JP2011158386A - Non-contact three-dimensional measuring apparatus and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a non-contact three-dimensional measuring apparatus and method, capable of performing a fast measurement of an object without a feature on a surface. <P>SOLUTION: The non-contact three-dimensional measuring apparatus includes first and second cameras 2a, 2b for capturing images of the object to be measured 1, a line laser 4 for irradiating the object to be measured 1 with a line laser 12, a locating section 6 for externally locating the first and second cameras 2a, 2b with regard to a mutual location relationship, and an image processing section 8 for implementing image processing of the first and second images of the object to be measured 1 irradiated with the line laser 12 and captured by the first and second cameras 2a, 2b. The image processing section 8 selects a feature point as one point in a first line data irradiated with the line laser 12 on the first image, determines a correspondence point corresponding to the feature point selected on the first image as an intersection between an epipolar line and a second line data irradiated with the line laser 12 on the second image, and calculates a three-dimensional coordinate of the point on the object to be measured 1. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a non-contact three-dimensional measurement apparatus and a non-contact three-dimensional measurement method for measuring the shape of an object to be measured in a non-contact manner.

  There are a passive method (passive measurement method) and an active method (active measurement method) as three-dimensional measurement methods for measuring an object to be measured. The passive method is a method in which measurement is performed without irradiating a target object with specific light, radio waves, or the like that assist measurement. The passive method includes, for example, a photo measurement method. The active method is a method of performing measurement using information obtained by irradiating light, radio waves, sound waves, or the like on a target object in order to perform three-dimensional measurement. The active method includes, for example, a light cutting method.

  Photo measurement, which is one of the passive methods, performs external orientation (determining the positional relationship between two cameras) from two or more captured images, and associates the same location with the feature points between the images. The three-dimensional point was calculated | required by (For example, refer patent document 1). For this reason, the size of the object to be measured is arbitrary as long as it can be seen in the photograph, and it is possible to measure a large object to a small object.

Japanese Patent No. 3924576

Xu Tsuyoshi, “Three-dimensional CG made from photographs”, Modern Science, January 2001 31-P. 86 Edited by Toru Yoshizawa, “Optical 3D Measurement”, New Technology Communications, March 1993 28-P. 37

  In photogrammetry, the association between two photographs taken by two cameras is shown in common in the two photographs, and is performed using feature points that can be identified as the same location. For this reason, if there is no feature point that can be recognized as the same location on the surface of the object to be measured, it is difficult to associate the two photographs. For example, since the surface of a plastic molded product is smooth and has no features, three-dimensional measurement using feature point correspondence by photogrammetry has not been possible.

  As described above, it is difficult to measure a shape having no features such as a smooth surface in the photo measurement which is a passive method. In addition, the light cutting method, which is an active method, has the disadvantage that the size of the object to be measured is limited by the apparatus.

  An object of the present invention is to provide a non-contact three-dimensional measurement apparatus and a non-contact three-dimensional measurement method that enable non-contact three-dimensional shape measurement of an object having no features on the surface at high speed.

A non-contact three-dimensional measurement apparatus according to the present invention is arranged at a distance from each other, and a first camera and a second camera that shoot a measurement object,
A line laser for irradiating the object to be measured with a line laser;
For the first camera and the second camera, an orientation unit that performs external orientation for measuring a mutual distance;
An image processing unit that performs image processing on a first image obtained by photographing the object to be measured irradiated with the line laser with the first camera, and a second image photographed by the second camera;
With
The image processing unit
One point in the first line segment data irradiated with the line laser on the first image is selected as a feature point,
An epipolar line corresponding to the feature point selected on the first image is displayed on the second image;
On the second image, an intersection of the second line segment data irradiated with the line laser and the epipolar line is determined as a corresponding point corresponding to the feature point selected on the first image,
Using the feature points in the first image and the corresponding points in the second image, three-dimensional coordinates of the feature points and corresponding points on the measurement object corresponding to the corresponding points are calculated. .

