JP2013079854A - System and method for three-dimentional measurement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional measurement system and a three-dimensional measurement method by stereo photographing which facilitates external orientation.SOLUTION: The three-dimensional measurement system comprises: a stereo photographing unit 11 photographing a measurement object 1 from a plurality of directions and obtaining a stereo image 20; a sub reference body 3 constituting a part of a reference body 2, which covers a whole measurement object 1, and having a plurality of reference marks 4; a reference body information defining unit 12 defining, as an integrated body in a three-dimensional calculation space V, a reference body model 102, which is a three- dimensional numerical analysis model of the reference body, including photographing measured values f of three-dimensional coordinate values of the plurality of reference marks provided on the sub reference body based on the stereo image photographed by the stereo photographing unit and reference measured values g measured in advance; an orientation element calculation unit 13, which calculates external orientation elements of the stereo photographing unit using the reference body model; and a three-dimensional measurement unit 14, which operates three-dimensional measurement of the measurement object based on the stereo image of the measurement object photographed by the stereo photographing unit localized by the external orientation elements.

Description

  The present invention relates to a three-dimensional measurement system and a three-dimensional measurement method, and more specifically, a three-dimensional measurement system and a three-dimensional measurement that measure a three-dimensional shape of a measurement object such as a human body by non-contact stereo imaging. Regarding the method.

  In order to measure the three-dimensional shape of the measurement object in a non-contact manner, a three-dimensional measurement system and a three-dimensional measurement method using stereo photography are used. By using a three-dimensional measurement system and a three-dimensional measurement method based on stereo photography, the three-dimensional shape of the measurement object can be measured quickly without contact. In recent years, using a three-dimensional measurement system and a three-dimensional measurement method using stereo photography, for example, instead of conventional measurement using a tape measure or the like, in a clothing store or the like, a clothing item that matches the body shape of a garment purchaser can be obtained. It is desired to realize a three-dimensional shape measurement of a human body that quickly measures the size without contact.

  In a three-dimensional measurement system and a three-dimensional measurement method with high measurement accuracy, in order to accurately measure a measurement target three-dimensionally, it is positioned as a reference device for three-dimensional measurement in a stereo imaging unit before actual three-dimensional measurement. An external orientation (calculation) of the position and the optical axis direction in the three-dimensional measurement space of a stereo photographing unit that takes a reference object (an object for orientation / reference block) and performs stereo photography of the measurement object and measures it. For example, Patent Document 1 discloses a reference body for use in external orientation of a three-dimensional measurement system. The size of the reference body is preferably slightly larger than the object to be measured in order to perform external orientation with high accuracy. This is because external orientation of the stereo imaging unit is performed based on information on the measurement target space occupied by the reference body that covers the entire measurement target in the three-dimensional measurement space.

Japanese Patent Application No. 2003-65737 (see, for example, paragraph number [0035] of the specification, FIG. 1 and FIG. 3)

  The reference body is provided so as to have a plurality of reference marks, and the distance between the plurality of reference marks (reference scale) is determined in advance by performing a reference measurement having a measurement accuracy to be used as a reference for three-dimensional measurement (external Measured before grasping) A reference body that has been subjected to reference measurement and has grasped the distance (reference scale) between a plurality of reference marks, until the external orientation of the three-dimensional measurement system is performed, It is required to perform strict management to maintain the reference dimension).

  As shown in FIG. 17, the conventional reference body 200 used for measuring a large measuring object 1 such as a human body has a high reference scale s (inter-spacing distance s between reference marks 204) of the reference body 200. In order to maintain the accuracy, it was physically provided in a rigid manner. Further, the conventional reference body 200 is provided in a larger size than the large-sized measurement object 1 such as a human body in order to cover the measurement space and perform external orientation with high accuracy. Such a large reference body 200 has temperature management for preventing fluctuation of the reference scale (reference dimension) s due to linear expansion proportional to the size, and action of external force that can be another factor of fluctuation of the reference scale s. Handling that requires careful handling to prevent this is difficult. In addition, in order to carry out the external orientation of the stereo photographing unit by bringing the high-precision and large reference body 200 into the measurement space of the conventional three-dimensional measurement system (not shown), the conventional three-dimensional measurement system is large. It was provided as a large device that occupies the installation space. Furthermore, it has been required to separately secure a large storage space (not shown) for storing the large reference body 200 at all times. It is difficult to perform external orientation of a conventional three-dimensional measurement system using such a large reference body 200. In particular, the conventional large reference body is installed in a limited installation space such as a clothes store. It was difficult to carry out external orientation.

  The present invention has been made in view of these problems, and an object of the present invention is to provide a three-dimensional measurement system and a three-dimensional measurement method based on stereo photography with easy external orientation.

  In order to solve the above-described problem, the three-dimensional measurement system according to the first aspect of the present invention, for example, shows the measurement object 1 from a plurality of directions in the three-dimensional measurement space R as shown in FIGS. A stereo imaging unit 11 that captures a stereo image 20 (see FIG. 9); and forms a part of a reference body 2 that covers the entire measurement object 1 and includes a plurality of reference marks 4 in the three-dimensional measurement space R. A sub-reference body 3 having a plurality of reference marks 4 in which the three-dimensional coordinate value g and / or the reference distance values g and s of the mutual distances s of the plurality of reference marks 4 are grasped in advance; The three-dimensional coordinate values g of the plurality of reference marks 4 of the sub-reference body 3 based on the stereo image 20 obtained in this way and / or the photographing measurement values f and m of the distances s between the plurality of reference marks 4 were previously grasped. A plurality of reference marks 4 on the sub-reference body 3 A reference body model 102 that is a three-dimensional numerical analysis model of the reference body 2 including the three-dimensional coordinate value g and / or the reference measurement values g and s of the mutual distance s of the plurality of reference marks 4 is represented in a three-dimensional calculation space V. A standard body information defining unit 12 (see FIG. 7) that is defined as an integral part of the stereo imaging unit 11 using the standard body model 102 defined by the standard body information defining unit 12 (x , Y, z) ([omega], [phi], [kappa]) (refer to FIG. 16) and an orientation element calculation unit 13 (see FIG. 7); an external orientation element (x, y, z) calculated by the orientation element calculation unit 13 A three-dimensional measurement unit 14 (see FIG. 7) that performs three-dimensional measurement of the measurement object 1 from the stereo image 20 of the measurement object 1 imaged by the stereo imaging unit 11 localized by (ω, φ, κ). Provided; the three-dimensional measurement space R includes a sub-reference body 3 and a measurement object 1 This is a real space R that is actually installed and performs three-dimensional measurement; the three-dimensional calculation space V corresponds to the three-dimensional measurement space R, and the orientation element calculation unit 13 corresponds to the external orientation elements (x, y, z) A virtual space V for calculating (ω, φ, κ); configured as a three-dimensional measurement system 10 (see FIG. 7).

  When configured in this manner, the three-dimensional measurement system 10 captures the measurement target 1 by the stereo photographing unit 11 (see FIG. 7) that captures the stereo image 20 by photographing the measurement target 1 from a plurality of directions in the three-dimensional measurement space R. The three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 in the three-dimensional measurement space R and / or the distances between the plurality of reference marks 4 (which constitute a part of the reference body 2 covering the entirety of A pair of stereo images 20a and 20b (see FIG. 9) can be obtained by stereo shooting of the sub-reference body 3 having a plurality of reference marks 4 whose reference measurement values (s) are known in advance. In addition, the reference body information defining unit 12 included in the three-dimensional measurement system 10 is a three-dimensional display of a plurality of reference marks 4 included in the sub reference body 3 based on the stereo images 20a and 20b obtained by photographing with the stereo photographing unit 11. The photographing measurement value f of the coordinate value (reference measurement value) g and / or the photographing measurement value m of the mutual distance (reference measurement value) s of the plurality of reference marks 4 and a plurality of sub-reference bodies 3 previously grasped. A reference body model that is a three-dimensional numerical analysis model of the reference body 2 including the three-dimensional coordinate value (reference measurement value) g of the reference mark 4 and / or the mutual distance (reference measurement value) s of the plurality of reference marks 4. 102 can be defined integrally in the three-dimensional calculation space V. The orientation element calculation unit 13 included in the three-dimensional measurement system 10 uses the reference body model 102 defined by the reference body information definition unit 12 to use the external orientation elements (x, y, z) of the stereo photographing unit 11. (Ω, φ, κ) can be calculated. In addition, the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 includes a stereo photographing unit 11 that is localized by the external orientation elements (x, y, z) (ω, φ, κ) calculated by the orientation element calculation unit 13. The three-dimensional measurement of the measurement object 1 can be performed from the stereo images 20a and 20b of the measurement object 1 to be photographed.

