JP2007101276A5 - - Google Patents

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JP2007101276A5
JP2007101276A5 JP2005289333A JP2005289333A JP2007101276A5 JP 2007101276 A5 JP2007101276 A5 JP 2007101276A5 JP 2005289333 A JP2005289333 A JP 2005289333A JP 2005289333 A JP2005289333 A JP 2005289333A JP 2007101276 A5 JP2007101276 A5 JP 2007101276A5
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projection
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color code
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Priority to EP06020585A priority patent/EP1770356A3/en
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Claims (17)

標識面内の計測位置を示すための位置検出用パターンと、前記標識を識別するための複数の色彩が施されたカラーコードパターンとを有するカラーコード付き標識を含む計測パターンを形成するパターン形成部と、
前記パターン形成部で形成された計測パターンを測定対象物に投影する投影部と、
前記投影部により投影された計測パターンの撮影画像から前記位置検出用パターンと前記カラーコードパターンを検出し、カラーコードを識別するパターン検出部とを備える、
三次元計測用投影装置。 Pattern forming unit for forming a position detecting pattern for indicating a measurement position of the label in the plane, a plurality of measurement patterns including color-coded target having a color code pattern color is applied to identify the labeled When,
A projection unit that projects the measurement pattern formed by the pattern formation unit onto a measurement object;
A pattern detection unit that detects the position detection pattern and the color code pattern from a photographed image of the measurement pattern projected by the projection unit, and identifies a color code;
Projector for 3D measurement. 標識面内の計測位置を示すための位置検出用パターンと、前記標識を識別するための複数の色彩が施されたカラーコードパターンとを有するカラーコード付き標識を含む計測パターンを複数記憶するパターン記憶部と、
前記パターン記憶部に記憶された複数の計測パターンから、投影する計測パターンを選択するパターン選択部と、
前記パターン選択部により選択された計測パターンを測定対象物に投影する投影部と、
前記投影部により投影された計測パターンの撮影画像から前記位置検出用パターンと前記カラーコードパターンを検出し、カラーコードを識別するパターン検出部とを備える、
三次元計測用投影装置。 A position detection pattern for indicating a measurement position of the label in the plane, a pattern storage for storing a plurality measurement pattern including a color-coded target having a color code pattern having a plurality of colors has been subjected to identify the labeled And
A pattern selection unit for selecting a measurement pattern to be projected from a plurality of measurement patterns stored in the pattern storage unit;
A projection unit that projects the measurement pattern selected by the pattern selection unit onto a measurement object;
A pattern detection unit that detects the position detection pattern and the color code pattern from a captured image of the measurement pattern projected by the projection unit, and identifies a color code;
Projector for 3D measurement. 前記投影部により投影された前記計測パターンを撮影する撮像部を備え、
前記パターン検出部は、前記撮像部により撮影された前記計測パターンの撮影画像から前記位置検出用パターンと前記カラーコードパターンを検出し、前記カラーコードを識別する；
請求項１又は請求項２に記載の三次元計測用投影装置。 An imaging unit that captures the measurement pattern projected by the projection unit;
The pattern detection unit detects the position detection pattern and the color code pattern from the captured image of the measurement pattern captured by the imaging unit, and identifies the color code;
The projection apparatus for three-dimensional measurement according to claim 1 or 2. 前記パターン形成部は、前記位置検出用パターンのみからなる単色ターゲットパターンを形成する；
請求項１又は請求項３に記載の三次元計測用投影装置。 The pattern forming unit forms a monochromatic target pattern including only the position detection pattern;
The projection apparatus for three-dimensional measurement according to claim 1 or 3. 前記パターン記憶部は、前記位置検出用パターンのみからなる単色ターゲットパターンを含む計測パターンを記憶する；
請求項２又は請求項３に記載の三次元計測用投影装置。 The pattern storage unit stores a measurement pattern including a monochrome target pattern including only the position detection pattern;
The projection apparatus for three-dimensional measurement according to claim 2 or claim 3. 前記投影部を制御して前記計測パターンを投影させるパターン投影制御部を備え、
前記パターン投影制御部は前記位置検出用パターンをランダムに配置したランダムパターンを前記投影部に投影させ、前記計測パターンを投影する計測モードと前記ランダムパターンを投影するランダムパターンモードを切替可能である；
請求項１乃至請求項５のいずれか１項に記載の三次元計測用投影装置 A pattern projection control unit that controls the projection unit to project the measurement pattern;
