JP2001319225A - Three-dimensional input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the operability by making the position relation between an input point and a target object easily graspable when confirming the inputted result. SOLUTION: This three-dimensional input device provided with an image pickup means 14 for inputting the two-dimensional image of the target object and an image display means 17 is provided with a means 21 for extracting the input point on the target object having a data value within a set range on the basis of data provided by the three-dimensional input operation of the target object and means 16 for generating a monitor image applied with image processing for emphasizing a pixel corresponding to the extracted input point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a three-dimensional input device for outputting data indicating position information of an object.

[0002]

2. Description of the Related Art A non-contact type three-dimensional input device for performing distance measurement in many directions is used for data input to a CG system or a CAD system, body measurement, visual recognition of a robot, and the like. The distance measurement method uses the principle of triangulation and the time from transmission to reception of the pulse (TOF: Time
Of Flight).

A slit light projection type three-dimensional input device that optically scans an object is provided with a monitor display function for a user to confirm a setting state of a scanning range and an input result. Before starting the three-dimensional input, a captured image of the target object is displayed. The field of view for imaging corresponds to the scanning range. The user adjusts the scanning range by moving the apparatus closer to or away from the object as needed, or performing a zooming operation. When the scanning is completed, a distance image is displayed in which data values of a plurality of input points (distance measurement target positions) on the object are represented by shading. The user looks at the distance image and determines whether or not input must be performed again. With three-dimensional input, occlusion may occur that the user does not expect. Further, in the optical system, when the reflectance of an object is not uniform, partial data lack is likely to occur.

Japanese Unexamined Patent Publication No. Hei 7-229725 discloses that in a three-dimensional input by the TOF method, a chirped light pulse whose color regularly changes over time is used to convert three-dimensional information into two.
It describes that a contour map is converted into a colored contour map, which is a two-dimensional image, and is detected.

[0005]

Conventionally, since the monitor display of the input result is an image display representing only three-dimensional information, it is necessary to determine whether or not the entire target object or the part of interest has been correctly input. There has been a problem that users cannot do so intuitively.

SUMMARY OF THE INVENTION It is an object of the present invention to facilitate understanding of a positional relationship between an input point and a target object when confirming an input result, and to improve operability.

[0007]

According to the present invention, a two-dimensional image obtained by imaging a target object is used for displaying a three-dimensional input result on a monitor. From among a plurality of input points on the target object from which the three-dimensional input data representing the distance from the reference point or the reference plane has been obtained, those having a predetermined data value are extracted. Then, a pixel corresponding to the extracted input point in the two-dimensional image is emphasized. That is, the three-dimensional input information is superimposed on the two-dimensional image. The emphasis may be such that the pixel can be distinguished from surrounding pixels by the naked eye, and specific processing includes color adjustment for changing at least one of hue, lightness, and saturation, and color conversion for replacement with a set color. The luminance may be changed periodically.

[0008] Unless the undulation of the object surface is extremely steep,
Pixels emphasized in the two-dimensional image draw contour lines. That is, a contour line (a set of input points) is displayed over the captured image of the target object. Accordingly, the user can intuitively associate the object image visible with the naked eye with the input point and determine the input result.

By setting a plurality of input point extraction conditions, that is, a plurality of set distances (actually, a distance range including an allowable error is desirable), it is possible to grasp the undulation. If the extraction conditions are set finely, the undulation is displayed more precisely. A plurality of contour lines having different extraction conditions may be displayed at the same time, or each contour line may be switched manually or automatically and displayed in order. If the user can arbitrarily specify the extraction conditions, the versatility is enhanced. However, when the use is limited, the extraction condition may be fixed.

[0010]

FIG. 1 is a conceptual diagram of a three-dimensional input environment according to the present invention. The three-dimensional input device 1 is arranged at an appropriate distance with its front surface facing the target object Q. For example, an appropriate distance in the case of a slit light projection method using a semiconductor laser as a light source is about 1 to 10 m. Example target object Q
Is a cone. A part of the surface is colored gray, and the other part is white. On the back of the three-dimensional input device 1, a display unit 17 for displaying various information including a monitor image and operation guidance is provided. A preferred example of the device constituting the display unit 17 is a liquid crystal panel.

FIG. 2 is a block diagram of the three-dimensional input device. Three
The dimension input device 1 includes an imaging unit 14 that is a two-dimensional image input unit for an input target area. The image input may be monochrome, but here a color image is taken. The color image is sent to the display processing unit 16 via the image data memory 15 and displayed on the screen by the display unit 17. Imaging unit 1
Using a video camera or electronic still camera as 4,
It is also possible to arrange it separately from the three-dimensional measuring unit 11.