  For this reason, the three-dimensional measurement system of this aspect forms a part of the reference body, that is, a stereo image obtained by photographing a sub-reference body smaller than the reference body by the stereo photographing unit and the sub-reference body in advance. Based on the reference measurement value obtained by the reference measurement, it corresponds to the reference body that covers the entire measurement object in the three-dimensional measurement space, and includes the information of the photographing measurement value of the sub-reference body and the information of the reference measurement value In addition, a reference body model, which is one numerical analysis model, is integrally defined in a three-dimensional calculation space, and the stereo imaging unit is accurately externally determined using the reference body model to accurately perform three-dimensional measurement of an object to be measured. Since it can be performed, a three-dimensional measurement system including a small sub-reference body that is easy to handle can be provided in a small size.

  Further, the three-dimensional measurement system according to the second aspect of the present invention is the same as the three-dimensional measurement system according to the first aspect of the present invention, for example, as shown in FIG. A plurality of stereo imaging units 11a to 11d are arranged so as to surround the measurement object 1 in the dimension measurement space R, and the plurality of stereo imaging units 11a to 11d are configured to simultaneously image the measurement object 1.

  With this configuration, a plurality of stereo imaging units 11a to 11d can be arranged so as to surround the measurement object 1 in the three-dimensional measurement space R. 3D measurement can be performed instantaneously or continuously.

  For this reason, even if it is a measurement object that is not stationary for a long time, such as a human body, for example, it is difficult to measure the laser shape, the measurement object can be obtained by using a plurality of stereo imaging units that perform imaging synchronously. The three-dimensional shape measurement of the measurement object can be performed by simultaneously photographing the surroundings. For example, when a plurality of stereo imaging units are arranged on the entire circumference of the measurement object, the entire three-dimensional shape of the measurement object can be accurately three-dimensionally measured without any omissions or defects.

  Further, the three-dimensional measurement system according to the third aspect of the present invention is the three-dimensional measurement system according to the first or second aspect of the present invention. For example, as shown in FIG. Reference numeral 12 denotes a photographing measurement of the three-dimensional coordinate value g of the plurality of reference marks 4 of the sub-reference body 3 and / or the mutual distance s of the plurality of reference marks 4 based on the stereo image 20 obtained by photographing with the stereo photographing unit 11. The sub-reference body 3 includes the values f and m, the three-dimensional coordinate values g of the plurality of reference marks 4 of the sub-reference body 3, and / or the reference measurement values g and s of the distances s between the plurality of reference marks 4. A sub-reference body model 103 that is a three-dimensional numerical analysis model of the reference body 3 is configured to be defined in the three-dimensional calculation space V; so as to cover a part of the measurement object 1 in the three-dimensional measurement space R. The virtual sub-reference body 3i assumed in the A three-dimensional numerical analysis model of the virtual sub-reference body 3i including the defined three-dimensional coordinate values gi of the plurality of virtual reference marks 4i and / or virtual assignment values fi and mi of the mutual distances si of the plurality of virtual reference marks 4i. The virtual sub reference body model 103i is defined in the three-dimensional calculation space V; the measurement object 1 in the three-dimensional measurement space R including the sub reference body model 103 and the virtual sub reference body model 103i. A virtual reference body model 102i, which is a three-dimensional numerical analysis model of the virtual reference body 2i, corresponding to the virtual reference body 2i that is the reference body 2 assumed to cover the whole of It is constituted so that it may be defined as one in V.

  With this configuration, the reference body information defining unit 12 has the three-dimensional coordinate values of the plurality of reference marks 4 included in the sub reference body 3 based on the stereo images 20a and 20b captured by the stereo photographing unit 11. (Sub-measurement value) g is a three-dimensional numerical analysis model of the sub-reference body 3 including the photographing measurement value f of the g and / or the photographing measurement value m of the mutual distance (reference measurement value) s of the plurality of reference marks 4. The reference body model 103 can be defined in the three-dimensional calculation space V. On the other hand, the reference body information defining unit 12 includes the three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 included in the sub-reference body 3 grasped in advance and / or the mutual distance between the plurality of reference marks 4. A sub-reference body model 103 that is a three-dimensional numerical analysis model of the sub-reference body 3 including (reference measurement value) s can be defined in the three-dimensional calculation space V.

  In addition, the reference body information defining unit 12 includes a plurality of virtual reference marks defined as having the virtual sub reference body 3i assumed to cover a part of the measurement object 1 in the three-dimensional measurement space R. The virtual sub-reference body 3i includes a virtual grant value fi of the three-dimensional coordinate value (virtual definition value) gi of 4i and / or a virtual grant value mi of the mutual distance (virtual definition value) si of the plurality of virtual reference marks 4i. A virtual sub-reference body model 103 i that is a three-dimensional numerical analysis model can be defined in the three-dimensional calculation space V.

  The reference body information defining unit 12 includes a reference body 2 that is assumed to cover the entire measurement object 1 in the three-dimensional measurement space R including the sub reference body model 103 and the virtual sub reference body model 103i. The virtual reference body model 102i, which is a three-dimensional numerical analysis model of the virtual reference body 2i corresponding to the virtual reference body 2i, can be defined as the reference body model 102 as a unit in the three-dimensional calculation space V.

  For this reason, the photographing measurement value of the sub-reference object that covers a part of the measurement object, the virtual measurement value of the virtual sub-reference object that is assumed to cover the reference measurement value and a part of the measurement object, and the virtual assigned value Based on the above, the virtual reference body model corresponding to the virtual reference body that covers the entire measurement object can be defined as a single unit in the three-dimensional calculation space, and the external orientation of the stereo imaging unit can be accurately performed. A reference body can be provided in a small size, and a three-dimensional measurement system including a small sub reference body that is easy to handle can be provided in a small size.

  A three-dimensional measurement system according to a fourth aspect of the present invention is the three-dimensional measurement system according to any one of the first to third aspects of the present invention. For example, FIG. 1 to FIG. As shown in FIG. 6, the orientation element calculation unit 13 includes a plurality of reference marks included in the sub-reference body 3 that is grasped in advance and included in the integrated reference body model 102 (102 i) defined by the reference body information definition unit 12. 4 and / or a stereo image 20 obtained by photographing with the stereo photographing unit 11 using the reference measurement values g and s of the mutual distance s of the plurality of reference marks 4 as the reference value 110 (see Table 1). Based on the three-dimensional coordinate values g of the plurality of reference marks 4 included in the sub-reference body 3 and / or the photographing measurement values f and m of the distances s between the plurality of reference marks 4, bundle adjustment (light beam adjustment) U03 (FIG. 13) To make adjustments The value 110 (reference measurement value g, s) and photographic measurement f, the error less external orientation elements between the m (x, y, z) (ω, φ, κ) configured to calculate a.

  With this configuration, the orientation element calculation unit 13 includes a plurality of sub-reference bodies 3 that are previously grasped and include the integrated reference body model 102 (102i) defined by the reference body information defining unit 12. The three-dimensional coordinate value (reference measurement value) g of the reference mark 4 and / or the distance (reference measurement value) s between the plurality of reference marks 4 is used as the reference value 110 (see Table 1) for bundle adjustment. it can. In addition, the orientation element calculation unit 13 calculates the three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 included in the sub-reference body 3 based on the stereo images 20a and 20b acquired by the stereo imaging unit 11. The bundled adjustment (luminous flux adjustment) U03 is performed on the photographing measurement value f and / or the photographing measurement value m of the mutual distance (reference measurement value) s of the plurality of reference marks 4 based on the reference value 110 (reference measurement value g, s). (Refer to FIG. 13) to adjust the external orientation element (x, y, z) (ω, φ) with a small error between the reference value 110 (reference measurement value g, s) and the photographed measurement value f, m. , Κ) can be calculated.

  For this reason, the orientation element calculation unit includes, in the same way, a reference measurement model based on a stereo image obtained by capturing a sub-reference object in the stereo image acquisition unit included in the reference object model defined by the reference object information definition unit. Bundle adjustment (light flux adjustment) can be performed using the included reference measurement value of the sub-reference body as a reference value. As a result, the three-dimensional measurement system can obtain an external orientation element with few errors, so that the external orientation of the stereo photographing unit can be performed with higher accuracy. For this reason, the sub-reference body can be provided in a smaller size, and the three-dimensional measurement system including a small sub-reference body that is easy to handle can be provided in a smaller size.

  The three-dimensional measurement system according to the fifth aspect of the present invention is a three-dimensional measurement system according to the fourth aspect of the present invention. For example, referring to FIG. 1, the bundle adjustment U03 (see FIG. 13) ) (See Table 1) is configured such that a greater weighting value is given as the optical axis of the stereo imaging unit 11 is approached.

