JP2003065737A - System and method for measuring surface shape and system for illustrating surface condition - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system for measuring surface shape capable of rapidly measuring the surface condition or texture of an object to be measured such as an article buried in remains, a human body or the like. SOLUTION: The system is provided with a stereo photographing section 3 having a plurality of stereo photographing units which photograph the object to be measured 1 in stereo, a means 5 that stores stereo photographing parameters in a plurality of directions in which the stereo photographing unit photographs the object to be measured 1 in stereo, a stereo image forming means 6 that forms a stereo image of the object to be measured 1 by photographing the object to be measured 1 using the stereo photographing section 3 in the plurality of directions in which the stereo photographing parameters are stored, and a surface shape processing means 7 that measures the surface shape of the object to be measured 1 from the stereo image of the object to be measured 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface shape measuring apparatus and a surface shape measuring method for non-contact three-dimensionally measuring the surface shape and pattern of archaeological objects, human bodies, vehicles, mechanical structures and the like. Furthermore, the present invention relates to a surface shape plotting apparatus for drawing the surface shape or pattern of a buried object or the like measured by a surface shape measuring apparatus.

[0002]

2. Description of the Related Art Conventionally, for example, when measuring the surface shape of earthenware, which is a typical example of archaeological objects, a person should sketch while measuring with a ruler, or trace the surface of the earthenware with a contact-type measuring instrument. I was measuring the shape. Further, a non-contact type surface profile measuring device which shoots with slit light and shoots with laser light is also used.

Also in the case of the human body, for example, in order to determine the size of clothes that matches the body type of the purchaser, a store clerk measures the body size of the purchaser with a tape measure at a clothing store. In the case of vehicles and machine structures, prototype inspection at the time of design, product inspection at the time of shipment, judgment of replacement time of replacement parts at regular inspection,
A surface profile measuring device is used.

[0004]

However, when the surface shape of the archaeological deposits is measured by the contact type or non-contact type surface shape measuring device, the conventional device has a problem that the equipment cost rises. In addition, for archaeological purposes, it is necessary to map the surface condition such as the pattern of archaeological reserves,
The conventional device has a problem that accurate plotting is difficult. Specifically, there are the following problems depending on the measurement mode of the archaeological reserves. When a person measures and sketches, it takes a lot of time and effort to draw a pattern and the like, but there is a problem that individual differences occur depending on the person who draws it, although skill is required. In addition, there is a problem that the dimensional accuracy is insufficient.

In the case of a contact-type measuring instrument, it takes time and effort to trace the surface of the archaeological deposit as an object in the measurement, and at the same time, after the measurement, the characteristics of the archaeological deposit surface are visualized and visualized. There is a need. With a non-contact type surface shape measuring device such as slit light or laser light, the surface of the archaeological site is measured in a non-contact manner. However, when plotting the surface shape and pattern of archaeological reserves,
There is a problem in that it is necessary to draw a diagram while comparing the actual surface shape and pattern with the measured data, and the accuracy of the positional relationship between the measured data and the surface shape or pattern is limited.

As common to the above items, since the results of drawing are grasped from an archeological point of view, there is a problem that the truth or falsehood cannot be known unless it is compared with a photograph of an actual object. It was In addition, archaeological surveys are carried out when buried cultural properties are discovered in public works and civil engineering construction work, but if the archeological survey period becomes long, the construction interruption period will be prolonged and the construction period of the civil engineering construction facility will be prolonged. Will be prolonged. In the case of a typical archaeological site, the number of excavated points in the archaeological site is about 5000,
The burden of plotting work is not small. Therefore, shortening the archeological survey period has become an urgent desire for contractors, and if the archaeological reserves can be mapped quickly, it will greatly contribute to the public interest.

Also, in the case of the human body, there are many buyers who do not feel that the shopper's body shape is measured by the clerk.
Therefore, it is conceivable to install a non-contact type human body surface profile measuring device in the retail store, but it is not popular because of the privacy issue of the purchaser and the amount of capital investment is high for the retail store. There are challenges.

Further, in the case of a vehicle or a mechanical structure, there is a problem that the surface profile measuring device becomes very large and the measurement also requires time. Especially in the product inspection at the time of shipment, the time required for the inspection affects the delivery time delivered to the customer, and in the case of the periodic inspection, it is important for the customer's equipment operation if the measurement is not performed quickly within the limited inspection period. There was a problem that it had a great influence.

A first object of the present invention is to solve the above-mentioned problems and to provide a surface shape measuring apparatus and a surface shape measuring method capable of quickly measuring the surface shape or pattern of a measurement target such as a buried object or a human body. Is to provide. A second object of the present invention is to provide a surface shape plotting device capable of accurately drawing surface shapes and patterns of archaeological objects etc. measured by a surface shape measuring device.

[0010]

The surface shape measuring apparatus of the first invention achieves the first object, and FIG. 1 and FIG.
As shown in FIG. 3, a stereo photographing unit 3 having a plurality of stereo photographing units for photographing the measurement object 1 in stereo, and means for storing stereo photographing parameters for each of a plurality of directions in which the stereo photographing unit stereo-photographs the measurement object 1. 5, stereo image generation means 6 for generating a stereo image of the measuring object 1 by photographing the measuring object 1 by the stereo photographing unit 3 from the plurality of directions in which the stereo photographing parameters are stored; The surface shape calculation processing means 7 for measuring the surface shape of the measurement object 1 from the stereo image of the object 1 is provided.

In the apparatus configured as described above, the measurement object 1 is placed at a place where the stereo image pickup section 3 takes an image, and the measurement object 1 is measured by two or more stereo image pickup units constituting the stereo image pickup section 3. Shoot in stereo from multiple directions. Here, each stereo imaging unit stereoscopically images the measuring object 1 by the right imaging device 3R and the left imaging device 3L. Since there are a plurality of stereo photographing directions, it is possible to measure the surface shape of a wide range of the measuring object 1 as compared with the case of one direction. Since stereo shooting parameters for a predetermined shooting direction are stored in advance, accurate surface shape measurement can be performed even if positioning of the measurement target 1 and the stereo shooting unit 3 is not strictly performed. Further, since the stereo photographing unit 3 is composed of two or more stereo photographing units, the measurement target 1
Even when the peripheral surface of the object is imaged over a wide area, it is not necessary to rotate the measurement object 1 or move the stereo imaging unit, and the imaging can be performed quickly.

Preferably, the stereoscopic photographing parameter storage means 5 has a calibration subject 1 in which reference points are three-dimensionally arranged.
1 is placed at the installation location of the object to be measured 1, and the stereo image pickup unit 3
The calibration subject 11 is photographed by the above, the stereo photographing parameter of the photographing direction of each stereo photographing unit is calculated from the captured stereo image of the calibration subject 11, and the calculated stereo photographing parameter is stored. good. Since the position of the reference point of the calibration subject 11 is accurately known, the stereo shooting parameters of each stereo shooting unit can be accurately calculated.

Preferably, the stereo photographing parameter storage means 5 stores the reference point position of the calibration subject 11 stored in advance and the calibration subject 1 photographed by the stereo photographing unit 3.
The stereo photographing parameter may be calculated by comparing the reference point position calculated from the stereo image of the first reference point. Here, the stereo shooting parameter may include at least one of a baseline length of each stereo shooting unit in the shooting direction, a shooting position of each stereo shooting unit, and a tilt of each stereo shooting unit. The stereo photographing parameter is a parameter for converting a pair of images photographed by each stereo photographing unit into a deviation corrected image. Since the stereo image converted into the deviation correction image is in a state where it can be viewed stereoscopically, the unevenness of the surface of the measuring object 1 can be accurately calculated from the parallax of the stereo image.

The surface shape measuring apparatus of the second invention achieves the first object, and as shown in FIGS. 15 and 16, three units for photographing the measuring object 1 from a predetermined photographing direction. Imaging device (10A, 10B, ..., 10H)
Of the image pickup device group 20 having the image pickup device group 20 and a stereo for extracting an overlapping image pickup region of the image of the measurement subject 1 taken by the two image pickup devices from the images of the measurement object 1 taken by the image pickup device of the image pickup device group 20. Stereo shooting parameters in the shooting directions of the shooting area extraction unit 21 and the two shooting apparatuses for which the overlapping shooting areas have been extracted by the stereo shooting area extraction unit 21 are set to two or more sets included in the imaging apparatus group 20. A stereoscopic image of the measuring object 1 is obtained by photographing the measuring object 1 by means of the imaging device from the means 5 for storing the device and the photographing directions of the two or more sets of the imaging devices for which the stereo photographing parameters are calculated. Stereo image generation means 6 for generating an image and surface shape calculation processing means 7 for measuring the surface shape of the measurement object 1 from the stereo image of the measurement object 1.
It has and.