  The line laser may be capable of scanning the line laser over the entire object to be measured.

  Further, the line laser may be capable of being irradiated with the line laser by rotating about a predetermined axis in the irradiation direction.

Non-contact three-dimensional measurement method according to the present invention,
(A) an external orientation step for performing external orientation for measuring the mutual distance of the first camera and the second camera that are arranged at a distance from each other and photograph the object to be measured;
(B) a line laser irradiation step of irradiating the object to be measured with a line laser;
(C) The object to be measured irradiated with the line laser is photographed by the first camera and the second camera, respectively, and the first image by the first camera and the second image by the second camera are taken. An image capturing step for obtaining two images;
(D) a first line segment data extracting step of extracting a portion irradiated with the line laser as first line segment data in the first image;
(E) a second line segment data extracting step of extracting a portion irradiated with the line laser as second line segment data in the second image;
(F) a feature point selection step of selecting one point in the first line segment data extracted from the first image as a feature point;
(G) an epipolar line display step of displaying an epipolar line extending from the lens center of the first camera through the feature point on the second image;
(H) Corresponding point determination for determining an intersection between the second line segment data extracted from the second image and the epipolar line as a corresponding point corresponding to the feature point selected on the first image. Steps,
(I) Using the feature points in the first image and the corresponding points in the second image, three-dimensional coordinates of the corresponding points on the measurement object corresponding to the feature points and the corresponding points A three-dimensional coordinate calculation step for calculating
including.

  Further, (j) the line portion irradiated with the line laser by repeating the steps (f) to (i) for all points on the first line segment extracted from the first image. May include a three-dimensional coordinate calculating step for calculating three-dimensional coordinates.

  The line laser irradiation step (b) further includes a line laser scanning step of scanning the line laser over the object to be measured, and each time the line laser is irradiated, the steps (c) to (j) ) May be repeated to scan the entire object to be measured.

  The line laser irradiation step (b) further includes a line laser scanning step of irradiating the object to be measured by rotating the line laser about a predetermined axis in an irradiation direction, and rotating the line laser to rotate the object to be measured. Each time the measurement object is irradiated, the step (c) to the step (j) may be repeated.

  Still further, in the corresponding point determining step (i), when there are two or more intersections between the epipolar line and the second line segment data, the line laser corresponds to the feature point on the first image. Irradiating by rotating about the axis of the irradiation direction to the corresponding point on the object to be measured, and setting the single intersection point of the epipolar line and the second line segment data on the second image as the feature point It may be determined as a corresponding point.

  According to the non-contact three-dimensional measurement apparatus and the non-contact three-dimensional measurement method according to the present invention, by irradiating the measurement object with a line laser, the line can be blurred even if the measurement object has an uneven shape. Absent.

  In the non-contact three-dimensional measurement apparatus and the non-contact three-dimensional measurement method, the line laser is irradiated on one of the two images obtained by photographing the measurement object irradiated with the line laser with two cameras. One point of the first line segment data that is the selected portion is selected as the feature point. In this case, an epipolar line is displayed on another image, and an intersection with the second line segment data that is a portion irradiated with the line laser can be specified as a corresponding point corresponding to the feature point. Compared to the case where the corresponding point has been specified by the correlation with the pattern irradiated on the measurement object, the corresponding point can be clearly determined without including ambiguity, and the accuracy of the three-dimensional measurement is improved. be able to.

