographing the front of the window 5 and a CCD 31 for reading an image formed by the photographing lens 33 are provided.

In FIG. 3, L is the CCD 30 and CC
D31, the distance between the photographing optical axes, and K, the distance between the optical axis of the distance measuring unit 4 and the photographing optical axis of the photographing lens 32, are known values.

The angles α and β are the distance between the point P to be measured and the center of each photographing lens and each photographing lens 3.
The angle between the optical axes 2 and 33.

In the stereo method, from L, α and β in FIG.
The distance QP or RP to the point P to be measured is obtained by the so-called triangulation principle. Α and β can be obtained from the positions of the images Q and R of the distance-measuring point P on the CCDs 30 and 31 according to the following equations α = arctan (b / u) β = arctan (b / v). it can. Here, b is the distance between the imaging lenses 32 and 33 and the CCDs 30 and 31,
This is obtained from the focal lengths of the photographing lenses 32 and 33 and the lens extension amounts. Actually, the position Q at which the distance-measuring point P is shown in the image taken by the CCD 30 is designated, and C
A position R corresponding to Q is obtained from an image captured by the CD 31.

Usually, a method of automatically finding the corresponding points by a correlation operation method is adopted.

However, according to this method, since the range of the correlation operation is over the entire screen, an extremely long operation time is required. Further, since a similar point in the image is easily mistaken for a corresponding point, it is more accurate. However, there is a problem that a longer time is required to make a distinction.

In order to solve this problem, a distance measuring unit 4 is provided in the present invention.

First, the distance SP from the distance measuring unit 4 to the point P is measured by the distance measuring unit 4. As a result of this measurement, the distance SP and the angle γ (the angle between the direction of the optical axis of the distance measuring unit 4 and the direction of the point P) are obtained.

In the ΔPSA of FIG. 3, since the value of the distance K is known and the distance SP and the angle γ (= ΔPSA) have been determined, α is determined by the equation α = 180 ° −ΔPSA.

When the angle α is obtained, the distance u between the point Q on the CCD 30 and its optical axis is obtained from the distance b and the angle α. Since the distance L is also known, if the same calculation is performed for the △ PSC, the distance v between the optical axis and the image R can be obtained.

In this way, the point R corresponding to the point Q is obtained.

In reality, the distance measurement error, the distance measurement unit 4, the CCD
An error is also superimposed on the correspondence between the point Q and the point R due to an error in the relative positional relationship between each of the points 30 and 31. In the case of the above method, since the corresponding point R of the point Q may be determined accurately even if the point Q is not determined accurately, first, the points Q and R are determined by the above method, and then the vicinity of the point R, For example, an accurate position of the point R is determined by a correlation operation in a circular area having a radius of about 20 pixels around the point R.

As described above, according to the method of the present invention, the range in which the correlation calculation is performed can be limited, so that the calculation can be performed at high speed, and there is no other image similarity in this range (or (Even if there is very little), it is possible to reduce the possibility that an image similarity is mistaken for a corresponding point. In addition, in order to limit the area where the correlation calculation should be actually performed or to avoid erroneous recognition of the corresponding point as much as possible
Since the above-mentioned area is defined, the shape of this area does not necessarily have to be circular, but may be rectangular or any other shape that is easy to calculate.

In actual distance measurement, a plurality of points to be measured by the above method (hereinafter, representative corresponding points) are designated on the screen. Ideally, they should be placed evenly.

However, in the above method, the distance measuring unit 4 and the CC
Due to parallax between the imaging system of D30 and the point P, the point P is determined at the time of distance measurement, and then the points Q and R are determined.
It is not always easy to grasp the arrangement status of the representative corresponding points.

On the other hand, if the procedure is such that the point Q is first determined by looking at the image obtained by the CCD 30, then the distance to the point P is measured by the distance measuring unit 4, and the corresponding point R of the point Q is determined. , The representative corresponding point can be determined, so that it is easy to grasp the arrangement state of the representative corresponding point. Or, it is also suitable when the arrangement of the representative corresponding points is determined in advance.

FIG. 10 is an explanatory diagram simply showing a state in which photographing and ranging are performed by the photographing / ranging device 1 in such a case as viewed from directly above. 3 in that the movable mirror 34 is provided. By moving the position of the movable mirror 34, the optical path can be switched between the distance measuring unit 4 and the CCD 30, so that no parallax occurs between the distance measuring unit 4 and the CCD 30.