The surface shape measuring apparatus of the third invention achieves the first object, and as shown in FIGS. 19 and 20, the measurement object 1 is measured by the right side image pickup device 9R and the left side image pickup device 9L. Stereo shooting unit 9 for stereo shooting
The stereo photographing unit 9 is provided with a plurality of units that are in charge of the first and second photographing directions, respectively. Further, the optical path changing means 22 for changing the optical path between the stereo photographing unit 9 and the measuring object 1 and the stereo photographing parameters in the first and second photographing directions for stereo photographing the measuring object 1 by the stereo photographing unit 9 are stored. From the measuring means 5 and the first and second photographing directions in which the stereo photographing parameters are stored, the measurement object 1 is stereo-photographed by the stereo photographing unit 9.
A stereo image generation means 6 for generating a stereo image of the measurement object 1 and a surface shape calculation processing means 7 for measuring the surface shape of the measurement object 1 from the stereo image of the measurement object 1 are provided.

Since the apparatus configured as described above has the optical path changing means 22 for changing the optical path between the stereo photographing unit 9 and the measuring object 1, the measuring object 1 is directly viewed from the stereo photographing unit 9. Even when it is not possible or when it is necessary to adopt a compact structure because of the installation location of the stereoscopic photographing unit 9, the optical path changing means 22 can change the optical path to perform stereoscopic photographing.

The surface shape measuring apparatus of the fourth invention achieves the first object, and as shown in FIGS. 24 and 25, an image pickup apparatus 10 for picking up an image of the measuring object 1, and an image pickup apparatus 10. Optical path changing means 2 for changing the optical path between the measuring objects 1.
2 and the direction in which the imaging device 10 photographs the measuring object 1 is controlled to a stereo photographing direction in which a pair of left photographing direction and right photographing direction is set, and at least the first photographing direction and the first photographing direction are set as the stereo photographing direction. A stereo image capturing control section 24 capable of selecting two image capturing directions; a unit 5 for storing stereo image capturing parameters in the stereo image capturing directions of the first and second image capturing directions at which the image capturing device 10 captures the measurement object 1; From the stereo image capturing directions regarding the first and second image capturing directions for which the stereo image capturing parameters are calculated,
Stereo image generating means 6 for photographing the measuring object 1 by the imaging device 10 and generating a stereo image of the measuring object 1.
And surface shape calculation processing means 7 for measuring the surface shape of the measurement object 1 from the stereo image of the measurement object 1.

Since the apparatus constructed as described above has the optical path changing means 22 for changing the optical path between the image pickup apparatus 10 and the measuring object 1, when the measuring object 1 cannot be directly viewed from the image pickup apparatus 10. Alternatively, even if it is necessary to adopt a compact structure due to the installation location of the imaging device 10, the optical path changing means 22 can change the optical path to perform stereoscopic photography. In addition, the stereoscopic photographing control unit 24 controls the direction in which the measuring object 1 is photographed by the image pickup device 10 to be a stereoscopic photographing direction in which a left photographing direction and a right photographing direction are combined, and at least the first stereoscopic photographing direction is set. Since the structure is such that the first shooting direction and the second shooting direction can be selected, stereo shooting can be performed from a plurality of stereo shooting directions even when the number of imaging devices 10 is one.

The surface profile measuring apparatus of the fifth invention achieves the first object. As shown in FIGS. 28 and 30, the first object of measurement 1 is measured by the right and left imaging devices. Stereo photographing unit 9 for performing stereo photographing from the photographing direction of, and stereo photographing unit 9 and measurement object 1
An optical path changing unit 22 for changing an optical path between the optical path changing unit 22 for stereo-photographing the measurement target 1 from the second photographing direction, and a first and a stereo photographing unit 9 for stereo-photographing the measurement target 1. The object 5 is imaged by the imaging device 10 from the means 5 for storing the stereoscopic imaging parameter in the second imaging direction and the stereoscopic imaging directions related to the first and second imaging directions in which the stereoscopic imaging parameter is calculated. Then, a stereo image generating means 6 for generating a stereo image of the measurement object 1 and a surface shape calculation processing means 7 for measuring the surface shape of the measurement object 1 from the stereo image of the measurement object 1 are provided.

The surface shape measuring apparatus of the sixth invention achieves the first object, and in the surface shape measuring apparatus according to any one of claims 1 to 7, the object to be measured 1 is further added. And a means for generating an orthographic projection image of the measurement object 1 from the stereo image. .

The first method of the present invention achieves the first object, and as shown in FIG. 1, the number of units suitable for two or more directions in which the object to be measured 1 is stereoscopically photographed. There is a stereo photography unit. next,
For example, as shown in FIG. 7, the calibration subject 11 having three-dimensionally arranged reference points is placed at the installation location of the measurement object 1 (S
10), the calibration subject 11 by the stereo photographing unit
Is stereo-photographed from two or more directions (S11), and the stereo-photographing parameters in the two or more photographing directions are calculated from the stereo image of the photographed calibration subject 11 (S15).

Next, as shown in FIG. 11, for example, from two or more shooting directions in which stereo shooting parameters are stored,
The measurement object 1 is stereo-photographed by the stereo photographing unit (S21), the stereo-photographed image is generated as a stereo image of the measurement object 1 using the stereo photographing parameter (S22), and the stereo image of the measurement object 1 is generated. To (S23) the step of measuring the surface shape of the measuring object 1.

The second method of the present invention achieves the first object. For example, as shown in FIG. 17, a calibration subject 11 having three-dimensionally arranged reference points is used as an object to be measured. (S30), the calibration subject 11 is photographed by three or more imaging devices that photograph from a predetermined photographing direction (S31), and the calibration subjects photographed by the three or more imaging devices are photographed. 2 out of 11 images
The overlapping photographing area of the images of the calibration subject 11 photographed by the single imaging device is extracted (S32, S33), and the stereo photographing parameter is calculated (S37).

Next, as shown in FIG. 18, for example, the measuring object 1 placed at the installation place is photographed by the three or more image pickup devices (S41), and is photographed by the three or more image pickup devices. Among the images of the measured object 1 that have been captured, the overlapping captured areas of the images of the measured object 1 captured by the two image capturing devices are extracted (S42, S43), and the extracted overlapping is extracted using the stereo capturing parameters. Object to be measured 1
Is generated as a stereo image of (S44), and the measurement target 1
(S45) of measuring the surface shape of the measuring object 1 from the stereo image.

The third method of the present invention achieves the first object, and, for example, as shown in FIG. 19, a unit suitable for two or more directions for stereoscopically photographing the measuring object 1. Number of stereo photography units 9 (9L,
9R, 9S, 9T, 9U, 9V), and a surface shape measuring method using a surface shape measuring device provided with an optical path changing means 22 for changing the optical path between each stereo photographing unit 9 and the measuring object 1. For example, as shown in FIG. 21, the calibration subject 11 having three-dimensionally arranged reference points is placed at the installation location of the measurement object (S50), and the calibration subject 11 is in the first photographing direction. The stereo photographing is performed by 9 (S51), the calibration subject 11 is stereo-photographed by the stereo photographing unit 9 in charge of the second photographing direction (S53), and the calibration subject 11 is stereo-photographed by the stereo photographing unit 9. Stereo shooting parameters in the first and second shooting directions are calculated (S5).
7).

Next, as shown in FIG. 22, the measuring object 1 placed at the installation location is stereo-photographed by the stereo photographing unit 9 in charge of the first photographing direction (S61), and the measuring object 1 is first photographed. Stereo shooting is performed by the stereo shooting unit 9 which is in charge of the shooting directions of 2 (S63), and the images shot from the first and second shooting directions are generated as stereo images of the measuring object 1 using the stereo shooting parameters. Then (S64), there is a step of measuring the surface shape of the measurement target 1 from the stereo image of the measurement target 1 (S65).

Fourth Method The surface shape measuring method of the present invention achieves the first object, for example, FIGS.
As shown in FIG. 3, a stereo image capturing control unit 24 that sequentially captures images of the measuring object 1 by the image capturing device 10 in a right image capturing direction and a left image capturing direction that configure one stereo image capturing direction, the image capturing device 10, and the object 1 to be measured. It is a surface shape measuring method using a surface shape measuring device provided with an optical path changing means 22 for changing the optical paths of and. For example, as shown in FIG. 26, the calibration subject 11 having three-dimensionally arranged reference points is placed at the installation location of the measurement object (S70), and the stereoscopic imaging control unit 24 sets the imaging device 10 to the calibration subject 11 first position. 1 in the image capturing direction, the image capturing device 10 is caused to capture a stereo image of the calibration subject 11 (S71, S72), and the stereo image capturing control unit 24 places the image capturing device 10 in the second image capturing direction of the calibration subject 11. The imaging device 10 is caused to take a stereo image of the calibration subject 11 (S73, S74), and the stereo imaging parameters in the first and second imaging directions in which the imaging device 10 takes the calibration subject 11 are calculated (S78).

Next, as shown in FIG. 27, the measuring object 1
Is placed in the installation place (S80), the imaging device 10 is placed in the first imaging direction of the measuring object 1 by the stereoscopic imaging control unit 24, and the imaging device 10 is caused to stereoscopically image the measuring object 1 (S81, S82). ), The imaging device 10 is placed in the second imaging direction of the measurement object 1 by the stereo imaging control unit 24, and the imaging device 10 is caused to take an image of the measurement object 1 in stereo (S83, S84), and stereo imaging parameters are used. , Images generated from the first and second imaging directions are generated as stereoscopic images of the measuring object 1 (S85),
There is a step of measuring the surface shape of the measuring object 1 from the stereo image of the measuring object 1 (S86).