It is a block diagram which shows the structure of the non-contact three-dimensional measuring apparatus which concerns on Embodiment 1 of this invention. It is the schematic which shows arrangement | positioning of a to-be-measured object and two cameras. It is the schematic which shows the 1st image image | photographed with the 1st camera. It is the schematic which shows the 2nd image image | photographed with the 2nd camera. FIG. 4 is a schematic diagram when one point in the first line segment data is selected as a feature point for the first image in FIG. 3. FIG. 5 is a schematic diagram showing a second image in which epipolar lines corresponding to feature points on the first image are displayed in the second image of FIG. 4. It is a flowchart of the non-contact three-dimensional measuring method which concerns on Embodiment 1 of this invention. It is a conceptual diagram for demonstrating the characteristic of the non-contact three-dimensional measuring method which concerns on Embodiment 1 of this invention. It is a flowchart of the non-contact three-dimensional measuring method which concerns on the modification of Embodiment 1 of this invention. It is a flowchart of the non-contact three-dimensional measuring method which concerns on Embodiment 2 of this invention. It is a flowchart of the non-contact three-dimensional measuring method which concerns on Embodiment 3 of this invention.

  A non-contact three-dimensional measuring apparatus and measuring method according to the present invention will be described below with reference to the accompanying drawings. In the drawings, substantially the same members are denoted by the same reference numerals.

(Embodiment 1)
FIG. 1 is a schematic diagram illustrating a configuration of a non-contact three-dimensional measurement apparatus 10 according to the first embodiment.
This non-contact three-dimensional measuring apparatus 10 includes two cameras 2a and 2b installed at a distance, a line laser 4 for irradiating the object to be measured 1 with a line laser, and the positions of the two cameras 2a and 2b. The orientation unit 6 that performs external orientation including the relationship, the first image 20 obtained by photographing the measurement object 1 irradiated with the line laser by the first camera 2a, and the second image obtained by the second camera 2b. 30 and an image processing unit 8 for image processing. For each camera 2a, 2b, it is desirable that internal orientations (internal parameters) such as the lens center, focal length, and distortion correction coefficient are calculated in advance. Furthermore, the photographed image is preferably an image whose distortion has been corrected using the internal rating data, but it is not essential. Further, the line laser 4 can scan the entire surface of the measurement object 1. Further, the orientation unit 6 performs external orientation relating to the positional relationship between the first camera 2a and the second camera 2b. The image processing unit 8 selects one point in the first line segment data 22 irradiated with the line laser on the first image 20 as the feature point 24, and selects an epipolar line 33 corresponding to the feature point 24. A feature that is displayed on the second image 30, and on the second image 30, the intersection of the second line segment data 32 irradiated with the line laser and the epipolar line 33 is selected on the first image 20. A corresponding point 34 corresponding to the point 24 is determined, and the feature point 24 in the first image 20 and the corresponding point 34 in the second image 30 are used on the measurement object 1 corresponding to the feature point and the corresponding point. The three-dimensional coordinates of the corresponding point 14 are calculated.

FIG. 8 is a conceptual diagram illustrating features of the non-contact three-dimensional measurement apparatus 10 according to the first embodiment. FIG. 8 shows in detail the positional relationship related to photogrammetry in the configuration of the non-contact three-dimensional measuring apparatus 10 of FIG.
<About two cameras and images>
The lens centers of the two cameras (first camera 2a and second camera 2b) are represented as point A and point B, respectively.
In the first image 20 by the first camera 2a, the first line segment data 22 which is the part of the line laser irradiated to the object 1 to be measured and one selected feature point 24 are shown. The lens center, focal length, distortion correction coefficient, and the like of the first camera 2a are obtained by internal orientation.
Further, in the second image 30 by the second camera, it corresponds to the second line segment data 32 which is the part of the line laser irradiated to the object to be measured 1 and the feature point 24 selected from the first line segment data. The epipolar line 33 and the corresponding point 34 that is the intersection of the two are shown. The lens center, focal length, distortion correction coefficient, and the like of the second camera 2b are obtained by internal orientation.
<About the object to be measured>
In addition, a corresponding point 14 on the measured object 1 corresponding to the portion 12 of the line laser irradiated on the measured object 1, the feature point 24, and the corresponding point 34 is shown. This corresponding point 14 is also shown as point C.