  By configuring in this way, photographing measurement values (three-dimensional coordinates) in the vicinity of the optical axis of the stereo photographing unit 11 capable of obtaining photographing measurement values (three-dimensional coordinate values f and / or mutual distances m) with high measurement accuracy. For the value f and / or the mutual distance m), a bundle adjustment (light flux adjustment) U03 is given by applying a constraint condition (see Table 1) with a smaller bundle adjustment width to which a larger weighting value is given. 13). On the other hand, a smaller weighting value is applied to a photographing measurement value (three-dimensional coordinate value f and / or mutual distance m) remote from the optical axis of the stereo photographing unit 11 and considered to have relatively poor measurement accuracy. The bundle adjustment can be performed more positively by giving a constraint condition with a larger bundle adjustment width. For this reason, it is possible to perform bundle adjustment with an emphasis on photographing measurement values (three-dimensional coordinate value f and / or mutual distance m) with better measurement accuracy.

  As a result, the three-dimensional measurement system according to this aspect can obtain an external orientation element with less errors, and thus can perform external orientation of the stereo imaging unit with higher accuracy. For this reason, the sub-reference body can be provided in a smaller size, and the three-dimensional measurement system including a small sub-reference body that is easy to handle can be provided in a smaller size. For example, the sub-reference body can be provided as a cube whose side is 30 cm, which is significantly smaller than the human body that is the measurement object.

  The three-dimensional measurement system according to the sixth aspect of the present invention is a three-dimensional measurement system according to the fourth or fifth aspect of the present invention. For example, referring to FIG. Of bundle adjustment U03 (see FIG. 13) to be given to the reference body model 102 including both the information of the three-dimensional coordinate values g and f of the plurality of reference marks 4 and the mutual distances s and m of the plurality of reference marks 4. The constraint condition (see Table 1) is configured such that the weighting value given to the three-dimensional coordinate value f is larger than the weighting value given to the mutual distance m.

  By configuring in this way, a larger weighting value is given to the three-dimensional coordinate value f that is directly constrained to the three-dimensional calculation space V due to its properties, and the bundle adjustment width is smaller. It is possible to perform bundle adjustment (light beam adjustment) U03 (see FIG. 13) by giving constraint conditions (see Table 1). On the other hand, for the mutual distance m that is not directly constrained for the three-dimensional calculation space V due to its property, a smaller weighting value is given and a constraint condition with a larger bundle adjustment width is provided. Can be used to make bundle adjustments more actively. For this reason, the bundle adjustment does not cause a problem such that the reference body model 102 rotates unintentionally in the three-dimensional calculation space V, and the three-dimensional coordinate value f is constrained with respect to the three-dimensional calculation space V. On the other hand, the bundle adjustment constrained with respect to the three-dimensional calculation space V that greatly adjusts the value of the mutual distance m can be performed.

  As a result, the three-dimensional measurement system according to this aspect can obtain an external orientation element with less errors, and thus can perform external orientation of the stereo imaging unit with higher accuracy. For this reason, the sub-reference body can be provided in a smaller size, and the three-dimensional measurement system including a small sub-reference body that is easy to handle can be provided in a smaller size.

  Moreover, the three-dimensional measurement system according to the seventh aspect of the present invention is the three-dimensional measurement system according to any one of the first to sixth aspects of the present invention. For example, as shown in FIG. For the sub reference body model 103b that is closest to the optical axis of the stereo photographing unit 11, the reference body information defining unit 12 captures the measurement values f of the three-dimensional coordinate values of the plurality of reference marks 4 of the sub reference body 3b. And a reference measurement value g of the three-dimensional coordinate values of the plurality of reference marks 4 of the sub reference body 3b grasped in advance; a sub reference other than the sub reference body model 103b closest to the optical axis of the stereo photographing unit 11 For the body models 103a and 103c, the photographing measurement value m of the distance between the plurality of reference marks 4 of the sub-reference bodies 3a and 3c and the plurality of reference marks 4 of the sub-reference bodies 3a and 3c that have been grasped in advance. Reference measurement value s of mutual distance and Defining.

  By configuring in this way, the reference body information defining unit 12 is positioned closest to the optical axis of the stereo imaging unit 11 located in the region where the imaging measurement accuracy is highest, for example, for the sub-reference body 3b. The sub-reference body model 103b can be defined using the three-dimensional coordinate values f and g of the mark 4. On the other hand, for example, sub-reference bodies 3a and 3c other than the sub-reference body 3b closest to the optical axis of the stereo imaging unit 11 located in the region where the shooting measurement accuracy is highest are between the plurality of reference marks 4. The sub-reference body models 103a and 103c can be defined using the distances m and s.

  For this reason, the reference body information defining unit accurately defines the sub-reference body model using the three-dimensional coordinate value of the reference mark measured with high photographing measurement accuracy for the region closest to the optical axis of the stereo photographing unit. On the other hand, for a region separated from the optical axis of the stereo photographing unit, a sub-reference body model can be defined by using a distance between a plurality of reference marks to define an integrated reference body model. . For this reason, it is possible to suppress the influence of the photographing measurement error on the three-dimensional coordinate value (photographing measurement value) having a strong constraint on the three-dimensional calculation space, and relatively increase the photographing measurement error by separating from the optical axis. Since the reference body model can be defined so as to positively perform bundle adjustment (light beam adjustment) with respect to the mutual distance (photometric measurement value) including it, it is possible to efficiently obtain a more accurate external orientation element. An excellent reference model can be defined.

  Further, the three-dimensional measurement system according to the eighth aspect of the present invention is the three-dimensional measurement system according to any one of the first to seventh aspects of the present invention. For example, as shown in FIG. In the three-dimensional measurement space R, the floor surface 16 on which the measurement object 1 is arranged is provided with a plurality of floor surface reference marks 16b; The reference body information defining unit 12 uses the stereo image 20 (see FIG. 10) of the plurality of floor surface reference marks 16b to obtain information about the floor surface 16 on which the measurement object 1 is placed in the three-dimensional calculation space V 1), it is configured to be incorporated into the reference body model 102 (see FIG. 1) and defined as information on one plane (reference plane) 106 (see FIG. 1).

  By configuring in this way, the three-dimensional measurement system 10 includes a plurality of floor surface reference marks 16b on the floor surface 16 on which the measurement object 1 is arranged in the three-dimensional measurement space R. In addition, the stereo imaging units 11a to 11d provided in the three-dimensional measurement system 10 are configured to perform stereo imaging of the plurality of floor surface reference marks 16b. Further, the reference body information defining unit 12 included in the three-dimensional measurement system 10 is a floor surface 16 on which the measurement object 1 is arranged based on stereo images 20a and 20b (see FIG. 10) of a plurality of floor surface reference marks 16b. Can be incorporated into the reference body model 102 (see FIG. 1) and defined as information on one plane (reference plane) 106 (see FIG. 1) in the three-dimensional calculation space V (see FIG. 1).

  For this reason, the reference body model defined by the three-dimensional measurement system of this aspect has information on a reference plane that can be used as a measurement reference plane for three-dimensional measurement, and can perform external orientation of the stereo imaging unit. A three-dimensional measurement coordinate system defined by the three-dimensional measurement system can have reference plane information. For this reason, for example, by performing coordinate transformation of the three-dimensional measurement coordinate system, the three-dimensional measurement coordinate system can be a three-dimensional coordinate system having an origin on the reference plane. Can be normalized as information of a three-dimensional measurement result in a three-dimensional measurement coordinate system using the same reference plane as a measurement reference plane. For this reason, it is possible to obtain a three-dimensional measurement result with easy comparison statistics and higher information value.

  Moreover, the three-dimensional measurement system according to the ninth aspect of the present invention is the three-dimensional measurement system according to any one of the first to eighth aspects of the present invention. For example, as shown in FIG. The three-dimensional measurement unit 14 sets a detection process limited space setting unit 14a that sets a detection process limited space 21 in which the measurement object 1 is included in the three-dimensional calculation space V (or the corresponding three-dimensional measurement space R) (see FIG. 1). (See FIG. 7), the detection processing limited space setting unit 14a limits the range for performing corresponding point detection processing (stereo matching processing) on the pair of stereo images 20a and 20b within the detection processing limited space 21. (See FIG. 15).

  With this configuration, the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 includes the measurement object 1 in the three-dimensional calculation space V (or the corresponding three-dimensional measurement space R) (see FIG. 1). It has a detection process limited space setting unit 14a (see FIG. 7) for setting the detection process limited space 21. Further, the detection processing limited space setting unit 14a limits the range in which the corresponding point detection processing (stereo matching processing) on the pair of stereo images 20a and 20b is performed within the detection processing limited space A02 (see FIG. 15). Can do.

  For this reason, the processing target range of the corresponding point detection process (stereo matching process) that requires an appropriate information processing time can be limited within the detection processing limited space, and thus the information processing time of the corresponding point detection process can be shortened and quickly performed. 3D measurement can be performed.