The surface state plotting apparatus of the seventh invention achieves the second object, and is a measurement object measured by the surface profile measuring apparatus according to any one of claims 1 to 8. A plotting device 8 for plotting the surface state of the measurement object 1 from a stereo image of the object 1 is provided. It is preferable to use an artificial intelligence engine that is suitable for the purpose of plotting the surface state of the measurement object 1 for plotting. For example,
If the measurement object 1 is a buried cultural property, the measured surface condition can be appropriately corrected by archaeological knowledge to remove mere scratches and deposits and extract archaeologically valuable information.

[0030]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 1A and 1B are perspective views of a main part for explaining a first embodiment of the present invention. FIG. 1A shows a calibration subject 11, and FIG. 1B shows a state in which a measurement target 1 is stereoscopically photographed. In the figure, a measurement object 1 is an object for three-dimensionally measuring the surface shape and pattern of archaeological objects, human bodies, vehicles, mechanical structures and the like in a non-contact manner. The calibration subject 11 has a reference point mark as a reference point for which a three-dimensional relative positional relationship is determined in advance, and the details will be described later. The table 2 is a table on which the measurement object 1 and the calibration subject 11 are selectively installed, and may be a stage.

The stereo photographing unit 3 stereo-photographs the measuring object 1 or the calibration subject 11 placed on the table 2, and has, for example, four sets of stereo photographing units for each stereo photographing direction. Each stereo photographing unit includes two image pickup devices 3R such as a CCD (Charge-coupled Devices), a digital camera, and a photographic film type camera,
L is, for example, a rod body (not shown) as an imaging device mounting body.
Are attached at intervals of l. Two imaging devices 3R,
The optical axis of 3L is adjusted to be substantially parallel to the measurement target 1, and the distance d to the measurement target 1 is also preferably set to be substantially the same. Furthermore, when it is desired to obtain the values with high accuracy, the imaging devices 3R and 3L that have undergone camera calibration are used as stereo imaging units. Here, the camera calibration refers to accurately obtaining the focal length, principal point position, and distortion of the camera.

FIG. 2 is a block diagram of the essential parts for explaining the first embodiment of the present invention, and illustrates the signal processing function of an image captured in stereo by the stereo image capturing section. The stereo shooting parameter storage unit 5 stores stereo shooting parameters in a plurality of directions in which the stereo shooting unit 3 shoots the measurement target 1 in stereo. The shooting parameters are images shot by the stereo shooting unit, and are used to adjust the stereoscopic viewing by correcting the deviation of a pair of stereo shot images in the right shooting direction and the left shooting direction. In the stereo photographing unit 3 having a stereo photographing unit for each stereo photographing direction as shown in FIG. 1, the base line length of each stereo photographing unit,
The shooting position and tilt correspond.

The stereo image generation means 6 is for stereo-photographing the measurement object 1 by the stereo photographing section 3 from a plurality of directions in which stereo photographing parameters are stored, and generates a stereo image of the measurement object 1. For example, a processor that performs image calculation processing at high speed is used. Here, the stereo image refers to a set of images captured by the stereo image capturing unit 3 which are stereo-captured in the right and left capturing directions and are adjusted so as to be stereoscopically viewed.

The surface shape calculation processing means 7 is for measuring the object 1 to be measured.
The surface shape of the measuring object 1 is measured from the stereo image, and the calculation method for this measurement uses a method for measuring the unevenness of the surface shape using the stereo image used in aerial photogrammetry and the like. The display / charging unit 8 displays the surface shape of the measurement object 1 measured by the surface shape calculation processing means 7 in CR.
A display device such as T or liquid crystal, a plotter or printer that draws a figure on a paper surface, a digital plotter that acquires stereoscopic impression data, and the like are used. The display / visualization unit 8 may be a stereo monitor capable of stereoscopic viewing. By using the stereo monitor, not only can the actual measurement object 1 be reproduced as a stereoscopic image, but also measurement and plotting can be easily performed while viewing the image.

3A and 3B are perspective views showing the configuration of a calibration subject used for calculation of photographing parameters. FIG. 3A shows a calibration subject having a rectangular section, and FIG. 3B shows a hexagonal section.
(C) shows another aspect of a tubular body having a rectangular cross section, and (D) shows another aspect of a tubular body having a hexagonal cross section. The calibration subject 11 is used to determine a coordinate system that serves as a reference when the deviation is corrected to a stereo image, and to obtain the positions and inclinations of the two imaging devices 3R and 3L that form the stereo imaging unit 3. The size of the calibration subject 11 is the measurement target 1
A slightly larger value is desirable, and the accuracy in correcting the deviation to a stereo image is improved.

As shown in FIG. 3A, in the case of a cylindrical body having a rectangular cross section, the calibration subject 11 is provided with four reference side surfaces 111. On each reference side surface 111, reference point marks 113 are formed at at least six locations along the frame. This is because at least 6 known points are required to determine the posture and coordinates of one plane. Reference point mark 1
13 is, for example, a white mark on a black background or a black mark on a white background,
Alternatively, a sticker on which reference point marks 113 are printed may be attached to each reference side surface 111 by a reflective mark like a retroreflective target, or the reference point marks 113 may be directly printed on each reference side surface 111. Good.

As shown in FIG. 3B, in the case of a cylindrical body having a hexagonal cross section, six reference side surfaces 11 are provided on the calibration subject 11B.
1B is provided. At least six reference point marks 113B are formed on each reference side surface 111B, and information necessary for determining the posture and coordinates of one plane is secured.

Further, in order to distinguish each reference side surface 111 provided on the calibration subject 11, a direct reference point mark 113 is provided.
Alternatively, the side reference target 112 may be formed on each reference side 111. Here, the side reference target 112
Has a function as a reference point mark 113, in addition to a function of distinguishing each reference side surface 111 provided on the calibration subject 11. In the case of a cylindrical body having a rectangular cross section, FIG.
As shown in (C), five reference point marks 113 and one side reference target 112a, 112b are formed on each reference side surface 111 of the calibration subject 11C. In the case of a tubular body having a hexagonal cross section, as shown in FIG. 3D, the calibration subject 11D is provided with six reference side surfaces 111D. Each reference side surface 111D has five reference point marks 113D and one side surface reference target 112c,
12d and 112e are formed.

3 (C) and 3 (D), one side reference target 112 different from each reference side 111 of the calibration subject 11 is arranged. The reference point mark 113 of 111 may be the same as the side reference target 112 in whole or in part. Further, as the side reference target 112,
The size of the mark may be different or the color may be changed. Also, by changing the color of each reference side surface 111,
The reference side surfaces 111 provided on the calibration subject 11 may be distinguished.

4A and 4B are explanatory views of the reference point mark and the side reference target formed on the calibration subject. FIG. 4A shows the reference point mark and FIG. 4B shows the side reference target. The reference point mark includes, for example, a strike mark (A
1), a white circle (A2), a black circle (A3), such as a pattern, a figure, or a symbol that can clearly grasp the three-dimensional position of the reference point is used. The side reference target is used for distinguishing each reference side 111 provided on the calibration subject 11, and includes a hexagon (B1), a white cross (B2),
Rhombus (B3), Number 1 (B4), Number 2 (B5), Number 3 (B6), Black Square (B7), Diagonal Square (B
8), patterns such as lattice squares (B9), figures, symbols, etc. are used.

Reference point mark 113 on calibration subject 11
The position of is measured in advance using a three-dimensional coordinate system by a precise device. FIG. 5 is an explanatory diagram of the three-dimensional coordinate system xyz that describes the position of the reference point mark. Three-dimensional coordinate system xyz
When the calibration subject 11 is a tubular body having a rectangular cross section, the calibration subject 11 is set with the arbitrary reference side surface 111 as a reference surface.
The coordinates of the entire reference point mark 113 are determined. For example,
An xz plane is assigned with an arbitrary reference side surface 111 set to 0 °, and the other three reference side surfaces 111 are set to 90 ° and 180 °, respectively.
270 ° and 270 ° directions are distinguished. And 90 °, 2
The zy plane is assigned to the reference side surface 111 in the 70 ° direction, and 1
The xz plane is assigned to the reference side surface 111 in the 80 ° direction.

In the present embodiment, stereo photography is performed on each reference side surface 111 of the calibration subject 11, so stereo photography is performed for each reference side surface 111. The stereo image capturing direction is the direction in which each of the reference side surfaces 111 is stereo imaged by the stereo image capturing unit 3, and it is preferable that the direction is approximately the same as the normal direction of each reference side surface 111. Therefore, it is preferable to determine the number of reference side surfaces 111 of the calibration subject 11 by the number of surfaces that divide the entire peripheral surface of the measuring object 1. If the measurement target 1 is to be measured in detail, the number of divided surfaces of the reference side surface 111 of the calibration subject 11 is increased. For example, as shown in FIG. 3B, the reference side surface 11 of the calibration subject 11
The number of faces of 1 is 6.