In this configuration, first, a point Q corresponding to the point P is specified in the image of the CCD 30, and then the distance measuring unit 4 measures the SP distance. Then, the PA distance can be obtained based on the distance SP from the geometric arrangement of the distance measuring unit 4 and the CCD 30.

In PAC, PA, AC (= L),
Further, since the angle α (= ∠PAC) is obtained, the angle β is known, and the point R is determined.

FIG. 4 is a view for explaining the actual distance measurement, in which an image of the intersection shown in FIG. 2 is displayed on the monitor display 9 (or 12). In the image displayed here, grid-like dotted lines are displayed as shown in the figure, and 交 is superimposed on the intersection thereof.

In the present invention, the positions of circles in FIG. 4 are set as representative corresponding points, and these points are associated with each other using the distance measuring unit 4 as described above. Then, the remaining corresponding points are obtained only by the correlation operation method. Here, the description will be made assuming that the photographing / ranging device 1 has a configuration as shown in FIG.

FIG. 6 is an explanatory diagram showing an outline of a procedure of association.

In step 1, the representative corresponding point (Q) of the first photographed image (the image obtained by the CCD 30 through the photographing lens 32) is designated, and the distance (SP) is measured. In this figure, only one representative corresponding point is designated, but it is desirable to designate a plurality of points as shown in FIG.
The accuracy can be improved by specifying a plurality of points. On the other hand, if too many points are specified, it takes time to measure the distance, so it is necessary to specify an appropriate number of representative corresponding points.

Next, in step 2, the correspondence range of the representative corresponding point (R) in the second photographed image (the image obtained by the CCD 31 through the photographing lens 33) is determined. At this point, the representative corresponding point (R) has not been specified yet. Here, the calculation range for associating is determined. As described above, the calculation range may be a representative corresponding point (R) in the second captured image, and may be a neighborhood thereof, for example, a circular area having a radius of about 20 pixels. Then, only the calculation range is calculated, and the representative corresponding point (R) is specified.

Then, the correspondence range of the remaining corresponding points on the second photographed image is determined (step 3). The correlation calculation range in this case is limited to the vicinity of the representative corresponding point near the corresponding point of interest (step 4). This is based on the same concept as the conventional correlation calculation method, and it is rare that the distance of the subject is rapidly changed between adjacent representative corresponding points.
Standing on the premise. In this method, if the representative corresponding points are incorrectly associated, the remaining corresponding points will also be incorrectly associated. However, in the present invention, since the representative corresponding points can be accurately associated, such a problem occurs. Does not occur. When a plurality of representative corresponding points (P) are designated, the area up to the representative corresponding point is correlated (step 5), and three-dimensional data is calculated (step 6).

In the method of designating the representative corresponding point, if the representative point as shown in FIG. 4 is determined in advance, the representative point can be measured without using other peripheral devices.

Alternatively, as shown in FIG. 7, an image may be displayed on the monitor display 9 and the user may designate the image using the operation unit 10 while viewing the image. By doing so, you will not have to measure unnecessary corresponding points,
Time can be reduced.

In FIG. 7, a representative point candidate ９２ 92 is displayed on the monitor display 9. When the pointer 101 of the operation unit 10 is operated and the cursor is moved to the representative point candidate ９２ 92 as the representative point, the representative point candidate ９２ 92 is designated by pressing the button 102 of the operation unit 10 ● 91. Becomes A representative point can be determined by setting an arbitrary representative point candidate # 92 to a designated representative point ● 91.

Another representative point determining method different from this method can be adopted. FIG. 8 is an explanatory diagram for explaining an automatic representative point determination method based on edge detection, which is one of the methods.

The image is scanned in the direction of the arrow shown from the right to the left in FIG. 8 to detect an edge portion on the image. For the detection of the edge portion, a well-known method of detecting the edge portion by searching for a portion in the image area where the brightness changes rapidly can be used, and this edge portion is determined as a representative point.

In this method, if the scan interval is narrowed, the number of edges to be detected increases, and too many representative points are registered. As a result, the entire calculation time becomes long. M is important.

FIG. 9 is an explanatory diagram for explaining still another representative point determining method.