<About photogrammetry>
a) The positional relationship between the lens center A of the first camera 2a and the lens center B of the second camera 2b and the direction of each camera are obtained by external orientation.
b) In addition, the lens centers, focal lengths, distortion correction coefficients, and the like of the first camera 2a and the second camera 2b are obtained by using internal orientation.
c) Next, the point C of the corresponding point 14 on the object to be measured 1 exists on a line extending from the lens center A of the first camera 2 a toward the feature point 24 on the first image 20. , On a line extending from the lens center B of the second camera 2 b toward the corresponding point 34 on the second image 30. Therefore, the point C is obtained as an intersection of these by the principle of photogrammetry.
As described above, the corresponding point 14 (C) on the object to be measured 1 can be three-dimensionally measured.

  According to the non-contact three-dimensional measurement apparatus 10 according to the first embodiment of the present invention, the line is blurred even if the measurement object 1 has an uneven shape by irradiating the measurement object 1 with a line laser. There is no. For this reason, the extraction accuracy of the corresponding points is increased, and the accuracy of the three-dimensional measurement points is inevitably increased.

  Moreover, in this non-contact three-dimensional measuring apparatus 10, the part to which the line laser was irradiated on one image 20 among the two images which image | photographed the to-be-measured object irradiated with the line laser with two cameras 2a and 2b. One point of the first line segment data 22 is selected as the feature point 24. In this case, the epipolar line 33 is displayed on the other image 30 and the intersection point with the second line segment data 32 which is the portion irradiated with the line laser is specified as the corresponding point 34 corresponding to the feature point 24. can do. Compared to the case where the corresponding point is specified by the correlation with the pattern irradiated on the measurement object 1 so far, the corresponding point can be clearly determined without including ambiguity, and the accuracy of the three-dimensional measurement is improved. Can be made.

FIG. 7 is a flowchart of the non-contact three-dimensional measurement method of the present invention. This non-contact three-dimensional measurement method is executed as follows.
(A) Two cameras (a first camera 2a and a second camera 2b) for photographing the measurement object 1 are arranged at a distance from each other in a range where the measurement object 1 is captured (FIG. 1). For each camera 2a, 2b, it is desirable that internal orientations (internal parameters) such as the lens center, focal length, and distortion correction coefficient are calculated in advance. In addition, when the internal orientation of a camera is not performed, it can obtain | require by the calculation method given in the nonpatent literature 1, for example.
(B) About the 1st camera 2a and the 2nd camera 2b, external orientation regarding a mutual positional relationship is performed (S01).
With this external orientation, the positional relationship between a plurality of cameras can be known. For example, as a method described in Non-Patent Document 1, external orientation can be performed by extracting eight or more previously known corresponding points around the measurement object 1.

(C) The line laser 4 is irradiated to the object 1 to be measured 1 (S02) (FIG. 2). By using the line laser, the irradiated line does not blur even if the non-measurement object 1 has a shape with large unevenness.
(D) The measurement object 1 irradiated with the line laser is photographed by the first camera 2a and the second camera 2b, respectively, and the first image (FIG. 3) by the first camera 2a and the second A second image (FIG. 4) is obtained by the camera 2b (S03).
(E) In the first image 20, a portion irradiated with the line laser is extracted as first line segment data 22 (S04) (FIG. 3).
(F) In the second image 30, the portion irradiated with the line laser is extracted as second line segment data 32 (S05) (FIG. 4).