Next, the surface shape measurement of the measuring object 1 in the apparatus configured as described above will be described. FIG. 6 is a flowchart for generally explaining the whole measuring procedure of the measuring object using the apparatus of FIGS. 1 and 2. First, work for initializing the coordinate system for measurement is performed (S1). At this time, the calibration subject 11 is used to obtain stereo shooting parameters in the direction of stereo shooting. Next, stereoscopic photography and three-dimensional measurement of the measuring object 1 are performed (S2). Then, an image product is created from the three-dimensional measurement result of the measurement object 1 (S3). For example, a contour image,
Bird's-eye views, cross-sectional views, orthographic images, etc. are created.

In case of plotting the three-dimensional measurement result, plotting is performed by the orthographic projection image of the measuring object 1 created by the three-dimensional measurement (S4). If not drawn, this step S4 may be skipped. Then, the three-dimensional measurement result of the measurement object 1 is output as data (S5). For data output, print the output as a drawing with a printer,
A file may be output as DXF data, and in that case, it may be processed by another CAD.

Next, the coordinate system initialization of S1 will be described in detail. FIG. 7 is a flowchart for explaining the initialization work in the stereo shooting direction. First, the calibration subject 11 having three-dimensionally arranged reference points is placed at the installation location of the measurement object 1 (S10). Next, the calibration subject 11 is stereo-photographed from two or more directions by the stereo photographing unit (S11). Then, using this stereo image of the calibration subject 11, initialization measurement processing is performed for each stereo image of each reference side surface 111. Therefore, the two left and right images photographed by the stereo photographing unit 3 are processed as a pair of stereo pairs. First, the position of the center of gravity of the target, which is the reference point mark 113, is detected for the two images of the stereo pair (S12). The position of each reference point mark is roughly detected by, for example, a correlation method, and the barycentric position is calculated more accurately. The position may be detected accurately from the beginning, but in that case a great deal of time is required for the arithmetic processing. Here, the residual sequential test method will be described below as the process for detecting the approximate position.

[Correlation method] For high-speed processing, the residual sequential test method (SSDA method) or the like is used. FIG. 8 is a diagram for explaining the relationship between the template image used in the residual sequential test method and the left and right images. For example, the image of N1 × N1 pixels in the left image is adopted as the template image to be searched from the right image. Then, the image of N1 × N1 pixels in the left image is searched on the same line of the right image. Then, the point where the residual R (a, b) defined by the following equation 1 becomes the minimum is the position of the image to be obtained.

[0047]

[Equation 1]

In order to speed up the processing, if the value of R (a, b) exceeds the minimum value of the past residuals in the addition of equation 1, the addition is aborted and the next (a, b) is moved. Perform calculation processing. When the approximate position can be detected as described above, the barycentric position of the reference point mark is further accurately detected. Here, the normalized correlation method, the moment method, the edge detection method, etc. can be used,
Optimal processing is used depending on the shape and accuracy of the reference point mark. For example, when the reference point mark is a circular target, the center of gravity is detected by the moment method, and when it is a strike mark, the center of gravity is detected by edge extraction. Here, the moment method will be described.

[Moment Method] FIG. 9 is an explanatory diagram of the moment method, in which the vertical axis is the measured value f (x, y) and the horizontal axis is the spatial distribution X, Y.
Is represented. In the figure, measured value f (x, y) above threshold T
The following formula is applied to points having. However, although FIG. 9 shows a one-dimensional display for simplification, it is actually performed in a two-dimensional manner. xg = {Σx * f (x, y)} / Σf (x, y) ...... yg = {Σy * f (x, y)} / Σf (x, y) ...... where (xg, yg) : Coordinates of the center of gravity position, f (x,
y): The density value on the (x, y) coordinates.

Although the correlation method and the moment method have been described as the initialization measurement processing, various other methods are known as methods for obtaining the stereo photographing parameters in the direction of stereo photographing. Therefore, as long as the shape of the reference point mark or the calibration subject can be easily detected, an equal method that exhibits the same function as the correlation method or the moment method can be appropriately adopted.

Returning to FIG. 7, the reference point mark of which the barycentric position of the two images has been detected is associated with the reference point mark of the calibration subject 11 whose coordinates are precisely measured in advance (S).
13). Since the reference side surface 111 to be measured is known from the stereo photographing direction, for example, when the reference point mark is 6, only 6 points on the reference side surface 111 are associated. Since the position of the reference point mark is known in advance, it is possible to predict in advance which position is photographed. In order to further clarify the position, it is also possible to change the shape of the reference point mark serving as a reference on each reference side surface 111, change the size, or number each reference point mark to recognize it. You can do it.

Next, orientation calculation is carried out (S14), and each image pickup device 3 photographed with the coordinate system of the calibration subject 11 as a reference.
R, 3L three-dimensional position, tilt, distance between cameras (baseline length:
Stereo shooting parameters such as l) are obtained (S15).
In addition, here, a case where the imaging device is a camera will be described as an example. [Orientation Calculation Formula] Then, the details of the orientation calculation will be described. The orientation calculation is used in aerial photogrammetry, etc., and the positions of the left and right imaging devices are obtained by the orientation calculation. Stereo shooting parameters are calculated by the following coplanar conditional expressions.

FIG. 10 is a diagram for explaining the orientation calculation using the model coordinate system XYZ and the left and right camera coordinate systems xyz.
Taking the origin O of the model coordinate system XYZ as the projection center on the left side,
The line connecting the projection centers on the right side is taken as the X axis. The scale is based on the unit length of the baseline length l. The parameters to be obtained at this time are the rotation angle κ1 of the left camera, the rotation angle φ1 of the Y axis, the rotation angle κ2 of the Z axis of the right camera, the rotation angle φ2 of the Y axis, and the rotation angle ω2 of the X axis. There are two rotation angles.

[0054]

[Equation 2]

In this case, the rotation angle ω1 of the X axis of the left camera
Is 0, so there is no need to consider it. Under these conditions, the coplanar conditional expression becomes as shown in the equation, and each parameter can be obtained by solving this equation.

[0056]

[Equation 3]

Here, the following relational expression of coordinate conversion holds between the model coordinate system XYZ and the camera coordinate system xyz.

[Equation 4]

An unknown parameter is obtained by the following procedure using the above equations and. S141: The initial approximation value is usually 0. S142: The coplanar conditional expression is Taylor-expanded around the approximate value, and the value of the differential coefficient when linearized is obtained by the expression and an observation equation is formed. S143: The least squares method is applied to obtain the correction amount for the approximate value. S144: Correct the approximate value. S145: S142 to S using the corrected approximate value
The operations up to 145 are repeated until they converge.

By the above arithmetic processing, the three-dimensional position and inclination of each camera are obtained in the coordinate system of the calibration subject.
Since it becomes possible to create a stereoscopically visible deviation correction image based on these stereo imaging parameters, three-dimensional measurement by the stereo method becomes possible. Stereoscopically viewable refers to an image in which vertical parallax is removed and which is parallel to and vertical to the object.

Then, the obtained stereo photographing parameters are stored in the stereo photographing direction representing each reference side surface 111 or in each set of the image pickup devices 3R and 3L (S1).
5). This completes the coordinate system initialization S1. These processes may be performed first for each measurement, or may be performed only once if each coordinate system does not include an error due to aging.

Next, stereo imaging of the measuring object 1 in S2 will be described. FIG. 11 is a flowchart illustrating a procedure for stereoscopically photographing the measurement target. First, the measurement target 1 is placed on the table 2 (S20). Then, the measurement object 1 is stereo-photographed by the stereo photographing unit from two or more photographing directions in which the stereo photographing parameters are stored (S21). When the stereo image of the measuring object 1 is completed in all the photographing directions, the surface shape calculation processing means 7 performs measurement processing (S22). In this measurement process, an image captured in stereo is generated as a stereo image of the measurement target 1 by using the stereo image capturing parameters, and the stereo image of the actual measurement target 1 is subjected to deviation correction processing to enable stereoscopic viewing. The image is reconstructed into a proper deviation corrected image. In addition, the process of reconstructing the rectified image is performed by installing the stereo cameras in parallel so that there is no vertical parallax.
And it is not necessary if there is no change over time. However, if the processing for reconstructing the deviation corrected image is performed, it is not necessary to strictly install a stereo camera, and there is an advantage that it is not necessary to care about the change with time.

FIG. 12 is a diagram showing an example of the deviation correction processing.
The left and right images are described before and after processing. By the displacement correction processing, the vertical parallax of the left and right images is removed, the horizontal lines are made equal, and the displacement corrected image in which the distortion of each image is removed is obtained.

Returning to FIG. 11, the contours and characteristic points of the measuring object 1 are measured in each photographing direction of the measuring object 1 (S).
23). The contour and characteristic points of the measurement object 1 are measured by pointing the corresponding points of the left and right images with a mouse or the like while looking at the display image of the stereo image of the display / plotting unit 8. In the measurement processing of S23, since the deviation correction image parallel to the measurement object can be created from the stereo imaging parameters of each image, it is only necessary to specify the corresponding points of the left and right images, and the position of the position can be changed according to the principle of the stereo method. Three-dimensional coordinates can be obtained.