  Further, the three-dimensional measurement system according to the tenth aspect of the present invention is the same as the three-dimensional measurement system according to the ninth aspect of the present invention, for example, as shown in FIG. 7) limits the range in which the corresponding point detection process (stereo matching process) is performed in the two-dimensional plane space on the stereo images 20a and 20b of the measurement object 1 photographed by the stereo photographing unit 11 (see FIG. 1) A02 ( 15), and a range in which the corresponding point detection process is performed by filling the portion 22 other than the range corresponding to the detection process limited space 21 on the stereo images 20a and 20b with a single color is included in the detection process limited space 21. It is configured to be limited A02.

  With this configuration, the detection processing limited space setting unit 14a (see FIG. 7) included in the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 is placed on the stereo images 20a and 20b photographed by the stereo photographing unit 11. The range in which the corresponding point detection process (stereo matching process) is performed in the two-dimensional plane space on the stereo images 20a and 20b on which the measurement object 1 is projected can be limited A02 (see FIG. 15). In addition, the detection processing limited space setting unit 14a sets a range in which the corresponding point detection processing is performed by painting a portion 22 other than the range corresponding to the detection processing limited space 21 on the stereo images 20a and 20b in the detection processing limited space 21. Limited to A02.

  Therefore, by performing the corresponding point detection process (stereo matching process) on the two-dimensional plane obtained by projecting the three-dimensional calculation space onto a pair of stereo images, the corresponding point detection process can be performed more quickly. Further, by painting a portion other than the detection processing limited space with a single color on the two-dimensional plane on the stereo image, it is possible to reliably prevent erroneous detection in the corresponding point detection processing and to perform the corresponding point detection processing more quickly. it can.

  Further, the three-dimensional measurement system according to the eleventh aspect of the present invention is the three-dimensional measurement system according to any one of the first to tenth aspects of the present invention. For example, as shown in FIG. The three-dimensional measurement system 10 detects the position change 29 of the stereo photographing unit 11 in the three-dimensional measurement space R (see FIG. 1) from the time of the external orientation element calculation S04 (see FIG. 12). A fluctuation detection unit 15 (see FIG. 7) is provided, and the shooting position fluctuation detection unit 15 includes stereo images 20a and 20b obtained after the stereo shooting unit 11 acquires the external orientation element calculation S04, and the stereo shooting unit 11 calculates the external orientation element S04. By comparing the stereo images 20a and 20b obtained at times, the presence / absence of the position variation 29 of the stereo imaging unit 11 in the three-dimensional measurement space R is detected M01. .

  With this configuration, the three-dimensional measurement system 10 detects the position variation 29 of the stereo imaging unit 11 in the three-dimensional measurement space R (see FIG. 1) from the time of the external orientation element calculation S04 (see FIG. 14) An imaging position variation detector 15 (see FIG. 7) is provided. In addition, the photographing position variation detection unit 15 includes stereo images 20a and 20b obtained after the stereo photographing unit 11 after the external orientation element calculation S04, and stereo images 20a and 20b obtained by the stereo photographing unit 11 during the external orientation element calculation S04. By comparison, the presence / absence of the position variation 29 of the stereo imaging unit 11 in the three-dimensional measurement space R can be detected M01.

  For this reason, since the three-dimensional measurement system of this aspect can detect and grasp whether or not the stereo photographing unit has caused the position variation as compared with the time of calculating the external orientation element by the photographing position variation detection unit. In addition, it is possible to perform three-dimensional measurement with high accuracy while maintaining the localization state of the stereo photographing unit when calculating the external orientation element.

  Further, the three-dimensional measurement system according to the twelfth aspect of the present invention is the same as the three-dimensional measurement system according to the eleventh aspect of the present invention, for example, as shown in FIG. The position change detection target mark 17a is configured to be fixedly supported by the support unit 17 to which the target mark 17a is affixed and is photographed in stereo, and the image position change detection unit 15 (see FIG. 7) The stereo photographing unit 11 compares the position of the position variation detection target mark 17a on the stereo images 20a and 20b photographed by the stereo photographing unit 11 between the external orientation element calculation S04 (see FIG. 12) and after the external orientation element calculation S04. The presence / absence of the position fluctuation 29 is detected M01 (see FIG. 14).

  With this configuration, the stereo photographing unit 11 fixed and supported by the support unit 17 to which the position variation detection target mark 17a is attached can photograph the position variation detection target mark 17a in stereo. Further, the photographing position variation detection unit 15 (see FIG. 7) calculates the position (position on the image) of the position variation detection target mark 17a on the stereo images 20a and 20b photographed by the stereo photographing unit 11 at the time of external orientation element calculation S04. And after the external orientation element calculation S04, it is possible to detect M01 (see FIG. 14) whether or not the position change 29 of the stereo photographing unit 11 is present.

  For this reason, the photographing position variation detection unit calculates an external orientation element on the stereo image photographed by the stereo photographing unit with the position variation detection target mark attached to the support unit that fixes and supports the stereo photographing unit as a monitoring reference point. Since it is possible to detect and grasp whether or not the position of the stereo photographing unit has changed from the time, it is possible to accurately perform three-dimensional measurement while maintaining the localization state of the stereo photographing unit when calculating the external orientation element.

  Further, the three-dimensional measurement system according to the thirteenth aspect of the present invention is the three-dimensional measurement system according to the eleventh or twelfth aspect of the present invention. For example, as shown in FIG. The floor reference mark 16b on the floor surface 16 on which the measurement object 1 (see FIG. 5) is arranged is photographed. The photographing position variation detection unit 15 (see FIG. 7) is photographed by the stereo photographing unit 11. The position of the floor reference mark 16b on the stereo images 20a, 20b is compared between the external orientation element calculation S04 and after the external orientation element calculation S04, and the presence / absence of the position variation 29 of the stereo photographing unit 11 is detected M01 (FIG. 14). Configured to refer to).

  With this configuration, the stereo photographing unit 11 can photograph the floor reference mark 16b on the floor 16 on which the measurement object 1 (see FIG. 5) is arranged. Further, the photographing position variation detection unit 15 (see FIG. 7) determines the position of the floor reference mark 16b (position on the image) on the stereo images 20a and 20b photographed by the stereo photographing unit 11 at the time of external orientation element calculation S04. The presence / absence of the position variation 29 of the stereo photographing unit 11 can be detected M01 (see FIG. 14) compared with after the external orientation element calculation S04.

  For this reason, the imaging position variation detection unit uses the floor reference mark on the floor on which the measurement object is placed as a monitoring reference point, and the stereo imaging from the time of calculating the external orientation element on the stereo image captured by the stereo imaging unit. Since it is possible to detect and grasp the presence / absence of the position change of the part, it is possible to accurately perform the three-dimensional measurement while maintaining the localization state of the stereo photographing part at the time of calculating the external orientation element.

  Moreover, the three-dimensional measurement system according to the fourteenth aspect of the present invention is the three-dimensional measurement system according to any one of the first to thirteenth aspects of the present invention. For example, as shown in FIG. The three-dimensional measurement unit 14 removes the background 9 of the measurement object 1 by subtracting another stereo image 28 that does not include the measurement object 1 from the one stereo image 27 in which the measurement object 1 is captured A03. A background removing unit 14b (see FIG. 7) is provided (see FIG. 15).

  With this configuration, the background removal unit 14b (see FIG. 7) included in the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 has the background 9 from one stereo image 27 in which the measurement object 1 is captured. The background 9 of the measurement object 1 can be removed A03 (see FIG. 15) by subtracting another stereo image 28 that does not include the photographed measurement object 1.

  For this reason, the three-dimensional measurement system according to the present aspect removes the background by subtracting the other stereo image that does not include the measurement object from the one stereo image in which the measurement object is photographed. Since the background which is a burden of (stereo matching processing) can be removed, three-dimensional measurement can be performed quickly and efficiently.

  A three-dimensional measurement system according to the fifteenth aspect of the present invention is the three-dimensional measurement system according to any one of the first to fourteenth aspects of the present invention. For example, as shown in FIG. The three-dimensional measurement unit 14 includes a stereo matching processing unit 14c (see FIG. 7) having a preprocessing unit 14c1 (see FIG. 8) and a detailed processing unit 14c2 (see FIG. 8). Detailed matching processing A08 (see FIG. 15) is performed in the detailed processing unit 14c2 with the detailed matching processing range (detailed detection processing limited space) 21a determined by the preprocessing unit 14c1 as a processing target.