(G) One point in the first line segment data 22 extracted from the first image 20 is selected as the feature point 24 (S06) (FIG. 5). The feature points 24 are sequentially selected over the entire first line segment data 22, and each time the feature point 24 is selected, the following (h) to (j) are repeated, whereby the first line segment 22 Three-dimensional measurement can be performed for the whole.
(H) The epipolar line 33 corresponding to the feature point 24 is displayed on the second image (S07) (FIG. 6). The epipolar line is a virtual line connecting the lens center of the first camera 2a and a point on the measurement object 1 corresponding to the feature point 24 on the first image 20 to the second camera. This is the projected line segment. How the epipolar line 33 is displayed on the second image 30 depends on the internal orientation of the first camera 2a and the second camera 2b and the external orientation of the first camera 2a and the second camera 2b. And can be determined. There is a corresponding point corresponding to the feature point 24 somewhere on the epipolar line 33 displayed on the second image 30.
(I) The intersection of the second line segment data 32 extracted from the second image 30 and the epipolar line 33 is determined as a corresponding point 34 corresponding to the feature point 24 selected on the first image 20 (S08). (FIG. 6).
(J) Using the feature point 24 in the first image 20 and the corresponding point 34 in the second image 30, the three-dimensional coordinates of the corresponding point 14 on the measurement object 1 corresponding to the feature point and the corresponding point are obtained. Calculate (S09).
(K) Steps (g) to (j) are repeated for all points on the first line segment extracted from the first image, and the line portion irradiated with the line laser of the object to be measured is applied. The three-dimensional coordinates are calculated (S10).
Through the above steps, the three-dimensional coordinates of the corresponding point 14 of the measurement object 1 corresponding to the feature point and the corresponding point can be obtained.

  According to the non-contact three-dimensional measurement method according to Embodiment 1 of the present invention, by irradiating the measurement object 1 with a line laser, the line can be blurred even if the measurement object 1 has an uneven shape. Absent. For this reason, the extraction accuracy of the corresponding points is increased, and the accuracy of the three-dimensional measurement points is inevitably increased.

  Further, in this contacted three-dimensional measurement method, in the portion irradiated with the line laser on one image 20 of the two images obtained by photographing the object irradiated with the line laser with the two cameras 2a and 2b. One point of certain first line segment data 22 is selected as the feature point 24. In this case, the epipolar line 33 is displayed on the other image 30 and the intersection point with the second line segment data 32 which is the portion irradiated with the line laser is specified as the corresponding point 34 corresponding to the feature point 24. can do. As described above, the corresponding points can be clearly determined without ambiguity as compared with the case where the corresponding points have been specified by the correlation with the pattern irradiated on the measurement object 1 so far, and the three-dimensional measurement is possible. Accuracy can be improved.

(Modification)
FIG. 9 is a flowchart of a non-contact three-dimensional measurement method according to a modification of the first embodiment. The non-contact three-dimensional measurement method of this modification is different from the non-contact three-dimensional measurement method according to Embodiment 1 in FIG. 8 in that the line laser is scanned over the entire object to be measured.
Since (a) and (b) are the same as the non-contact three-dimensional measurement method according to Embodiment 1, the description thereof is omitted.
(C) A line laser is scanned over the DUT 1 (S11). Here, the scanning of the line laser 4 along the direction that forms an angle with the line indicates that the entire object to be measured 1 is sequentially scanned.
Since (d) to (k) are the same as the non-contact three-dimensional measurement method according to Embodiment 1, the description thereof is omitted.
(L) It is confirmed whether the entire measurement object 1 has been scanned (S12). When the entire object to be measured 1 is not scanned, (c) to (k) are repeated to perform three-dimensional measurement on the entire object to be measured 1.
Through the above steps, three-dimensional measurement can be performed over the entire object to be measured 1.

(Embodiment 2)
FIG. 10 is a flowchart of the non-contact three-dimensional measurement method according to the second embodiment. In the non-contact three-dimensional measurement method of this modification, as compared with the non-contact three-dimensional measurement method according to Embodiment 1 in FIG. 8, the line laser 4 is rotated about a predetermined axis in the irradiation direction to the object 1 to be measured. It differs in the point which irradiates.
Since (a) and (b) are the same as the non-contact three-dimensional measurement method according to Embodiment 1, the description thereof is omitted.
(C) The measurement object 1 is irradiated with the line laser rotated about a predetermined axis in the irradiation direction (S13). In the modification of the first embodiment, the line laser is scanned in the direction that forms an angle with the line, and the entire object to be measured 1 is scanned. However, the entire object to be measured 1 can also be obtained by rotating the line laser 4. Can be irradiated.
Since (d) to (k) are the same as the non-contact three-dimensional measurement method according to Embodiment 1, the description thereof is omitted.
(L) It is confirmed whether the line laser is rotated at all angles for irradiation (S14). When the entire object to be measured 1 is not scanned, (c) to (k) are repeated to perform three-dimensional measurement on the entire object to be measured 1.
Through the above steps, three-dimensional measurement can be performed over the entire object to be measured 1.