[Stereo Method] FIG. 13 is a diagram for explaining the principle of the stereo method. Here, for simplification, two same cameras are used, each optical axis is parallel, and the distance a from the principal point of the camera lens to the CCD surface where the images 1 and 2 are formed is a.
Are equal, and the CCD is placed at right angles to the optical axis. Further, the distance between the two optical axes (base line length) is l. Then, points P1 (x1, y1) and P2 (x2, y on the object
There is the following relationship between the coordinates of 2).

X1 = ax / z --- y1 = y2 = ay / z --- x2-x1 = al / z --- (10) However, the origin of the whole coordinate system (x, y, z) is It is assumed to be the lens principal point of the camera 1. Then, z is obtained from the equation (10), and this is used to obtain x and y from the equation.

By specifying the contour of the measuring object 1 in S23, the automatic measurement range in the case of performing automatic measurement in S24 is set. Therefore, without measuring the characteristic points, a rough outline (automatic measurement range) may be specified for each image for the next automatic measurement. In addition, the automatic measurement range can be automatically set by utilizing distance information to the object and image processing such as feature point extraction processing. Further, when the characteristic points of the measuring object 1 are measured in S23, these data are also used as initial values for automatic measurement.

Next, automatic measurement (stereo matching)
Is performed (S24). Area-based matching using normalized correlation processing is used for the stereo matching processing. If the characteristic points have been measured in S23, those pieces of information are also used. This makes it possible to acquire dense three-dimensional coordinates on the surface of the object.

[Normalized Correlation Method] Next, the normalized correlation processing will be described. As shown in FIG. 8, for example, an image of N1 × N1 pixels in the left image is used as a template image to be searched from the right image, and the search is performed on the same line of the right image. Then, the correlation coefficient C (a, b) defined by the following equation (11)
Is the position of the image to be obtained.

[0069]

[Equation 5]

From the corresponding point coordinates calculated by the automatic measurement, the three-dimensional coordinates of the position are calculated by the equation and (10). It is possible to create an image product by using these measured three-dimensional coordinates. Since the image product is created based on the three-dimensional coordinate value, the more the three-dimensional coordinate value is, the more accurate the image product can be created. Further, since the coordinate system on each measurement surface is the coordinate system of the calibration subject 11, the images of the measurement target 1 viewed from the entire circumference are created by simply integrating the images in the respective shooting directions θ.

Next, the visualization of S4 in FIG. 6 will be described. For example, if three-dimensional coordinates are obtained, an orthographic projection image can be created based on these. FIG. 14 is a diagram for explaining the difference between the central projection image and the orthographic projection image.
The image captured by the lens is a central projection because the subject is captured from the principal point of the lens, and the image is distorted. On the other hand, an orthographic projection image is an image in which a subject is parallel-projected by a lens located at infinity, and accurate dimensions of the subject appear in the image itself like a map.

Therefore, if an orthographic projection image is created, it is possible to easily create a drawing by tracing over the orthographic projection image when plotting the measurement object 1. Compared to the conventional work of visualizing an actual object such as a buried cultural property while looking at it, orthographic projection images can save a lot of labor, and at the same time, its dimensional accuracy can be accurate. . That is, anyone can easily and accurately plot. Further, since it is possible to reproduce and plot the measuring object 1 from the orthographic projection image at any time without drawing it, the utility value is very high even if it is saved in the state of the orthographic projection image.

When it is not necessary to perform three-dimensional measurement of the entire measurement surface and only measurement of characteristic points is required, only the data measured here may be used without performing the processing of S24. However, when the process of S24 is not performed, when the image is visualized by the display / visualization unit 8 later, the imaged image is less accurate than when the process of S24 is performed. .

FIG. 15 is a perspective view of a main part for explaining the second embodiment, and FIG. 16 is a block diagram of a main part for explaining the second embodiment. Compared to the first embodiment, an image pickup device group 20 and a stereo image pickup area extraction unit 21 are provided instead of the stereo image pickup unit 3 having a stereo image pickup unit for each stereo image pickup direction. Imaging device group 20
Has eight imaging devices 10A, 10B, ..., 10H for photographing the measuring object 1 from a predetermined photographing direction. The imaging devices 10A to 10H have imaging directions θA to θH with respect to a reference azimuth such as the north direction N, and the measurement target 1 or the calibration subject 11 is included.
The distance between and is also set to the position of dA to dH. Each of the adjacent image pickup devices 10A to 10H has two peculiar optical axes directed toward the measurement target 1 or the calibration subject 11, and thus the two image pickup devices 3 constituting the stereo image pickup unit.
This is different from the first embodiment in which R and 3L (see FIG. 1) are adjusted so as to be substantially parallel to the measurement object 1.

The stereo-photographing area extracting section 21 determines the overlapping photographing areas of the images of the measuring object 1 photographed by the two image pickup devices among the images of the measuring object 1 photographed by the image pickup devices of the image pickup device group 20. Extract. This is because the overlapping photographing area becomes an image effective for stereo photographing. The stereo image capturing parameter storage unit 5 stores the stereo image capturing parameters in the image capturing directions of the two image capturing devices for which the overlapping image capturing regions have been extracted by the stereo image capturing region extracting unit 21, in the image capturing device group 20.
It stores about two or more sets of two image pickup devices included in.

Next, the surface shape measurement of the calibration subject 11 and the measurement object 1 in the apparatus configured as described above will be described. FIG. 17 is a flow chart for explaining the initialization work in the second embodiment. First, the calibration subject 11 having three-dimensionally arranged reference points is placed at the installation location of the measurement object 1 (S30). Next, the imaging devices 10A, 10B, ..., 1 of the imaging device group 20 as three or more imaging devices
The calibration subject 11 is photographed at 0H (S31).
Then, a set of image pickup devices to be stereoscopically photographed is determined (S32). Usually, adjacent image pickup devices having many overlapping image pickup regions of the image of the calibration subject 11 are set as a set of stereo image pickup devices. Next, 2 which constitutes a set of stereo imaging devices
With respect to the image of the calibration subject 11 captured by the single image capturing apparatus, the stereoscopic image capturing area extraction unit 21 extracts the overlapping image capturing area (S33).

Regarding the detection of the position of the center of gravity of the target (S34), the association (S35), the orientation calculation (S36), and the calculation of the stereo photographing parameters (S37), the steps from S12 to FIG.
The same as S15. The calculated stereo shooting parameter is stored in the stereo shooting parameter storage unit 5 (S37). Then, it is determined whether or not there are two image pickup devices forming another stereo image pickup device set (S38),
If it exists, the process returns to S33, and if it has ended, the measurement of the calibration subject 11 ends.

FIG. 18 is a flowchart of the stereoscopic photographing work of the measuring object according to the second embodiment. First, the measurement target 1 is placed on an installation place such as the table 2 (S40). Next, the image pickup devices 10A, 10B, ...
To photograph (S41). Then, with reference to the result of S32 of FIG. 17, a set of image pickup devices forming a set of stereo image pickup devices is extracted (S42). With respect to the image of the measurement object 1 taken by the two image pickup devices that form the set of stereo image pickup devices, the stereoscopic image pickup region extraction unit 21 extracts the overlapping image pickup region (S43). Then, the overlapping photographing area extracted in S43 is generated as a stereo image of the measuring object 1 by using the stereo photographing parameters of the pair of stereo photographing devices stored in the stereo photographing parameter storage means 5 (S44).

The deviation correction image creation (S44), the contour of the measuring object, the characteristic point measurement (S45), and the automatic measurement (S46) are the same as those in S22 to S24 of FIG. The contour of the measuring object, feature point measurement (S45), and automatic measurement (S46) correspond to the step of measuring the surface shape of the measuring object 1 from the stereo image of the measuring object 1. Then, it is judged whether or not there are two image pickup devices forming another stereo image pickup device set (S47), and if they exist, S4 is set.
Returning to 3, the measurement of the measuring object 1 is ended if the measurement is completed.

FIG. 19 is a main part configuration diagram for explaining the third embodiment. FIG. 19A is a side view of the main part and FIG. 19B is a perspective view of the main part. FIG. 20 is a block diagram of the main configuration for explaining the third embodiment. Compared to the first embodiment, a stereo photographing unit 9, a light path changing unit 22, and a photographing direction switching unit 23 are provided instead of the stereo photographing unit 3. As shown in FIG. 19A, the stereo photographing unit 9 includes a right side image pickup device 9R and a left side image pickup device 9L.
The object to be measured 1 is stereo-photographed from the first photographing direction by and. In FIG. 19 (A), a planar arrangement that cannot be displayed in the depth direction is displayed, but if it can be stereoscopically illustrated, the right imaging device 9R and the left imaging device 9L are arranged so that overlapping imaging regions exist. Has been done. The image pickup devices 9R and 9L are CCDs, digital cameras,
Examples include photographic film cameras.

The optical path changing means 22 sets the optical path between the stereo photographing unit 9 and the measuring object 1 so that the stereo photographing direction of the measuring object 1 is stereo-photographed from the second photographing direction. It is changed, and for example, a mirror or a half mirror is used. The photographing direction switching means 23 switches the stereo photographing unit 9 which is in charge of the first photographing direction and the second photographing direction, and the stereo photographing unit 9 stereo-photographs the measuring object 1 in one photographing direction. At the time of shooting, the shooting direction is one. The shooting direction switching means 23 prevents optical mutual interference that occurs when shooting is performed from a plurality of stereo shooting directions at the same time. For example, an opening / closing device such as a liquid crystal shutter or a mechanical shutter and a shutter opening / closing control device. Composed.