The pattern projection control unit can project a random pattern in which the position detection patterns are randomly arranged on the projection unit, and switch between a measurement mode for projecting the measurement pattern and a random pattern mode for projecting the random pattern;
The three-dimensional measurement projector according to any one of claims 1 to 5. 前記投影部を制御して前記計測パターンを投影させるパターン投影制御部を備え、
前記パターン投影制御部はステレオ画像の重複範囲を表示する重複撮影範囲表示用パターンを前記投影部に投影させ、前記計測パターンを投影する計測モードと前記重複撮影範囲表示用パターンを投影する撮影範囲表示モードを切替可能である；
請求項１乃至請求項５のいずれか１項に記載の三次元計測用投影装置 A pattern projection control unit that controls the projection unit to project the measurement pattern;
The pattern projection control unit projects an overlapping shooting range display pattern for displaying an overlapping range of stereo images onto the projecting unit, and projects a measurement mode for projecting the measurement pattern and a shooting range display for projecting the overlapping shooting range display pattern. The mode can be switched;
The three-dimensional measurement projector according to any one of claims 1 to 5. 前記投影部を制御して前記計測パターンを投影させるパターン投影制御部を備え、
前記パターン投影制御部は、前記撮像部に係る焦点距離、撮影距離、基線長、オーバーラップ率のいずれか一つを入力することにより、計測パターンの標定点の配置、パターン密度を調整可能である；
請求項１乃至請求項５のいずれか１項に記載の三次元計測用投影装置 A pattern projection control unit that controls the projection unit to project the measurement pattern;
The pattern projection control unit can adjust the arrangement of the orientation points of the measurement pattern and the pattern density by inputting any one of a focal length, an imaging distance, a base length, and an overlap rate related to the imaging unit. ;
The three-dimensional measurement projector according to any one of claims 1 to 5. 前記投影部を制御して前記計測パターンを投影させるパターン投影制御部を備え、
前記パターン投影制御部は、一様な照明光で対象物を照明するテクスチャー取得用の照明を前記投影部に行なわせ、前記計測パターンを投影する計測モードとテクスチャー取得用の照明を行うテクスチャー照明モードを切替可能である；
請求項１乃至請求項５のいずれか１項に記載の三次元計測用投影装置 A pattern projection control unit that controls the projection unit to project the measurement pattern;
The pattern projection control unit causes the projection unit to perform illumination for texture acquisition that illuminates an object with uniform illumination light, and performs a measurement mode for projecting the measurement pattern and a texture illumination mode for performing illumination for texture acquisition. Can be switched;
The three-dimensional measurement projector according to any one of claims 1 to 5. 前記パターン検出部は、前記テクスチャー照明モードで投影されたパターンの撮影画像から取得された色彩に基づいて、前記投影部により投影するカラーコード付きターゲットの色彩を修正する色彩修正部を有する；
請求項９に記載の三次元計測用投影装置。 The pattern detection unit includes a color correction unit that corrects the color of a target with a color code projected by the projection unit based on a color acquired from a captured image of the pattern projected in the texture illumination mode;
The projection device for three-dimensional measurement according to claim 9. 請求項１乃至請求項１０のいずれか１項に記載の三次元計測用投影装置を有する；
三次元計測システム。 It has a projection device for three-dimensional measurement given in any 1 paragraph of Claims 1 thru / or 10;
3D measurement system. 標識面内の計測位置を示すための位置検出用パターンと、前記標識を識別するための複数の色彩が施されたカラーコードパターンとを有するカラーコード付き標識を含む計測パターンを形成するパターン形成部と、
投影部を制御して前記計測パターンを投影させるパターン投影制御部と、
前記投影部により投影された前記計測パターンの撮影画像から前記位置検出用パターンと前記カラーコードパターンを検出し、カラーコードを識別するパターン検出部とを備える、
三次元計測用投影装置の計算処理部。 Pattern forming unit for forming a position detecting pattern for indicating a measurement position of the label in the plane, a plurality of measurement patterns including color-coded target having a color code pattern color is applied to identify the labeled When,
A pattern projection control unit for controlling the projection unit to project the measurement pattern;
A pattern detection unit that detects the position detection pattern and the color code pattern from a captured image of the measurement pattern projected by the projection unit, and identifies a color code;
Calculation processing unit of the projection device for 3D measurement. 標識面内の計測位置を示すための位置検出用パターンと、前記標識を識別するための複数の色彩が施されたカラーコードパターンとを有するカラーコード付き標識を含む計測パターンを形成するパターン形成工程と、
前記パターン形成工程で形成された計測パターンを測定対象物に投影する投影工程と、
前記投影工程により投影された計測パターンを撮影する撮像工程と、
前記撮像工程により撮影された計測パターンの撮影画像から前記位置検出用パターンと前記カラーコードパターンを検出し、前記カラーコードを識別するパターン検出工程とを備える；