  With this configuration, the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 includes a stereo matching processing unit 14c (including a preprocessing unit 14c1 (see FIG. 8)) and a detailed processing unit 14c2 (see FIG. 8). (See FIG. 7). Further, the stereo matching processing unit 14c sets the detailed matching processing range (detailed detection processing limited space) 21a determined to be matched by the preprocessing unit 14c1 as a processing target and performs the detailed matching processing A08 (see FIG. 15) in the detailed processing unit 14c2. Can be done.

  For this reason, the three-dimensional measurement system of this aspect is the pre-matching that is the first matching process that can perform the processing target range of the detailed matching process that occupies the maximum information processing time in the three-dimensional measurement relatively quickly. By performing detailed matching processing within the detailed matching processing range (detail detection limited space) determined by matching, the information processing time of the detailed matching processing is suppressed, and three-dimensional measurement can be performed quickly and efficiently. Can be done.

  Moreover, the method for three-dimensionally measuring the measurement object according to the sixteenth aspect of the present invention is, for example, as shown in FIG. 12, a reference body 2 (FIG. 1) that covers the entire measurement object 1 (see FIG. 1). Of a plurality of reference marks 4 (see FIG. 1) and / or a plurality of reference marks 4 in a three-dimensional measurement space R (see FIG. 1) constituting a part of A step of providing a sub-reference body 3 (see FIG. 1) having a plurality of reference marks 4 in which the measurement reference values g and s of the mutual distance s (see FIG. 1) are previously grasped in the three-dimensional measurement space R (S01) And (S02) obtaining a stereo image 20 (see FIG. 9) by stereo shooting the sub-reference body 3 from a plurality of directions in the three-dimensional measurement space R; and sub-reference based on the stereo image 20 obtained by stereo shooting. The tertiary of the plurality of reference marks 4 that the body 3 has The measurement values f and m (see FIG. 1) of the coordinate value g and / or the mutual distance s between the plurality of reference marks 4 and the three-dimensional coordinate values g of the plurality of reference marks 4 included in the sub-reference body 3 previously grasped. And / or a reference body model 102 (see FIG. 1), which is a three-dimensional numerical analysis model of the reference body 2, including the reference measurement values g and s of the mutual distance s of the plurality of reference marks 4. (See FIG. 1), step (S03) for defining as a single unit, and external orientation elements (x, y, z) for stereo shooting using the reference body model 102 defined in the step (S03) for defining. Step (S04) of calculating (ω, φ, κ) by the external orientation method; and photographing the measurement object 1 by stereo photographing in which the external orientation elements (x, y, z) (ω, φ, κ) are calculated. And the step (S05) of measuring the measurement object 1 three-dimensionally The three-dimensional measurement space R is a real space R in which the sub-reference body 3 and the measurement object 1 are actually installed to perform the three-dimensional measurement; the three-dimensional calculation space V corresponds to the three-dimensional measurement space R. This is a virtual space V for calculating the external orientation elements (x, y, z) (ω, φ, κ) of stereo photography by the external orientation method.

  With this configuration, a plurality of objects in the three-dimensional measurement space R (see FIG. 1) that constitutes a part of the reference body 2 (see FIG. 1) that covers the entire measurement object 1 (see FIG. 1). The three-dimensional coordinate value (reference measurement value) g (see FIG. 1) of the reference mark 4 (see FIG. 1) and / or the mutual distance (reference measurement value) s (see FIG. 1) of the plurality of reference marks 4 is grasped in advance. The sub-reference body 3 (see FIG. 1) having the plurality of reference marks 4 thus formed can be provided in the three-dimensional measurement space R (S01). In addition, stereo images 20a and 20b can be obtained by stereo shooting the sub-reference body 3 from a plurality of directions in the three-dimensional measurement space R (S02). Further, based on the stereo images 20a and 20b obtained by stereo shooting, the shooting measurement values f (see FIG. 1) of the three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 included in the sub reference body 3 and / or Alternatively, the photographing measurement value m (see FIG. 1) of the mutual distance (reference measurement value) s between the plurality of reference marks 4 and the three-dimensional coordinate values (reference values) of the plurality of reference marks 4 possessed by the sub-reference body 3 previously grasped. Three-dimensional calculation of a reference body model 102 (see FIG. 1), which is a three-dimensional numerical analysis model of the reference body 2, including the measurement value) g and / or the mutual distance (reference measurement value) s of the plurality of reference marks 4. It can be defined as one in the space V (see FIG. 1) (S03). Further, the external orientation elements (x, y, z) (ω, φ, κ) for stereo shooting can be calculated by the external orientation method using the reference body model 102 defined in the defining step (S03). Yes (S04). Further, the measurement object 1 can be photographed three-dimensionally by photographing the measurement object 1 by stereo photography in which the external orientation elements (x, y, z) (ω, φ, κ) are calculated (S05).

  For this reason, the method for three-dimensional measurement of the measurement object of this aspect forms a part of the reference body, that is, a stereo image obtained by taking a stereo image of a sub-reference body smaller than the reference body and the sub-reference body. Corresponding to the reference body covering the entire measurement object in the three-dimensional measurement space, based on the reference measurement value obtained by performing the reference measurement in advance, and following the coplanar conditions of the spatial forward intersection method in the three-dimensional calculation space, A reference body model, which is one numerical analysis model, including information on the measured values of the reference body and information on the reference measurements is defined as a single unit in the three-dimensional calculation space, and stereo shooting is performed using the reference body model. Since the external orientation can be accurately performed and the three-dimensional measurement of the measurement object can be performed with high accuracy, a three-dimensional measurement system including a small sub-reference body that is easy to handle can be provided in a small size.

  According to the three-dimensional measurement system and the three-dimensional measurement method according to the present invention, it is possible to provide a three-dimensional measurement system and a three-dimensional measurement method based on stereo photography that facilitates external orientation.

FIG. 1 is an explanatory diagram showing an example of external orientation of the three-dimensional measurement system according to the first embodiment of the present invention. FIG. 2 is an explanatory diagram showing an example of external orientation of the three-dimensional measurement system according to the second embodiment of the present invention. FIG. 3 is an explanatory diagram showing an example of external orientation of the three-dimensional measurement system according to the third embodiment of the present invention. FIG. 4 is an explanatory diagram showing an example of external orientation of the three-dimensional measurement system according to the third embodiment of the present invention. FIG. 5 is an explanatory diagram showing an example of the arrangement of the three-dimensional measurement system according to the first to third embodiments of the present invention. FIG. 6 is an explanatory diagram showing an example of external orientation of the three-dimensional measurement system according to the fourth embodiment of the present invention. FIG. 7 is a block diagram showing the configuration of the three-dimensional measurement system according to the first to fourth embodiments of the present invention. FIG. 8 is a block diagram illustrating a detailed configuration of a three-dimensional measurement unit included in the three-dimensional measurement system according to the first to fourth embodiments of the present invention. FIG. 9 is an explanatory diagram showing an example of setting a stereo matching process limited space according to the first to fourth embodiments of the present invention. FIG. 10 is an explanatory diagram illustrating an example of detection of a position variation of the stereo imaging unit according to the first to fourth embodiments of the present invention. FIG. 11 is an explanatory diagram showing an example of background removal processing according to the first to fourth embodiments of the present invention. FIG. 12 is a flowchart showing a method for three-dimensionally measuring a measurement object according to the fifth embodiment of the present invention. FIG. 13 is a flowchart showing in more detail a method for setting up three-dimensional measurement in the method for three-dimensionally measuring a measurement object according to the fifth embodiment of the present invention. FIG. 14 is a flowchart showing in more detail a method for three-dimensionally measuring a measurement object according to the fifth embodiment of the present invention. FIG. 15 is a flowchart showing in more detail the stereo matching processing method in the method for three-dimensionally measuring the measurement object according to the fifth embodiment of the present invention. FIG. 16 is a diagram illustrating external orientation for stereo imaging in three-dimensional measurement according to the first to fifth embodiments of the present invention. FIG. 17 is a diagram illustrating conventional three-dimensional measurement.

  Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or similar members are denoted by the same or similar reference numerals, and redundant description is omitted.

  With reference to FIG. 1, the three-dimensional measurement system according to the first embodiment of the present invention will be described in detail. The overall configuration of the three-dimensional measurement system 10 according to the present embodiment will be described in detail later with reference to FIGS. 7, 8, and 12. The three-dimensional measurement system 10 (see FIG. 7) of the present embodiment includes sub-reference bodies 3a, 3b, 3c (hereinafter referred to as “parts of a reference body 2” that covers the entire human body that is the measurement object 1). When it is not necessary to individually distinguish the three sub-reference bodies 3a, 3b, 3c, a plurality of (for example, three) sub-reference bodies 3) are provided. That is, the sub reference body 3 covers a part of the measurement object 1. The reference body 2 covering the entire measurement object 1 typically means that the measurement object 1 is completely encompassed by a space larger than the space occupied by the entire measurement object 1. The document is not necessarily limited to the case where the entire measurement object 1 occupies the entire space, but includes the main part of the measurement object 1 (the part to be measured). Well, in that sense, a case where a space occupied by a part of the measuring object 1 is included. For example, when it is desired to measure the body part of the human body that is the measurement object 1, the reference body 2 does not include the hands part of the person with both hands spread out. Let's say what is covered.