As shown in FIG. 19A, a mirror 22 as an optical path changing means 22 is provided for the right image pickup device 9R.
An R1, a reflection mirror 22R2, a half mirror 22R3, and a reflection mirror 22R4 are provided, and a liquid crystal shutter 23R as a shooting direction switching unit 23 is provided between the right imaging device 9R and the mirror 22R1. Similarly, a mirror 22L1, a reflection mirror 22L2, a half mirror 22L3, and a reflection mirror 22L4 as the optical path changing means 22 are provided for the left imaging device 9L, and the liquid crystal shutter 23 as the photographing direction switching means 23.
L is provided between the left imaging device 9L and the mirror 22L1. In the right side image pickup device 9R and the left side image pickup device 9L,
The shooting direction is determined so that the overlapping shooting area exists.

As shown in FIG. 19B, in addition to the right side image pickup device 9R and the left side image pickup device 9L, the image pickup devices 9S and 9S.
A total of 6 image pickup devices of T, 9U, and 9V are provided. For each of the image pickup devices 9R to 9V, the optical path changing means 22R,
22L-22V (not shown) and liquid crystal shutter 23R-
23V is provided. As the stereoscopic photographing unit 9, a right side imaging device 9S and a left side imaging device 9T are a set,
The right imaging device 9U and the left imaging device 9V make up another set.

The surface shape measurement of the calibration subject 11 and the measurement object 1 in the apparatus configured as described above will be described below. FIG. 21 is a flow chart for explaining the initialization work in the third embodiment. First, the calibration subject 11 having the three-dimensionally arranged reference points is placed at the installation location of the measurement target 1 (S50). Next, the stereo photographing unit 9
Any one of the image pickup devices 9R to 9V that compose the image pickup device 11 captures the calibration subject 11 in stereo from the first shooting direction (S51). Next, the liquid crystal shutter 23 is closed and the stereo photographing unit 9 which is in charge of the first photographing direction.
By stopping the image capturing and opening the liquid crystal shutter 23 of the stereo image capturing unit 9 which is in charge of the second image capturing direction, the direction in which the calibration subject 11 is stereo imaged is changed (S52).

Then, one of the image pickup devices 9R to 9V constituting the stereo image pickup unit 9 takes a stereo image of the calibration subject 11 from the second image pickup direction (S).
53). Regarding the detection of the position of the center of gravity of the target (S54), the association (S55), the orientation calculation (S56), and the calculation of the stereo photographing parameters (S57), S12 to S1 in FIG.
The same as 5. The calculated stereo shooting parameter is stored in the stereo shooting parameter storage unit 5 (S57). Then, it is determined whether or not there are two image pickup devices 9R to 9V forming the other stereo image pickup unit 9 (S58), and if they exist, the process returns to S52 and the liquid crystal shutter is operated to set the third image pickup direction. Alternatively, stereo shooting is performed from the fourth shooting direction, and if completed, the calibration subject 11
End the measurement of.

FIG. 22 is a flow chart of the stereoscopic photographing work of the measuring object in the third embodiment. First, the measurement target 1 is placed on an installation place such as the table 2 (S60). Next, the measurement object 1 placed at the installation location is stereo-photographed by the stereo-photographing unit 9 from the first photographing direction (S61). Next, the liquid crystal shutter 23 is closed to stop the photographing of the stereo photographing unit 9 in charge of the first photographing direction, and the liquid crystal shutter 23 of the stereo photographing unit 9 in charge of the second photographing direction is opened. Then, the direction in which the measurement object 1 is stereoscopically imaged is changed (S62). Then, the measuring object 1 is stereo-photographed by the stereo-photographing unit 9 from the second photographing direction (S63).

The deviation correction image creation (S64), the contour of the measuring object, the characteristic point measurement (S65), and the automatic measurement (S66) are the same as those in S22 to S24 of FIG. The contour of the measuring object, the feature point measurement (S65), and the automatic measurement (S66) correspond to the step of measuring the surface shape of the measuring object 1 from the stereo image of the measuring object 1. Then, it is determined whether or not there are two image pickup devices 9R to 9V forming the other stereo image pickup unit 9 (S67), and if they exist, the process returns to S62, and the liquid crystal shutter is operated to set the third image pickup direction. Alternatively, stereo imaging is performed from the fourth imaging direction, and if it is completed, the measurement of the measuring object 1 is completed. It should be noted that if the light is shielded in each optical path, it is possible to collectively obtain the image pickup signals from the image pickup devices in each optical path at the same time without inserting a liquid crystal shutter in each optical path as described above.

FIG. 23 is a side view of the essential parts for explaining the modification of the third embodiment. In the case of FIG. 19A, the mirror 22R1 and the reflection mirror 22R as the optical path changing unit 22 are provided.
2. Half mirror 22R3 and reflection mirror 22R4
In the case where the half mirror is used, the image is not a mirror image but the same left and right image arrangement as that when viewed straight. However, if the half mirror 22R3 is omitted, the optical system is simplified accordingly. Therefore, the half mirror 22R3 and the reflection mirror 22R4 may be replaced with a reflection mirror 22R5. In this case, the images are in a mirror image (back image) relationship, and the left and right or top and bottom of the image are inverted.

FIG. 24 is a main part configuration diagram for explaining the fourth embodiment, and FIG. 25 is a main part configuration block diagram for explaining the fourth embodiment. Compared to the third embodiment, an image pickup device 10 and a stereo image pickup control section 24 are provided instead of the stereoscopic image pickup unit 9 and the image pickup direction switching means 23. The image pickup device 10 is a CCD, a digital camera, a photographic film type camera, or the like. Stereo photography control unit 24
Is for controlling the direction in which the measurement target 1 is imaged by the imaging device 10 to a stereo imaging direction in which the left imaging direction and the right imaging direction are a set in each of the first and second imaging directions. A motor or the like for moving the device 10 and the optical path changing means 22 to a position where a stereo photographing relationship is obtained is used. Here, as the optical path changing means 22, a mirror 221, a reflection mirror 222, a half mirror 223, a reflection mirror 224, and a liquid crystal shutter 2 are used.
26 are provided.

The surface shape measurement of the calibration subject 11 and the measuring object 1 in the apparatus thus configured will be described. FIG. 26 is a flow chart for explaining the initialization work in the fourth embodiment. First, the calibration subject 11 having three-dimensionally arranged reference points is placed at the installation location of the measurement object 1 (S70). Next, the stereoscopic imaging control unit 24 moves the imaging device 10 in the right imaging direction out of the first imaging directions, and the imaging device 10 images the calibration subject 11 from the right imaging direction (S71). Next, the stereoscopic imaging control unit 24 moves the imaging device 10 in the left imaging direction out of the first imaging directions, and the imaging device 10 images the calibration subject 11 from the left imaging direction (S72). In this way, the stereoscopic photographing control unit 24 and the imaging device 10 stereoscopically photograph the calibration subject 11 from the first photographing direction. The order of the right shooting direction and the left shooting direction may be either first, but it is preferable to unify the order in advance in order to process the shot images.

Next, the stereoscopic photographing control section 24 moves the image pickup device 10 in the right photographing direction among the second photographing directions, and the image pickup device 10 photographs the calibration subject 11 from the right photographing direction (S73). . Next, the stereoscopic imaging control unit 24 moves the imaging device 10 in the left imaging direction out of the second imaging directions, and the imaging device 10 images the calibration subject 11 from the left imaging direction (S74). In this way, the stereoscopic photographing control unit 24 and the imaging device 10 stereoscopically photograph the calibration subject 11 from the second photographing direction.

The target barycentric position detection (S75), the association (S76), the orientation calculation (S77), and the stereo photographing parameter calculation (S78) are performed from S12 to S12 in FIG.
The same as S15. The calculated stereo shooting parameter is stored in the stereo shooting parameter storage unit 5 (S78). Then, it is determined whether or not another stereo photographing direction exists (S79), and if it exists, the process returns to S73 to perform stereo photographing from the third photographing direction or the fourth photographing direction, and if completed, for calibration. The measurement of the subject 11 ends.

FIG. 27 is a flowchart of the stereoscopic photographing work of the measuring object in the fourth embodiment. First, the measurement target 1 is placed on an installation place such as the table 2 (S80). Next, the stereoscopic imaging control unit 24 moves the imaging device 10 in the right imaging direction among the first imaging directions, and the imaging device 10 images the measurement target 1 from the right imaging direction (S81). Next, the stereo photography control unit 24
The imaging device 10 is moved in the left imaging direction among the first imaging directions by the imaging device 10 to image the measurement target 1 from the left imaging direction (S82). In this way, the stereoscopic imaging control unit 24 and the imaging device 10 stereoscopically shoot the measurement target 1 from the first imaging direction.