In this representative point determination method, a plurality of patterns in which representative points are distributed, for example, as shown in FIG.
Are prepared in advance. The user selects a pattern considered to be most suitable for the on-site situation from among these.

When a subject is located at the center, a pattern having five representative points at the center as shown by A is suitable. On the other hand, a characteristic image such as when the center is the center of an intersection is suitable. When buildings are not arranged in the center but are lined up in the background, it is desirable to select a pattern indicated by B. Further, when the background is empty, the pattern of C is selected.

In any case, it is desirable to select a pattern in which many representative points are arranged in the characteristic portion. The number of representative corresponding points is not limited to the illustrated example.

FIG. 5 shows a flow of creating a sketch with the device of the present invention.

First, photographing is performed by the CCDs 30 and 31 (# 1), and a representative corresponding point in the first image (the photographed image of the CCD 30) is designated (# 2). Next, each representative corresponding point is measured by the distance measuring unit 4 (# 3).

Then, the two photographed images and the respective distance measurement data are sent to the arithmetic unit 2 via the recording medium 11. In the arithmetic unit 2, the distance measurement data and the distance measurement unit 4, the CCD 30,
From the relative positional relationship among the respective images 31, the range of the corresponding calculation of the representative corresponding point in the second image (the image captured by the CCD 31) is obtained (# 4), and the corresponding calculation is performed (#).
5).

From the result of the operation of associating the representative corresponding points, the range of the operation of associating the remaining corresponding points is obtained (#
6), and perform an association calculation (# 7).

When all the corresponding points have been associated, three-dimensional data can be calculated (# 8). A sketch (for example, a bird's eye view) is obtained from the three-dimensional data (#
9).

In the above embodiment, the photographing / ranging device 1 is
Although a configuration having two photographing means such as a CD is adopted, a photographing and photographing apparatus having only one photographing means (CCD) is provided.
The distance measuring device 1 can also be used, and in this case, a method of changing the position and performing shooting twice is adopted.

[0080]

According to the present invention, characteristic points must be detected for all two screens as in the prior art by using the point ranging method such as the time-of-flight method in combination with the stereo method. The stereo method, such as finding out how to superimpose the distribution pattern of the feature approximately. If there are multiple superposition methods, it is necessary to determine which one is the most reasonable. The problem of dimension measurement is reduced, which eliminates the need for enormous calculation processing, and has the effect of eliminating long calculation time.

[Brief description of the drawings]

FIG. 1 is an overall view showing an outline of a three-dimensional measuring apparatus of the present invention.

FIG. 2 is a perspective view showing a usage state of the photographing / ranging apparatus 1 of the present invention.

FIG. 3 is an explanatory diagram simply showing a state in which photographing and ranging are performed by the photographing / ranging device 1 when viewed from directly above.

FIG. 4 is a diagram for explaining actual distance measurement, in which an image of the intersection shown in FIG. 2 is displayed on a monitor display 9 (or 12).

FIG. 5 is a diagram for explaining a flow of creating a sketch with the device of the present invention.

FIG. 6 is an explanatory diagram showing an outline of a procedure of association.

FIG. 7 is a diagram of the monitor display 9 in which a representative point candidate ○ 92 and a designated representative point ● 91 are displayed in order to determine a representative point.

FIG. 8 is an explanatory diagram for explaining an automatic representative point determination method based on edge detection.

FIG. 9 is an explanatory diagram for explaining another representative point determination method.

FIG. 10 is an explanatory diagram different from FIG. 3, which simply shows a state in which photographing and ranging are performed by the photographing / ranging device 1 when viewed from directly above.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 photographing / ranging device 2 arithmetic unit 3 photographing unit 4 distance measuring unit 5, 6 photographing window 7 ray projection window 8 light receiving window 9, 12 monitor display 10, 14 operation unit 20 intersection 21 support device 30, 31 CCD 32, 33 Shooting lens 34 Movable mirror