三次元計測用パターン投影方法。 Pattern forming step of forming a position detecting pattern for indicating a measurement position of the label in the plane, a plurality of measurement patterns including color-coded target having a color code pattern color is applied to identify the labeled When,
A projection step of projecting the measurement pattern formed in the pattern formation step onto a measurement object;
An imaging step of photographing the measurement pattern projected by the projection step;
A pattern detection step of detecting the position detection pattern and the color code pattern from a photographed image of the measurement pattern photographed in the imaging step and identifying the color code;
Pattern projection method for 3D measurement. 標識面内の計測位置を示すための位置検出用パターンと、前記標識を識別するための複数の色彩が施されたカラーコードパターンとを有するカラーコード付き標識を含む計測パターンを複数記憶するパターン記憶工程と、
前記パターン記憶工程で記憶された複数の計測パターンから、投影する計測パターンを選択するパターン選択工程と、
前記パターン選択工程で選択された計測パターンを測定対象物に投影する投影工程と、
前記投影工程により投影された計測パターンを撮影する撮像工程と、
前記撮像工程により撮影された計測パターンの撮影画像から前記位置検出用パターンと前記カラーコードパターンを検出し、カラーコードを識別するパターン検出工程とを備える；
三次元計測用パターン投影方法。 A position detection pattern for indicating a measurement position of the label in the plane, a pattern storage for storing a plurality measurement pattern including a color-coded target having a color code pattern having a plurality of colors has been subjected to identify the labeled Process,
A pattern selection step of selecting a measurement pattern to be projected from a plurality of measurement patterns stored in the pattern storage step;
A projection step of projecting the measurement pattern selected in the pattern selection step onto the measurement object;
An imaging step of photographing the measurement pattern projected by the projection step;
A pattern detection step of detecting the position detection pattern and the color code pattern from a photographed image of the measurement pattern photographed in the imaging step and identifying the color code;
Pattern projection method for 3D measurement. 前記パターン形成工程は、前記位置検出用パターンのみからなる単色ターゲットパターンを形成し、
前記パターン検出工程は前記単色ターゲットパターンを検出する；
請求項１３に記載の三次元計測用パターン投影方法。 The pattern forming step forms a monochromatic target pattern consisting only of the position detection pattern,
The pattern detection step detects the monochrome target pattern;
The three-dimensional measurement pattern projection method according to claim 13. 前記パターン記憶工程は、前記位置検出用パターンのみからなる単色ターゲットパターンを含む計測パターンを記憶し、
前記パターン検出工程は前記単色ターゲットパターンを検出する；
請求項１４に記載の三次元計測用パターン投影方法。 The pattern storage step stores a measurement pattern including a monochromatic target pattern consisting only of the position detection pattern,
The pattern detection step detects the monochrome target pattern;
The pattern projection method for three-dimensional measurement according to claim 14. 前記撮像工程において、撮影画像は対をなすステレオ画像であり、
前記ステレオ画像について標定を行なう標定工程と、
前記測定対象物の三次元形状を計測する三次元計測工程とを備え、
前記標定工程又は前記三次元計測工程において、前記カラーコード付き標識は計測用の基準位置を示す計測点として、前記単色ターゲットパターンはリファレンスポイントとして投影される；
請求項１５又は請求項１６に記載の三次元計測用パターン投影方法。 In the imaging step, the captured image is a paired stereo image,
An orientation process for orientation of the stereo image;
A three-dimensional measurement step for measuring a three-dimensional shape of the measurement object,
In the orientation step or the three-dimensional measurement step, the marker with the color code is projected as a measurement point indicating a reference position for measurement, and the monochromatic target pattern is projected as a reference point;
The pattern projection method for three-dimensional measurement according to claim 15 or 16.
JP2005289333A 2005-09-30 2005-09-30 Projection apparatus and system for three-dimensional measurement Active JP5002144B2 (en)

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US11/526,885 US20070091174A1 (en) 2005-09-30 2006-09-26 Projection device for three-dimensional measurement, and three-dimensional measurement system
EP06020585A EP1770356A3 (en) 2005-09-30 2006-09-29 Three-dimensional measurement system with projection device

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