The three-dimensional measuring unit 11 measures the distribution of distances from the reference position to a plurality of input points in the target area. The measurement method is not limited, and may be a method based on triangulation such as a light projection method or a stereoscopic method, or a TOF method for measuring the round-trip propagation time of a signal wave. Further, the reference position may be a reference point or a reference plane. The distribution of the distance from the reference point is represented by a set of pairs of the distance to each input point and its directional angle. Typical reference points include the principal point of the optical lens system and the center of rotation of the scanning mechanism that deflects the optical path.
On the other hand, the distribution of the distance from the reference plane is the xyz specific to the device.
It is essentially synonymous with a set of coordinate values of each input point in space. A typical reference plane is a plane that includes the principal point or scanning center of the optical lens system and is perpendicular to the central axis of the field of view of the device. The distribution of the distance from the reference point and the distribution of the distance from the reference plane can be mutually converted using a trigonometric function. In the following description, a case based on the reference plane will be described as an example. A direction connecting the three-dimensional input device 1 and the target object Q is defined as a z-axis, and a plane perpendicular to the z-axis is defined as an xy plane.

The data obtained by the three-dimensional measuring unit 11 is temporarily stored in the measurement data memory 12. Thereafter, when there is an output instruction, the data stored in the measurement data memory 12 and the color image stored in the image data memory 15 are converted by the data output unit 13 into an external device (for example, a computer) or a recording medium (for example, a memory card). ). The color image is used as reference information for correction and thinning of three-dimensional data, texture, and the like. The operation of the three-dimensional input device 1 is controlled by a controller (not shown). A dedicated device may be incorporated in the three-dimensional input device 1 as a controller, or a computer may be connected to the three-dimensional input device 1 to play the role.

In addition to the basic components described above, the three-dimensional input device 1 is provided with equidistant point extraction units 21, extraction condition setting units 22, and equidistant point memories 23 as components unique to the present invention. Have been. The equidistant point extraction unit 21 is configured to calculate the distance based on the data stored in the measurement data memory 12.
The input points whose data values are within the set range are extracted.
The extraction result is written in the equidistant point memory 23. The extraction condition setting unit 22 sets extraction conditions for the equidistant point extraction unit 21 according to the distance range specified by the user. Based on the contents stored in the equidistant point memory 23, image processing for enhancing pixels corresponding to the extracted input points is performed by the display processing unit 16, and the processed color image is displayed as a monitor image. Hereinafter, the monitor display will be described in detail.

FIG. 3 is a diagram conceptually showing the storage structure of the measurement data memory. The address space of the measurement data memory 12 is partitioned in a grid in the x direction and the y direction.
The number of cells corresponds to the resolution of the distribution of the input points. Each cell can store multivalued data and stores a measured value (z value) of a corresponding input point. In the figure, the z value is illustrated in decimal notation for convenience. The dark cell in the figure is the object Q
And stores an effective z value. Light color (white outline)
Cells correspond to the background part. Numerical value "9.99" in the figure
Indicates that the measurement distance limit has been exceeded.

FIG. 4 is a diagram conceptually showing the storage structure of the equidistant point memory. The equidistant point memory 23 has a plurality of blocks 231. Each block 231 is a set of cells corresponding to each cell of the measurement data memory 12 on a one-to-one basis, and corresponds to one condition of extraction by the equidistant point extraction unit 21.
The number of blocks defines the maximum set number N of extraction conditions of input points. FIG. 4 illustrates four of the N blocks 231. Data indicating that the input point satisfies the extraction condition is written in the dark cells in the figure.
The storage capacity of the cell of each block 231 may be 1 bit.

The input point extraction condition is composed of a distance value and an allowable error. In setting a plurality of extraction conditions, typically equally spaced distance values such as 1 m, 2 m, 3 m,... Nm are selected. The tolerance is a condition that gives a distance range such as ± 0.1 m or ± 0.05 m, with the distance value as the median value. Such an extraction condition may be fixed as a unique value of the apparatus, or a user may be able to arbitrarily set an interval between distance values and a width of an allowable error according to a situation under certain restrictions. .

Here, when the distance value is {1 m, 2 m, 3 m},
Assume that the tolerance is {± 0.1 m}. When the three-dimensional input operation and the imaging operation with respect to the target object Q are performed, the equidistant point extraction unit 21 compares the previously set first distance value “1 m” and the allowable error “± 0.1 m”. combination, based on the condition that "0.9m~1.1m" searches the measurement data memory 12 extracts the corresponding cell, the first block 231 ₁ of the corresponding cell of equidistant points memory 23 Make a bit. Subsequently, the equidistant point extraction unit 21
By combining the second distance value “2 m” and the allowable error “± 0.1 m”, the measurement data memory 12 is searched under the condition “1.9 m to 2.1 m” to extract a corresponding cell. and sets a bit in the second block 231 ₂ of the corresponding cell of equidistant points memory 23. Furthermore, was extracted Similarly, the third distance value, sets a bit in the third block 231 _3. By a series of these processes, the storage state shown in FIG. 4 is formed. In this example, since there are three extraction conditions, no bits are set in the _fourth block 2314 and the blocks subsequent thereto.

When the extraction process is completed, the display processing unit 16 combines the content of the equidistant point memory 23 with the color image.
The specific method of the synthesis is as follows. The first block 231 ₁ is searched, and only the cell in which a bit is set changes the color information of the pixel on the color image corresponding to the cell in which the bit is set. The same processing is performed in the second block 231 ₂
Performed also and the third block 231 _3.