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G01S 17/08 G01S 17/46 5L096 17/46 G08G 1/00 J G06T 7/00 G01B 11/24 K 7 / 60 G06F 15/62 415 G08G 1/00 15/70 350J (72) Inventor Takuto Ueko 2-13-13 Azuchicho, Chuo-ku, Osaka-shi, Osaka Osaka International Building Minolta Co., Ltd. (72) Inventor Taguchi Yuji 2-3-1, Azuchicho, Chuo-ku, Osaka-shi, Osaka F-term (reference) 2F065 AA04 AA06 AA53 BB05 CC11 CC14 CC40 DD06 FF04 FF05 FF11 JJ03 JJ05 JJ26 QQ28 QQ38 QQ41 SS02 SS13 2F112 AD01 BA05 CA08 CA12 DA00 DA01 FA03 FA38 FA41 5B057 AA16 CA08 CA13 CB08 CB13 DA07 DB03 DB09 DC02 5H180 AA01 CC04 EE15 5J084 AA05 AB01 AD01 BB02 EA04 5L0 96 AA09 BA08 CA05 DA02 EA45 FA66

Claims (6)

[Claims] 1. An imaging means for imaging an object, a distance measuring means for measuring a representative point (P) of the object, and a point (P) corresponding to the representative point (P) on the imaged first image. First corresponding point determining means for obtaining Q), second corresponding point determining means for obtaining a point (R) corresponding to the representative point (P) on the captured second image, and the distance measuring means A three-dimensional data creating means for creating three-dimensional data based on data obtained from the first and second corresponding point determining means. 2. A representative point designating means for designating a representative point (Q) on a first image photographed by an imaging means, and a distance measurement for a plurality of representative points (P) designated by said representative point designating means. Distance means; first corresponding point determining means for obtaining a point (R) corresponding to the representative point (Q) on the second image photographed by the imaging means; R) second corresponding point determining means for obtaining a corresponding point other than R); relative position specifying means for specifying a relative position at which the first image and the second image are captured; and the first and second correspondences A three-dimensional measuring apparatus comprising: a point determining means; and three-dimensional data creating means for creating three-dimensional data based on data obtained from the relative position designating means. 3. A representative point designating means for designating a representative point on a first image photographed by an image taking means; a distance measuring means for measuring a distance of a plurality of representative points designated by said representative point designating means; Range determining means for determining a range for obtaining a point corresponding to the representative point in the second image captured in step 2, and corresponding to the representative point on the second image according to the range determined by the range determining means First to find points
Corresponding point determining means, second corresponding point determining means for obtaining a corresponding point other than the representative point on the second image, and specifying a relative position where the first image and the second image are captured Relative position designating means, the first and second corresponding point determining means, and three-dimensional data creating means for creating three-dimensional data based on data obtained from the relative position designating means. Characteristic three-dimensional measuring device. 4. An imaging step of imaging a measurement object, a distance measurement step of measuring a distance between a measurement point and an imaging position, and a first corresponding point corresponding to the measurement point in the first image. A first corresponding point determining step; a second corresponding point determining step of obtaining a second corresponding point corresponding to the measurement point in the second image; a distance between the measurement point and the imaging position; A three-dimensional data creation step of creating three-dimensional data from the first and the second corresponding points. 5. An image capturing step of capturing an image of a measurement object to obtain a plurality of images; a representative point specifying step of specifying a plurality of representative points of a first image captured by the image capturing step; A distance measuring step of measuring a distance from a point on a measurement object corresponding to the representative point to an imaging position; and a first correspondence corresponding to the plurality of representative points of the first image in the second image. A first corresponding point determining step of obtaining a point; a second corresponding point determining step of obtaining a second corresponding point other than the plurality of representative points of the first image in the second image; A relative position designating step of designating a relative position where the first image and the second image are captured; and three-dimensional data for creating three-dimensional data based on the data of the first and second corresponding points and the relative position. And a creating step. 3D measurement method. 6. An image capturing step of capturing an image of a measurement object to obtain a plurality of images; a representative point specifying step of specifying a plurality of representative points of a first image captured by the image capturing step; A distance measuring step of measuring a distance between a point on a measurement object corresponding to the representative point and an imaging position; a range determining step of determining a range to obtain a point corresponding to the representative point in the second image; A first corresponding point determining step of obtaining a first corresponding point corresponding to the plurality of representative points of the first image in the second image; and the plurality of the first image in the second image. A second corresponding point determining step of obtaining a second corresponding point other than the representative point of the above; a relative position specifying step of specifying a relative position where the first image and the second image are captured; Between the second corresponding point and the relative position Three-dimensional measurement method, wherein the three-dimensional data creation step of creating a three-dimensional data based on the over data, in that it consists of.