Next, the stereoscopic photographing control section 24 moves the image pickup device 10 in the right photographing direction among the second photographing directions, and the image pickup device 10 photographs the measuring object 1 from the right photographing direction (S83). . Next, the stereo photography control unit 24
The imaging device 10 is moved in the left imaging direction among the second imaging directions by the imaging device 10 to image the measurement object 1 from the left imaging direction (S84). In this way
The stereoscopic photographing control unit 24 and the imaging device 10 stereoscopically photograph the measuring object 1 from the second photographing direction.

The deviation correction image creation (S85), the contour of the measuring object, the characteristic point measurement (S86), and the automatic measurement (S87) are the same as those in S22 to S24 of FIG. The contour of the measuring object, the characteristic point measurement (S86), and the automatic measurement (S87) correspond to the step of measuring the surface shape of the measuring object 1 from the stereo image of the measuring object 1. Then, it is determined whether or not another stereo photographing direction exists (S8).
8) If it exists, the process returns to S83 to perform stereo imaging from the third imaging direction or the fourth imaging direction, and if completed, the measurement of the measuring object 1 ends.

FIG. 28 is a main part configurational view showing a fifth embodiment of the present invention. Compared with the third embodiment,
Instead of the stereo photographing unit 9 being provided for each stereo photographing direction, a single stereo photographing unit 9 is provided. As shown in FIG. 28, the stereoscopic imaging unit 9 directly stereoscopically images the measuring object 1 from the first imaging direction by the right imaging device 9R and the left imaging device 9L, and at the same time, the mirror 22 as the optical path changing means 22.
The object to be measured 1 is stereoscopically photographed from the second photographing direction by R and 22L.

FIG. 29 is an explanatory diagram of the measuring object shown in each image pickup device of the stereo image pickup unit. Right imaging device 9R
Alternatively, on the left imaging device 9L, one is a real image of the measuring object 1 and the other is an image of the measuring object 1 from another angle by the mirrors 22R and 22L. If the other mirror image appears due to the arrangement of the mirrors, a shield plate may be inserted or a shutter or the like may be inserted between them to prevent the other image from turning around. To do so.

FIG. 30 is a block diagram of the essential parts showing the fifth embodiment of the present invention. Corresponding subject image extraction means 2
Reference numeral 5 is for separating a real image and a mirror image of an image captured in stereo by the stereo image capturing unit 9, and distinguishes the first image capturing direction and the second image capturing direction by the size of the image, for example. Other components are the same as those already described.

Further, the processing for obtaining the deviation correction image as the stereo image is also performed by the method described above for the real images in the right-hand side picked-up image and the left-hand side picked-up image or for the stereo paired image made up of the mirror images. Analysis may be performed in the same manner as. In this case, the shooting distance differs between the real image and the mirror image, and the scale and other parameters are different for each stereo pair. However, the calibration subject 1 in the initialization setting is different.
Since all can be corrected by 1, the measurement target 1
It is sufficient that the necessary accuracy or resolution is satisfied. That is, when the measurement object 1 is three-dimensionally measured, since the coordinates obtained for the measurement object 1 are all converted into the coordinates on the calibration subject 11, the difference in the shooting distance does not have a great influence. However, it is preferable that the difference in magnification between the real images or the stereo pair between the mirror images is small, and the difference is set within the difference in magnification between the real image and the mirror image.

With such a configuration, since the back side is simultaneously stereo-photographed, as compared with the case where only one of the real image and the mirror image is photographed, the entire circumference of the object to be measured 1 is compared. It is possible to reduce the number of rotations of the measuring object 1 for photographing the surface. That is, the number of rotations required to take only a real image is half. Further, although the case where the stereoscopic photographing unit 9 is used has been described in the above-described embodiment, stereoscopic photographing may be performed by one imaging device 10 and the stereoscopic photographing control unit 24.

In the above embodiment, the case where an image of the measuring object 1 viewed from the entire circumference like the buried cultural property is required is explained, but the present invention is not limited to this. Instead, it is necessary to accurately measure the surface shape of the front and left and right side surfaces, such as the human body and mechanical structures, but in the application where it is enough to know the outline on the back side, the stereo of the required range It suffices to appropriately select a plurality of shooting directions in which an image can be obtained.

[0102]

As described above, according to the surface profile measuring apparatus of the present invention, the stereo photographing unit having a plurality of stereo photographing units for stereo photographing the measuring object, and the stereo photographing unit measuring the measuring object. Means for storing stereo photographing parameters for each of a plurality of directions for stereo photographing, and the stereo photographing unit photographing the measuring object from the plurality of directions in which the stereo photographing parameters are stored, and measuring the measuring object. Since it is configured to include means for generating a stereo image and means for measuring the surface shape of the measurement object from the stereo image of the measurement object, it is not necessary to strictly position the stereo photographing unit and the measurement object. Also, accurate measurements can be obtained. Also,
Since the stereo imaging unit is composed of two or more stereo imaging units, the number of times to rotate the measurement object or move the stereo imaging unit is reduced even when the peripheral surface of the measurement object is imaged over a wide area. It can be made unnecessary or unnecessary, and shooting can be done quickly.

Further, according to the surface profile measuring apparatus of the present invention, it is a stereoscopic photographing unit for stereoscopically photographing the object to be measured by the right side image pickup apparatus and the left side image pickup apparatus, which are in charge of the first and second photographing directions, respectively. A stereo image pickup unit provided with a plurality of units, an optical path changing unit for changing an optical path between the stereo image pickup unit and the measurement object, and the stereo image pickup unit stereoscopically takes an image of the measurement object. Means for storing a stereo image capturing parameter in a second image capturing direction; and a stereo image capturing of the object to be measured by the stereo image capturing unit from the first and second image capturing directions in which the stereo image capturing parameter is stored, Means for generating a stereo image of the measuring object, and the measuring object from the stereo image of the measuring object Since it is configured to include a means for measuring the surface shape of the stereo imaging unit, the optical path can be used even when the object to be measured cannot be directly viewed from the stereo imaging unit or when a compact structure needs to be adopted due to the installation location of the stereo imaging unit. The changing means can change the optical path to perform stereo photography.

Further, as in the invention described in claim 8,
When an orthographic projection image of an object is created, the surface shape of the object can be reproduced using the orthographic projection image, increasing the value when constructing a database as image information, which is extremely useful. .

[Brief description of drawings]

FIG. 1 is a perspective view of an essential part for explaining a first embodiment of the present invention.

FIG. 2 is a block diagram of a main part configuration for explaining the first embodiment of the present invention.

FIG. 3 is a perspective view showing the configuration of a calibration subject.

FIG. 4 is a diagram showing an example of a reference point mark shape attached to a calibration subject.

FIG. 5 is an explanatory diagram of a three-dimensional coordinate system xyz that describes the position of a reference point mark.

FIG. 6 is a flowchart for generally explaining the whole measuring procedure of the measuring object using the apparatus of FIGS. 1 and 2.

FIG. 7 is a flowchart illustrating an initialization operation in a stereo shooting direction.

FIG. 8 is a diagram illustrating a relationship between a template image used in the residual sequential test method and left and right images.

FIG. 9 is an explanatory diagram of the method of moments, in which the vertical axis represents the measured value f (x,
y), the horizontal axis represents the spatial distributions X and Y.

FIG. 10 is a diagram illustrating orientation calculation using a model coordinate system XYZ and left and right camera coordinate systems xyz.

FIG. 11 is a flowchart illustrating a procedure for stereoscopically photographing a measurement target.

FIG. 12 is a diagram showing an example of the deviation correction process, and illustrates the left and right images before and after the process.

FIG. 13 is a diagram illustrating the principle of the stereo method.

FIG. 14 is a diagram illustrating a difference between a central projection image and an orthographic projection image.

FIG. 15 is a perspective view of a main part for explaining a second embodiment of the present invention.

FIG. 16 is a block diagram of a main configuration illustrating a second embodiment.

FIG. 17 is a flowchart illustrating an initialization work according to the second embodiment.

FIG. 18 is a flowchart of a stereo photographing operation of a measurement target according to the second embodiment.

FIG. 19 is a main part configuration diagram for explaining a third embodiment of the present invention, in which (A) is a side view of the main part and (B) is a perspective view of the main part.

FIG. 20 is a block diagram of a main part configuration for explaining a third embodiment.

FIG. 21 is a flowchart illustrating an initialization work according to the third embodiment.

FIG. 22 is a flowchart of a stereo photographing operation of a measurement target according to the third embodiment.

FIG. 23 is a side view of a main part for explaining a modification of the third embodiment.

FIG. 24 is a perspective view of a main part for explaining a fourth embodiment of the present invention.

FIG. 25 is a block diagram of a main part configuration for explaining a fourth embodiment.

FIG. 26 is a flowchart illustrating an initialization work according to the fourth embodiment.

FIG. 27 is a flowchart of a stereoscopic photographing operation of a measurement target according to the fourth embodiment.

FIG. 28 is a main part configuration diagram showing a fifth embodiment of the present invention.

FIG. 29 is an explanatory diagram of an object to be measured which is imaged in each imaging device of the stereo imaging unit.

FIG. 30 is a block diagram of a main part configuration showing a fifth embodiment of the present invention.