Here, the pixel corresponding to the coordinates is the first pixel.
When the number of vertical and horizontal cells in the grid structure of the block 231 ₁ is equal to the number of vertical and horizontal pixels of the color image, it means that the pixel has the same coordinates as the cell. When the number of cell divisions and the number of pixels are different, it means the pixel closest to the cell.

One of the processes for changing the color information of a pixel is hue conversion. A typical example is a process of converting red into a complementary color such as green. A typical example of the process of changing the brightness is black-and-white inversion. The saturation may be changed.

FIG. 5 is a diagram showing a first example of a monitor image. In the monitor image MG1, the pixels corresponding to the input points corresponding to each of the three extraction conditions are referred to as dark if the original color is bright, and light if the original color is dark without distinguishing the extraction conditions. The brightness has been changed as described above, thereby incorporating the three-dimensional information. According to this example,
Detailed information such as whether the target object surface is convex or concave and which distance value the input point corresponds to cannot be expressed. However, the user can intuitively grasp at a glance the matching between the input approximate three-dimensional shape information of the target object Q and the two-dimensional image equivalent to the naked eye, and instantly determine the success or failure of the input work. You can easily check.

FIG. 6 is a diagram showing a second example of the monitor image. In the monitor image MG2, when incorporating the three-dimensional information into the two-dimensional image, the brightness of the pixel corresponding to the input point corresponding to each of the three extraction conditions is changed to a different degree for each extraction condition. Pixels with a smaller distance value of the corresponding input point are brighter, and pixels with a larger distance value are darker. According to this example, although the color of the pixel to be emphasized may accidentally resemble the surrounding pixels and be difficult to determine,
Information such as whether the target object surface is convex or concave and which distance value the input point corresponds to can be expressed.

The color of the input point is determined by the hue,
The color may be arbitrarily selected for each distance value, without being limited to the gradation in which the brightness / saturation is increased or decreased according to the magnitude of the distance value.
It is also possible to allow the user to select the form of color coding. When only the display form of FIG. 5 is adopted,
It is not necessary for the equidistant point memory 23 to have a plurality of blocks. There is also an application example in which the storage capacity of the cell of the equidistant point memory 23 is set to a plurality of bits, a different numerical value is written for each distance value instead of setting a bit, and the display processing unit 16 adds a process of determining the numerical value. There is no limitation on the memory configuration in applying the present invention.

According to the above-described embodiment, a monitor image capable of intuitively and quickly confirming the success or failure of three-dimensional input can be instantaneously output by image processing based on a simple algorithm. Can be realized.
Since the burden on both hardware and software is small, it is possible to provide a small and low-cost three-dimensional input device.

[0026]

According to the first to fifth aspects of the present invention,
When confirming the input result, it is possible to easily grasp the positional relationship between the input point and the target object, and to improve the operability.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram of a three-dimensional input environment according to the present invention.

FIG. 2 is a configuration diagram of a three-dimensional input device.

FIG. 3 is a diagram conceptually showing a storage structure of a measurement data memory.

FIG. 4 is a diagram conceptually showing a storage structure of an equidistant point memory.

FIG. 5 is a diagram showing a first example of a monitor image.

FIG. 6 is a diagram illustrating a second example of a monitor image.

[Explanation of symbols]

 Reference Signs List 1 3D input device Q Target object 14 Image pickup unit (image pickup unit) 17 Display unit (image display unit) MG12, MG2 monitor image 22 Extraction condition setting unit (operation input unit)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Eiichi Ide 2-3-113 Azuchicho, Chuo-ku, Osaka-shi, Osaka Inside Osaka International Building Minolta Co., Ltd. (72) Inventor Takashi Kondo Azuchi, Chuo-ku, Osaka-shi, Osaka 2-3-1, Machi-cho, Osaka International Building Minolta Co., Ltd. F-term (reference) 2F065 AA04 AA06 AA53 BB05 DD00 DD02 FF01 FF02 FF05 FF09 GG06 HH05 JJ03 JJ19 JJ26 QQ00 QQ23 QQ24 QQ25 QQ28 SS02 SS13 5B007 CB01 CB08 CB12 CB16 CD14 CE14 DA04 DA16 DB02 DB05 DB06 DB09

Claims (5)

[Claims] 1. A three-dimensional input device comprising an image pickup means for inputting a two-dimensional image of a target object and an image display means, wherein a data value is obtained based on data obtained by a three-dimensional input operation of the target object. Extracting an input point on the target object having a value within the set range, and displaying a two-dimensional image of the target object, which has been subjected to image processing for enhancing pixels corresponding to the extracted input point, as a monitor image. Characteristic three-dimensional input device. 2. A monitor image in which input points corresponding to each of a plurality of set ranges are extracted and pixels corresponding to each of the extracted input points are emphasized.
3. The three-dimensional input device according to claim 1. 3. The three-dimensional input device according to claim 1, wherein the image data processing is color tone change or color replacement. 4. The three-dimensional input device according to claim 1, further comprising operation input means for designating a setting range for extracting an input point. 5. The three-dimensional input device according to claim 4, wherein the items specified by said operation input means are a median of a setting range and an allowable error.