  In the three-dimensional measurement system 10 using stereo imaging, when external orientation of the stereo imaging unit 11 is performed, linearity is maintained between the space inside and outside the reference body 2 used for external orientation. Not necessarily (non-linear). Therefore, in principle, it is preferable to perform external orientation using the reference body 2 that completely includes the space occupied by the entire measurement object 1. However, as an exception, the external orientation is determined by using the reference body 2 including the space occupied by the majority of the measurement object 1 within a range where the accuracy of the external orientation of the stereo imaging unit 11 is not significantly impaired. There are cases where three-dimensional measurement is effective even when performing the above. In such a case, it can be said that the reference body 2 substantially covers the entire measurement object 1.

  For example, in accordance with the principle, the external orientation of the stereo imaging unit 11 can be performed using the reference body 2 that covers the entire one person as the measurement object 1. In this case, for example, there may be a case where another person having a height and shoulder width larger than that of one person is directly measured three-dimensionally. In this case, there may be a case where the reference body 2 cannot cover the whole of another person having a large height and shoulder width. Also in this case, within the range where the accuracy of the external orientation of the stereo photographing unit 11 is not greatly impaired, exceptionally, effective three-dimensional measurement is performed with the original external orientation being performed. There are cases where it is possible. In such a case, for another person with a large height and shoulder width, the reference body 2 is a reference body 2 that includes a space that occupies most of the other person with a large height and shoulder width. Can do. Using such a reference body 2, there are cases where effective external orientation can be performed by substantially covering the whole of another person with a large height and shoulder width, which is the measurement object 1. Can do.

  In the three-dimensional measurement system 10 of the present embodiment shown in FIG. 1, in the three-dimensional measurement space R, a plurality of (for example, three) sub-reference bodies 3a, 3b, 3c are actually stacked in the vertical direction, and stereo. An external orientation of the photographing unit 11 is provided. That is, in the three-dimensional measurement system 10 of the present embodiment, the reference body 2 is provided by stacking a plurality of (for example, three) sub-reference bodies 3a, 3b, 3c in the three-dimensional measurement space R. The plurality of sub-reference bodies 3a, 3b, and 3c each cover a part of the human body that is the measurement object 1, and the human body that is the measurement object 1 by collecting the plurality of sub-reference bodies 3a, 3b, and 3c. For example, the cube is provided as a cube having a side of 70 cm.

  As will be described in detail later, the plurality of sub-reference bodies 3a, 3b, and 3c present the reference mark 4 included in each of the sub-reference bodies 3a, 3b, and 3c to the stereo photographing unit 11, and the stereo photographing unit 11 performs the reference. What is necessary is just to provide so that the stereo image 20a, 20b (refer FIG. 9) for obtaining the imaging | photography measurement value f of the three-dimensional coordinate value (reference | standard measurement value) g of the mark 4 can be image | photographed. The external dimensions of the sub reference body 3 of the present embodiment are not limited to a cube having a side of 70 cm, and may be larger or smaller than the cube. The external shape may be a cube, a rectangular parallelepiped, a hexagonal prism, or an octagonal prism.

  For example, when the sub-reference body 3 is provided as a cube, the human body that is the measurement object 1 can be covered without distinguishing the installation direction in the front-rear direction and the left-right direction, and thus can be handled easily. Alternatively, when the sub-reference body 3 is provided as a rectangular parallelepiped, the human body that is the measurement object 1 that is short in the front-rear direction and wide in the left-right direction is covered with the short side direction and the long side direction of the rectangular parallelepiped without excess or deficiency. be able to. Alternatively, when the sub-reference body 3 is provided as a hexagonal column or an octagonal column, it can be provided on more side surfaces, and can be presented to the stereo imaging unit 11 with more reference marks 4. Based on the information of more reference marks 4, the external orientation of the stereo photographing unit 11 can be performed with higher accuracy.

  Each of a plurality of (for example, three) sub-reference bodies 3a, 3b, and 3c provided in a small size is provided in a hollow and lightweight manner. Even if it is a woman, it is good to provide so that handling, such as grasping and moving sub reference bodies 3a, 3b, and 3c with both hands, may be easy. When provided in this way, compared with the conventional reference body 200 (see FIG. 17), careful handling for preventing the load of external force that may cause other variations in the dimensional shape of the sub-reference bodies 3a, 3b, and 3c. The effect which can be performed easily is produced.

  In one embodiment, the plurality of (for example, three) sub-reference bodies 3a, 3b, and 3c are provided in a dimensional shape having a corresponding magnitude relationship, for example, a nested shape (can be stretched and contracted) The telescope shape and the like may be provided so as not to be bulky when the sub reference bodies 3a, 3b, 3c are carried into the three-dimensional measurement space R or when the sub reference bodies 3a, 3b, 3c are stored / stored. In this case, by providing an opening on the bottom surface (or top surface) that does not have the reference mark 4 of each of the plurality of sub-reference bodies 3a, 3b, 3c, the sub-reference body 3a has a nested shape, a telescope shape, or the like. 3b, 3c can be provided.

  In each of the side surfaces of a plurality of (for example, three) sub-reference bodies 3a, 3b, and 3c of the present embodiment, reference marks 4 for use in external orientation of the stereo photographing unit 11 are illustrated at the four corners of the side surfaces. Four streets are pasted and provided. The reference mark 4 included in the sub-reference bodies 3a, 3b, and 3c of the present embodiment is provided as the color code target 4. By providing the reference mark 4 as the color code target 4, the reference code for indicating the reference position, the reference color mark for indicating the color reference, and the color code target 4 included in the color code target 4 are individually identified. A plurality of pieces of information such as color code marks are simultaneously determined on the stereo image 20 photographed by the stereo photographing unit 11, and the reference position indicated by the color code target 4, color information used for internal orientation, and unique identification information are simultaneously grasped. can do.

  Note that the reference mark 4 included in the sub-reference bodies 3a, 3b, and 3c can be determined by specifying a three-dimensional space coordinate value of one point in the three-dimensional measurement space R on the stereo image 20 photographed by the stereo photographing unit 11. As long as it is possible, it may be more simply provided as a pattern in which the three-dimensional positions of the reference points such as intersecting strike marks, white circles, and black circles can be clearly grasped. Further, in order to individually identify each side surface and each reference point of the sub reference bodies 3a, 3b, 3c, hexagons, white crosses, You may provide so that the pattern for identification, such as a rhombus, a number, a black square, a square with a diagonal line, and a square with a grid line, may be displayed. The reference mark 4 can be provided by sticking a seal on which the reference mark 4 is printed on the sub-reference bodies 3a, 3b, 3c. Alternatively, the reference mark 4 can be directly sprayed onto the sub-reference bodies 3a, 3b, 3c. It is good also as what prints and provides.

  The three-dimensional coordinate value (reference measurement value) g of the reference mark 4 and / or the distance (reference measurement value) s between the plurality of reference marks 4 included in the sub-reference bodies 3a, 3b, and 3c of the present embodiment is 3 Before the sub-reference bodies 3a, 3b, 3c are installed (provided / carried in) in the three-dimensional measurement space R in the three-dimensional measurement system 10, the reference measurement is performed and grasped in advance. In the reference measurement, the external orientation and external orientation elements (x, y, z) (ω, φ, κ) (ω, φ, κ) (see FIG. This is an important measurement for determining the reference value 110 when performing bundle adjustment (light beam adjustment). Since the reference measurement affects the measurement accuracy of the three-dimensional measurement, the reference measurement is preferably performed with a measurement accuracy equal to or higher than the measurement accuracy required for the three-dimensional measurement. The reference measurement method may be performed using, for example, a contact-type three-dimensional shape measuring machine, or a stereo imaging three-dimensional measurement system that is adjusted and managed so as to have a measurement accuracy to be used as a reference. May be done.