[Explanation of symbols]

1 object 2 tables 3 Stereo shooting section 5 Stereo shooting parameter storage means 6 Stereo image generation means 7 Surface shape calculation processing means 8 Display / Plot 9 Stereo shooting unit 10 Imaging device 11 Calibration subject 20 Imaging device group 21 Stereo shooting area extraction unit 22 Optical path changing means (mirror, half mirror) 23 Shooting direction switching means (shutter) 24 Stereo shooting controller 25 Corresponding subject image extraction means

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2F065 AA04 AA49 AA51 BB05 BB28                       CC00 CC11 CC16 DD06 FF05                       JJ03 JJ26 LL00 LL11 MM23                       QQ04 QQ18 QQ24 QQ25 QQ31                       QQ42 SS02                 5B057 AA20 BA02 CA08 CA13 CA16                       CB08 CB13 CB17 CD11 CE15                       DA07 DA08 DA17 DB03 DC05                       DC06 DC09 DC16 DC32                 5C054 AA01 AA05 CC02 FC15 FD01                       HA05                 5L096 AA06 AA09 CA05 DA02 EA07                       FA06 FA09 FA60 FA69 GA08

Claims (13)

[Claims] 1. A stereo photographing unit having a plurality of stereo photographing units for photographing the measurement object in stereo; means for storing stereo photographing parameters for each of a plurality of directions in which the stereo photographing unit stereo-photographs the measurement object; Means for photographing the measuring object by the stereo photographing unit from the plurality of directions in which the stereo photographing parameters are stored to generate a stereo image of the measuring object; Means for measuring the surface shape of the object to be measured; a surface shape measuring device. 2. The stereo photographing parameter storage means places a calibration subject having a three-dimensionally arranged reference point at a place where the measurement object is installed, and the stereo photographing unit photographs the calibration subject, The surface according to claim 1, wherein a stereo shooting parameter of a shooting direction of each stereo shooting unit is calculated from a shot stereo image of the calibration subject, and the calculated stereo shooting parameter is stored. Shape measuring device. 3. The stereo photographing parameter storage means stores a reference point position of the calibration subject stored in advance and a reference calculated from a stereo image of the reference point of the calibration subject photographed by the stereo photographing unit. The surface shape measuring apparatus according to claim 2, wherein the stereoscopic imaging parameter is calculated by comparing with a point position. 4. An image pickup device group having three or more image pickup devices for taking an image of an object to be measured from a predetermined image pickup direction;
A stereo image capturing area extraction unit that extracts an overlapping image capturing area of the image of the measurement object captured by the two image capturing apparatuses among the images of the measurement object captured by the image capturing apparatuses of the image capturing apparatus group; Means for storing stereo image capturing parameters in the image capturing direction of the two image capturing devices for which the overlapping image capturing regions have been extracted by the image capturing region extraction unit, for two or more two image capturing devices included in the image capturing device group; Two or more of the two or more calculated shooting parameters
A means for photographing the measurement target by the image pickup device from the photographing direction of the image pickup device of the frame to generate a stereo image of the measurement target; and a surface of the measurement target from the stereo image of the measurement target. Means for measuring the shape; a surface shape measuring device. 5. A stereo image pickup unit for stereoscopically taking an image of an object to be measured by a right side image pickup device and a left side image pickup device, wherein the stereoscopic image pickup is provided with a plurality of units respectively in charge of first and second image pickup directions. A unit; an optical path changing means for changing an optical path between the stereo photographing unit and the measuring object; and a stereo photographing parameter in first and second photographing directions in which the stereo photographing unit stereo-photographs the measuring object is stored. And means for generating a stereo image of the measurement object by stereo-photographing the measurement object by the stereo imaging unit from the first and second imaging directions in which the stereo imaging parameters are stored. A means for measuring the surface shape of the measurement object from a stereo image of the measurement object; Surface shape measuring device. 6. An image pickup device for photographing a measuring object; an optical path changing means for changing an optical path between the image pickup device and the measuring object; a left photographing direction for photographing the measuring object by the image pickup device. Direction and right photographing direction are combined into a pair of stereo photographing directions, and at least a first photographing direction and a second photographing direction can be selected as the stereo photographing directions; and a stereo photographing control unit; Means for storing stereo image capturing parameters in the stereo image capturing directions of the first and second image capturing directions for capturing an object; from the stereo image capturing directions relating to the first and second image capturing directions in which the stereo image capturing parameters are calculated ,
A means for photographing the measuring object by the image pickup device to generate a stereo image of the measuring object; and means for measuring the surface shape of the measuring object from the stereo image of the measuring object; Shape measuring device. 7. A stereo photographing unit for stereo-photographing an object to be measured from a first photographing direction by a right-side imaging device and a left-side imaging device; an optical path changing means for changing an optical path between the stereo imaging unit and the object to be measured. And the optical path changing means for stereo-photographing the measurement target from a second photographing direction; the first and second stereoscopic photographing units stereo-photographing the measurement target.
A means for storing a stereo photographing parameter in the photographing direction; a stereo photographing of the measuring object by the stereo photographing unit from the first and second photographing directions in which the stereo photographing parameter is stored, and the measuring object. A surface shape measuring device, comprising: means for generating a stereo image of the object; and means for measuring the surface shape of the object to be measured from the stereo image of the object. 8. The surface profile measuring apparatus according to claim 1, further comprising: a means for generating an orthographic projection image of the measurement target from a stereo image of the measurement target. A surface profile measuring device comprising. 9. A stereo photographing unit having a number of units suitable for two or more directions in which a measurement object is stereo-photographed is provided; a calibration subject in which a reference point is three-dimensionally arranged is provided at the installation location of the measurement object. Placement: Stereo photography of the calibration subject from two or more directions by the stereo photography unit; Calculation of stereo photography parameters in the two or more photography directions from stereo images of the photographed calibration subject; stereo photography From the two or more shooting directions in which parameters are stored, the measurement object is stereo-photographed by the stereo photographing unit; the photographed image is generated as a stereo image of the measurement object using the stereo photographing parameter. Measuring the surface shape of the measurement object from the stereo image of the measurement object; Surface shape measuring method. 10. A calibration subject having three-dimensionally arranged reference points is placed at an installation location of an object to be measured; the calibration subject is photographed by three or more imaging devices that photograph from a predetermined photographing direction. A stereoscopic photographing parameter is calculated by extracting an overlapping photographing area of the images of the calibration subject photographed by the two image pickup devices from the images of the calibration subject photographed by the three or more image pickup devices. Capturing an image of the measurement object placed at the installation location with the three or more image capturing devices; capturing with two image capturing devices among the images of the measurement object captured by the three or more image capturing devices Extracting an overlapping imaging area of the image of the measurement object that has been performed; using the stereo imaging parameter, generating the extracted overlapping imaging area as a stereo image of the measurement object;
A surface shape measuring method comprising: measuring a surface shape of the measuring object from a stereo image of the measuring object; 11. A stereoscopic image of the object to be measured 2
A stereoscopic shape measuring method using a stereoscopic imaging unit having a number of units suitable for the number of directions described above, and a surface profile measuring device including means for changing an optical path between the stereoscopic imaging unit and an object to be measured; A calibration subject having a reference point is placed at the installation location of the measurement object; the calibration subject is stereo-photographed from the first and second photographing directions by the stereo photographing unit; and the stereo photographing unit is used for the calibration. The first and second photographing the subject
Calculate the stereo shooting parameters in the shooting direction of;
The measurement object is placed at the installation place; the measurement object is stereo-photographed from the first and second photographing directions by the stereo photographing unit; the first and second stereo photographing parameters are used. A surface shape measuring method comprising: a step of generating an image photographed from a photographing direction as a stereo image of the measurement object; and measuring a surface shape of the measurement object from the stereo image of the measurement object. 12. A stereo image capturing control unit that sequentially captures an image of an object to be measured by an image capturing device in a right image capturing direction and a left image capturing direction that constitute one stereo image capturing direction, and an optical path between the image capturing device and the object to be measured. A surface shape measuring method using a surface shape measuring device having means for changing the object; a calibration subject having a three-dimensional reference point arranged at the installation location of the object to be measured; The imaging device is placed in the first shooting direction of the calibration subject, and the imaging device is made to shoot the calibration subject in stereo; the stereo shooting control unit causes the imaging device to take a second shot of the calibration subject. The image pickup device is stereo-photographed on the calibration subject; the first image pickup device stereographs the calibration subject.
And a stereo image capturing parameter in a second image capturing direction is calculated; the measurement object is placed at the installation place; the stereo image capturing control unit places the image capturing device in the first image capturing direction of the measurement object, Causing the image pickup device to take a stereo image of the measurement target object; the stereoscopic image pickup control section places the image pickup device in a second image pickup direction of the measurement object, and causes the image pickup device to take a stereo image of the measurement target object; An image captured from the first and second imaging directions is generated as a stereo image of the measurement object using the stereo imaging parameter; a surface shape of the measurement object is determined from a stereo image of the measurement object. taking measurement;
A surface shape measuring method having a step. 13. A surface state for illustrating a surface state of the measurement object from a stereo image of the measurement object measured by the surface shape measuring apparatus according to claim 1. Plotting device.