(Embodiment 3)
FIG. 11 is a flowchart of the non-contact three-dimensional measurement method according to the third embodiment. In the non-contact three-dimensional measurement method of this modification, when compared with the non-contact three-dimensional measurement method according to Embodiment 1 in FIG. 8, the intersection of the second line segment data 32 and the epipolar line 33 is a single point in (i). When there are two or more intersections instead of one, the line laser is different in that the line laser is rotated about the axis to the corresponding point 14 on the measurement object 1 corresponding to the feature point 24 and irradiated.
Since (a) to (h) are the same as the non-contact three-dimensional measurement method according to the first embodiment, description thereof is omitted.
Before (i), it is confirmed on the second image 30 whether the intersection of the epipolar line 33 and the second line segment 32 is single (S15). When there is only one intersection, the steps (i) to (k) of the non-contact three-dimensional measurement method according to Embodiment 1 are performed, and the tertiary of the corresponding point 14 of the measurement object 1 corresponding to the feature point and the corresponding point The original coordinates can be obtained.

  On the other hand, when there are a plurality of intersection points, for example, there may be a plurality of intersection points when the second line segment data 32 and the epipolar line 33 that are irradiated with the line laser extend along the same direction. Arise. In this case, the line laser 4 is irradiated while being rotated about the axis to the corresponding point 14 on the measurement object 1 corresponding to the feature point 24 (S16). In this case, it is preferable to rotate the line laser 4 so that the epipolar line 33 and the line direction of the line laser form an angle. More preferably, the line laser 4 is rotated so that the epipolar line 33 and the line direction of the line laser are orthogonal to each other. Further, the corresponding point 14 of the measurement object 1 corresponding to the feature point 24 is rotated so as to hold the feature point 24. Thereafter, (d) to (h) are repeated so that the intersection of the epipolar line 33 and the second line segment 32 can be single.

  As a result, even if the corresponding point 34 cannot be specified as a single point because the epipolar line 33 and the second line segment data 32 are in parallel, the line laser 4 is rotated and the epipolar line 33 and the second line segment 32 are rotated. A single corresponding point 34 is obtained as an intersection where the data 32 intersects, the corresponding point can be clearly identified, and the accuracy of the three-dimensional measurement can be improved.

  If no intersection between the epipolar line 33 and the second line segment data 32 is obtained, the corresponding point 14 on the measurement object 1 corresponding to the feature point 24 selected on the first image 20 is obtained. This means that it does not appear on the second image 30. In this case, the range of the measurement object 1 displayed by the first image 20 from the first camera 2a and the measurement object 1 displayed by the second image 30 from the second camera 2b. It is considered that the range displayed in common with the range is small or does not exist. Therefore, it is preferable to reduce the distance between the first camera 2a and the second camera 2b so that a common range of the measured object 1 is obtained in the first image 20 and the second image 30.

  According to the non-contact three-dimensional measurement apparatus and the non-contact three-dimensional measurement method according to the present invention, even when an object having no feature on the surface is set as the measurement object, one of the two images is selected. The corresponding point on the other image can be clearly identified for the feature point. Therefore, the non-contact three-dimensional measurement apparatus and the non-contact three-dimensional measurement method according to the present invention are useful for non-contact three-dimensional measurement using an object having no feature on the surface as an object to be measured.