The reference measurement is performed by grasping the plurality of (for example, 16) reference marks 4 included in each of the plurality of (for example, three) sub-reference bodies 3a, 3b, and 3c according to the present embodiment. . For example, the three-dimensional coordinate values (reference measurement values) g of the four reference marks 4 and the mutual distances (reference measurement values) s of the four reference marks 4 on one side surface of one sub-reference body 3a are 4. One arbitrarily determined reference mark 4 among the reference marks 4 is measured and grasped as a measurement reference point. Information on the three-dimensional coordinate values (reference measurement values) g of the four reference marks 4 and / or the mutual distances (reference measurement values) s of the four reference marks 4 on one side surface of one sub-reference body 3a. Can be used for external orientation and bundle adjustment (light flux adjustment) of the stereo imaging unit 11 as a reference value 110 to be described in detail later. The reference measurement of the mutual distance (reference measurement value) s of the reference marks 4 is performed by measuring the reference marks 4 between a plurality of reference marks 4 existing on the same side surface of the sub-reference body 3, and Reference measurement is also performed for the mutual distance (reference measurement value) s of a plurality of reference marks 4 that do not exist on the same side surface (exist on different side surfaces), and the mutual distance s is grasped. That is, for example, in the case of a sub-reference body having 16 reference marks, there are 120 ( ₁₆ C ₂ ) mutual distances s at maximum.

  On the other hand, the mutual distance between the reference mark 4 included in one sub-reference body 3a and the reference mark 4 included in the other sub-reference bodies 3b and 3c is not subjected to reference measurement. The distance between them varies depending on how the sub-reference bodies 3a, 3b, and 3c are stacked, and is not used as a reference value for external orientation of the stereo photographing unit 11 described in detail later. That is, the information on the distance between the reference mark 4 included in one sub-reference body 3a and the reference mark 4 included in the other sub-reference bodies 3b and 3c is not questioned in the external orientation of the stereo photographing unit 11. . For this reason, the stacking accuracy and the like when stacking a plurality of (for example, three) sub-reference bodies 3a, 3b, and 3c in the three-dimensional measurement space R are not strictly managed.

  In the three-dimensional measurement system 10 according to the present embodiment, the measurement object 1 is configured by stacking the sub reference bodies 3a, 3b, and 3c described above in the vertical direction and configured by a set of the sub reference bodies 3a, 3b, and 3c. A reference body 2 that covers the entire human body is photographed by the stereo photographing unit 11 so as to obtain a pair of stereo images 20 a and 20 b for externally locating one stereo photographing unit 11. For this reason, the one stereo photographing unit 11 simultaneously applies twelve reference marks 4 corresponding to three times the number of the four reference marks 4 provided by being attached to the four corners of one side surface of the one sub reference body 3a. It can be photographed and mapped onto a set of stereo images 20a, 20b.

The stereo photographing unit 11 provided in the three-dimensional measurement system 10 of the present embodiment will be described. The stereo photographing unit 11 is a rear principal point (image side) of an optical lens system (lens group) provided at two super wide angles (wide field angles) separated by a predetermined base length l (small L) in the vertical direction. It is provided as a stereo photographing device having principal points O ₁ and O ₂ (see FIG. 16). That is, the rear principal point O ₁ of the first optical lens system included in the stereo photographing unit 11 is provided so as to be located away from the first (upper) stereo image 20a by the focal length c, and the second The rear principal point O ₂ of the optical lens system is provided so as to be separated from the second (lower) stereo image 20b by a focal length c. With the one stereo photographing unit 11 configured in this way, a set of stereo images 20 composed of the first stereo image 20a and the second stereo image 20b can be obtained. In addition, when photographing the sub reference body 3, the stereo photographing unit 11 may perform the stereo photographing so that at least two adjacent side surfaces of each of the sub reference bodies 3 are included. When performing stereo shooting in this manner, two adjacent side surfaces of the sub reference body 3 can be collectively shot in stereo by the one stereo shooting unit 11. The plurality of reference marks 4 possessed by can be photographed and measured with higher matching to each other.

Here, with reference to FIG. 16, the external orientation in stereophotogrammetry will be described. According to the stereo photogrammetry space forward intersection method, the three-dimensional calculation space V, which is a virtual space corresponding to the three-dimensional measurement space R, has an origin on the first rear principal point O ₁ of the stereo photographing unit 11. It can be defined as having. At this time, the first and second rear principal points O ₁ and O ₂ of the stereo photographing unit 11 and the coordinate position p ₁ (of the image) of the reference mark 4 on the first and second stereo images 20a and 20b. , P ₂ and the forward intersection P (x, y, z) satisfy the coplanar conditions for forming _one plane O ₁ O ₂ p ₁ p ₂ P. Therefore, in the three-dimensional calculation space V, the coordinate positions p ₁ (x ₁ , y ₁ , −c), p ₂ (x ₂ , y ₂ , y) of the reference mark 4 on the first and second stereo images 20a and 20b. By projecting -c) onto the three-dimensional calculation space V, the forward intersection P (x, y, z) can be defined.

  On the other hand, in the three-dimensional measurement space R, with respect to the plurality of reference marks 4 included in the sub-reference body 3, as described above, a plurality of three-dimensional coordinate values (reference measurement values) g (P (X (X , Y, Z)) and / or the distance (reference measurement value) s between the plurality of reference marks 4 is known.

Further, the forward intersection P (x, y, z) (photographed measurement value f) in the three-dimensional calculation space V and the three-dimensional coordinate value P (X, Y, Z) (reference measurement value g) in the three-dimensional measurement space R. And correspond to each other. Therefore, based on the forward intersection P (x, y, z) in the three-dimensional calculation space V and the three-dimensional coordinate value P (X, Y, Z) in the three-dimensional measurement space R, the first of the stereo photographing unit 11 In addition, the three-dimensional coordinate values (X, Y, Z) in the three-dimensional measurement space R of the second rear principal point O ₁ (origin O) and O ₂ can be externally determined. Similarly, the optical axis directions (ω, φ, κ) of the first and second cameras are set to the forward intersection P (x, y, z) in the three-dimensional calculation space V and the three-dimensional coordinate values in the three-dimensional measurement space R. External orientation can be performed based on P (X, Y, Z).

The coordinate point p ₁ (x ₁ , y ₁ , −c) on the first stereo image 20a in the three-dimensional calculation space V related to the first camera included in the stereo photographing unit 11 and the forward intersection P (X ₁ , Y _1). , Z ₁ ) ((x, y, z)) and a relational expression for coordinate conversion are shown in Expression (1). In addition, the coordinate point p ₂ (x ₂ , y ₂ , −c) on the second stereo image 20b in the three-dimensional calculation space V related to the second camera and the forward intersection P (X ₂ , Y ₂ , Z ₂ ). Expression (2) shows a relational expression of coordinate conversion with ((x, y, z)). For example, a known reference measurement value (three-dimensional coordinate value) g obtained by reference measurement of the sub-reference body 3 may be input to the left side of the expressions (1) and (2). In this case, the right side of the equations (1) and (2) is an imaging measurement value (three-dimensional) including information on known coordinate values of the coordinate points p ₁ and p ₂ on the pair of stereo images 20a and 20b. Coordinate value) f (front intersection P (x, y, z)). The right side (photographed measurement value (three-dimensional coordinate value) f) of Equation (1) and Equation (2) is an unknown number expressed using an algebra for the time being, but is externally performed by the orientation element calculation unit 13 described in detail later. The value is determined (for example, using the least square method) by calculation S04 of the orientation element (x, y, z) (ω, φ, κ). For this reason, the expressions (1) and (2) are three-dimensional numerical values representing the relationship between the reference measurement value (three-dimensional coordinate value) g and the photographing measurement value (three-dimensional coordinate value) f using an algebraic model. It can be said that it is an analysis model.

  Note that the reference body model 102, which is a three-dimensional numerical analysis model defined as a unit corresponding to the reference body 2 that covers the entire measurement object 1, is in the form of Equations (1) and (2). It is not limited to those configured (represented) using the algebraic model represented. The reference body model 102, which is a three-dimensional numerical analysis model defined as a unit, includes a reference measurement value (three-dimensional coordinate value g and / or reference scale s) and a photographing measurement value (three-dimensional coordinate value f and / or mutual). An algebraic model based on any arbitrary expression that expresses that the distance m) constitutes a coplanar condition in the space forward intersection method can be defined as an element model.

Returning to FIG. 1, the definition of the reference body model 102 performed by the reference body information defining unit 12 (see FIG. 7) included in the three-dimensional measurement system 10 will be described. An image of the reference mark 4 included in the sub reference body 3 that is stereo-photographed by the stereo photographing unit 11 is the reference point information defining unit 12 as coordinate points (values) p ₁ and p ₂ on the two stereo images 20a and 20b. It can be grasped by. The reference body information defining unit 12 uses the spatial forward intersection method described above for the image of the reference mark 4 of the sub-reference body 3 located at the coordinate points (values) p ₁ and p ₂ on the two stereo images 20a and 20b. Based on the coplanar conditions in FIG. 4, the projecting point is projected onto the three-dimensional calculation space V, and the orientation point 104 is set at a three-dimensional coordinate value (photographed measurement value) f (front intersection P (x, y, z)) based on stereo photography. Define. As described above, the three-dimensional calculation space V is virtually defined so that the reference body information defining unit 12 has the origin O on the first rear principal point O ₁ of the stereo photographing unit 11. This is a virtual calculation space for the orientation element calculation unit 13 to be described to calculate the external orientation elements (x, y, z) (ω, φ, κ).