DESCRIPTION OF SYMBOLS 1 To-be-measured object 2a 1st camera 2b 2nd camera 4 Line laser 6 Orientation part 8 Image processing part 10 Non-contact three-dimensional measuring device 12 Irradiated line laser 14 Corresponding point 20 1st image 22 1st line segment Data 24 Feature point 30 Second image 32 Second line segment data 33 Epipolar line 34 Corresponding point

Claims (8)

A first camera and a second camera which are arranged at a distance from each other and shoot a measurement object;
A line laser for irradiating the object to be measured with a line laser;
An orientation unit that performs external orientation on the positional relationship between the first camera and the second camera;
An image processing unit that performs image processing on a first image obtained by photographing the object to be measured irradiated with the line laser with the first camera, and a second image photographed by the second camera;
With
The image processing unit
One point in the first line segment data irradiated with the line laser on the first image is selected as a feature point,
An epipolar line corresponding to the feature point selected on the first image is displayed on the second image;
On the second image, an intersection of the second line segment data irradiated with the line laser and the epipolar line is determined as a corresponding point corresponding to the feature point selected on the first image,
Using the feature points in the first image and the corresponding points in the second image, three-dimensional coordinates of the feature points and corresponding points on the measurement object corresponding to the corresponding points are calculated. ,
Non-contact 3D measuring device.   The non-contact three-dimensional measurement apparatus according to claim 1, wherein the line laser can scan the line laser over the entire object to be measured.   The non-contact three-dimensional measurement apparatus according to claim 1, wherein the line laser can rotate about a predetermined axis in an irradiation direction to be irradiated with the line laser. (A) an external orientation step for performing external orientation on the positional relationship between the first camera and the second camera, which are arranged at a distance from each other and shoot the object to be measured;
(B) a line laser irradiation step of irradiating the object to be measured with a line laser;
(C) The object to be measured irradiated with the line laser is photographed by the first camera and the second camera, respectively, and the first image by the first camera and the second image by the second camera are taken. An image capturing step for obtaining two images;
(D) a first line segment data extracting step of extracting a portion irradiated with the line laser as first line segment data in the first image;
(E) a second line segment data extracting step of extracting a portion irradiated with the line laser as second line segment data in the second image;
(F) a feature point selection step of selecting one point in the first line segment data extracted from the first image as a feature point;
(G) an epipolar line display step of displaying an epipolar line corresponding to the feature point selected on the first first image on the second image;
(H) Corresponding point determination for determining an intersection between the second line segment data extracted from the second image and the epipolar line as a corresponding point corresponding to the feature point selected on the first image. Steps,
(I) Using the feature points in the first image and the corresponding points in the second image, three-dimensional coordinates of the corresponding points on the measurement object corresponding to the feature points and the corresponding points A three-dimensional coordinate calculation step for calculating
A non-contact three-dimensional measurement method. further,
(J) Steps (f) to (i) are repeated for all points on the first line segment extracted from the first image, and the line laser of the object to be measured is irradiated. The non-contact three-dimensional measurement method according to claim 4, further comprising a three-dimensional coordinate calculation step of calculating three-dimensional coordinates for the line portion.   The line laser irradiation step (b) further includes a line laser scanning step of scanning the line laser across the object to be measured, and each time the line laser is irradiated, the steps (c) to (j) are performed. The non-contact three-dimensional measurement method according to claim 5, wherein the whole object to be measured is repeatedly scanned.   The line laser irradiation step (b) further includes a line laser scanning step in which the line laser is rotated about a predetermined axis in an irradiation direction to irradiate the object to be measured, and the line laser is rotated to rotate the object to be measured. The non-contact three-dimensional measurement method according to claim 5, wherein the step (c) to the step (j) are repeated each time the light is irradiated.   In the corresponding point determination step (h), when there are two or more intersections between the epipolar line and the second line segment data, the line laser is moved to the feature point corresponding to the feature point on the first image. Rotate and irradiate a corresponding point on the measurement object with respect to the irradiation direction axis, and a single intersection between the epipolar line and the second line segment data corresponds to the feature point on the second image. The non-contact three-dimensional measurement method according to claim 4, wherein the non-contact three-dimensional measurement method is determined as a corresponding point.

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