In this way, the reference body information defining unit 12 covers the entire measurement object 1 formed by a set of a plurality of (three) sub-reference bodies 3a, 3b, and 3c in the present embodiment. A plurality (12) of reference marks 4 that 2 presents to one stereo photographing unit 11 is a plurality of (12) pairs on a set of two stereo images 20a and 20b photographed by one stereo photographing unit 11. As coordinate points (values) p ₁ and p ₂ . The reference body information defining unit 12 also includes a reference mark of the sub-reference body 3 located at a plurality (12) pairs of coordinate points (values) p ₁ and p ₂ on the set of two stereo images 20a and 20b. 4 images are projected onto the three-dimensional calculation space V based on the coplanar condition in the space forward intersection method described above, and a plurality of (12 points) three-dimensional coordinate points (values) (photographed measurement values) based on stereo shooting. f) The orientation point 104 is defined at (forward intersection P (x, y, z)).

  Here, with reference to FIG. 5, simultaneous stereo imaging over the entire circumference of the measurement object 1 using the plurality of stereo imaging units 11a to 11d provided in the three-dimensional measurement system 10 of the present embodiment will be described. The three-dimensional measurement system 10 is provided with a plurality (four (4 units)) of stereo imaging units 11 a to 11 d so as to surround the measurement object 1. Further, in the three-dimensional measurement system 10, a plurality of (four (4 units)) stereo imaging units 11 a to 11 d arranged around the entire circumference of the measurement object 1 simultaneously photograph the measurement object 1 (photographing starts). And a photographing synchronization unit 11e that performs control so that photographing is stopped).

  In this manner, by arranging a plurality of stereo imaging units 11a to 11d around the entire circumference of the measurement object 1 in the three-dimensional measurement space R, the entire circumference of the measurement object 1 can be simultaneously three-dimensionally measured with one shooting. Can do. For this reason, even if it is the measurement object 1 which is not stationary for a long time like a human body, for example, the three-dimensional shape measurement using a laser is difficult, several stereo imaging | photography parts 11a-11d which image | photograph synchronously are included. By using the same and taking images simultaneously (instantaneously or continuously) over the entire circumference of the measurement object 1, stereo images 20a and 20b over the entire circumference of the measurement object 1 can be easily obtained (see FIG. 9) (see FIG. 9). 9 shows only one set of stereo images 20a and 20b obtained by one stereo photographing unit 11). For this reason, the whole three-dimensional shape of the measuring object 1 can be three-dimensionally measured without missing or wrinkles. When the portion to be measured is not the entire circumference of the human body that is the measurement object 1, for example, when information on the back (back) is not required, the three-dimensional imaging is performed by only the three stereo imaging units 11a, 11b, and 11d. It is good also as what measures.

  When the measurement object 1 is a subject that is difficult to perform stereo matching and has few feature points, a pattern such as a random pattern is projected onto the measurement object 1 by a projector (not shown) such as a projector for stereo matching. Stereo images 20a and 20b for use may be taken. When provided in this way, a pattern such as a random pattern having a feature point that can be used for stereo matching is projected and applied to the measurement object 1, so that stereo matching using the stereo images 20a and 20b is easy. can do.

  Further, in this case, apart from the stereo images 20a and 20b taken by projecting a pattern such as a random pattern for use in stereo matching, a measurement object that can be pasted as a texture on the three-dimensional measurement result later 1 original texture image (not shown) may be taken. By providing in this way, the captured texture image of the measuring object 1 can be pasted on the three-dimensional measurement result later, so that it has the original texture information of the measuring object 1 while being projected by a projector such as a projector. An excellent three-dimensional measurement result that is stereo-matched with high accuracy based on the feature points projected on the measurement object 1 can be obtained. Note that a projector such as a projector projects a pattern such as a random pattern on the measurement object 1 when photographing the stereo images 20a and 20b, while photographing an original texture image of the measurement object 1. May be provided as one projector that can switch the projection of a pattern such as a random pattern to project the uniform illumination light onto the measurement object 1.

  A three-dimensional measurement system 10 according to the present embodiment includes stereo photographing units 11a to 11d each having a super-wide-angle optical lens group that is separated by a base line length l (small L), and includes sub-reference bodies 3a, 3b, and 3c. All of a large number (48) of reference marks 4 affixed to the entire circumference are simultaneously synchronized and photographed in stereo, so that a plurality of pairs of stereo images 20a and 20b can be obtained. Note that the number of stereo photographing units 11a to 11d (number of units) is not limited to four (four units) as shown in the present embodiment, and the number of stereo photographing units 11 is further increased to be more detailed. It is good also as what performs dimension measurement.

  The imaging synchronization unit 11e included in the three-dimensional measurement system 10 has synchronization accuracy so that a plurality (4 units (4 units)) of the stereo imaging units 11a to 11d can start and end the imaging of the measurement object 1 at the same time. A high trigger signal may be transmitted to the stereo photographing units 11a to 11d so as to control photographing.

  Alternatively, the photographing synchronization unit 11e records timing signals with high synchronization accuracy on the stereo images 20a and 20b as needed, and a plurality of stereos captured by the plurality of stereo photographing units 11a to 11d on which the same timing signals are recorded later. It is good to provide so that the images 20a and 20b can be extracted. When provided in this way, images were taken simultaneously at a designated time point from among a series of consecutive stereo images 20a and 20b (composed of moving images) taken continuously (moving images) by a plurality of stereo photographing units 11a to 11d. Desired plural (for example, four sets of eight) stereo images 20a and 20b can be extracted retrospectively. The photographing synchronization unit 11e can be configured as a so-called electronic release device that controls the plurality of stereo photographing units 11a to 11d to start (and end) photographing simultaneously in synchronization.

Returning to FIG. 1 again, simultaneous stereo shooting over the entire circumference of a large number (48) of reference marks 4 included in a plurality of (for example, three) sub-reference bodies 3a, 3b, 3c of the present embodiment will be described. . In the three-dimensional measurement system 10 of the present embodiment, the four sub-reference bodies 3a, 3b, 3c all have 48 (4 units) stereo imaging units 11a˜ It is possible to obtain four sets of eight stereo images 20a and 20b by simultaneously photographing at 11d. Further, the reference body information defining unit 12 performs the above-described spatial front based on the coordinate points (values) p ₁ and p ₂ of the 96 reference marks 4 on the four sets of stereo images 20a and 20b. In accordance with the coplanar conditions of the intersection method, the orientation point 104 is defined at 48 three-dimensional coordinate points (values) (photographed measurement values f) (forward intersection points P (x, y, z)) of the three-dimensional calculation space V. can do.

  The reference body information defining unit 12 also has a reference measurement value (three-dimensional) of the reference mark 4 of the sub-reference body 3 obtained by reference measurement in the three-dimensional measurement space R at the defining (48 points) orientation points 104. The coordinate value) g (P (X, Y, Z)) information is provided as the reference value 110 information. For this reason, the orientation element calculation unit 13, which will be described in detail later, in the present embodiment, photographing measurement values (three-dimensional coordinate values) f (forward intersection points P (x, y) of the reference marks 4 included in the 48 orientation points 104 are provided. , Z)) and reference measurement values (three-dimensional coordinate values) g (P (X, Y, Z)), the external orientation elements (x, y, z) (ω, φ, κ) can be calculated.

  For all 48 reference marks 4, the reference measurement value (three-dimensional coordinate value) g and the photographing measurement value (three-dimensional coordinate value) f are external orientation elements (x, y, z) (ω, φ, κ). ) Need not be used for the calculation. Typically, the three-dimensional coordinate value g, which is the reference measurement value of the plurality of reference marks 4 included in the sub-reference body 3, is obtained by substituting one arbitrarily determined reference mark 4 among the plurality of reference marks 4. Each body 3 is determined as a measurement reference point (for example, the origin (0, 0, 0)) and is measured by reference measurement. That is, each of the sub-reference bodies 3 has an independent reference measurement coordinate system. For this reason, when a plurality of sub-reference bodies 3a, 3b, 3c are stacked or when one sub-reference body 3 is moved, a plurality of or many reference measurement coordinate systems (three-dimensional coordinates) are present. It is required to integrate the value g) into a three-dimensional coordinate system in one three-dimensional calculation space V. In this case, there may occur a case where the reference measurement values (three-dimensional coordinate values g) of all the reference marks 4 cannot be defined as the three-dimensional coordinate values g in one three-dimensional calculation space V. This is because the precise positional relationship between the individual sub-reference bodies 3 (reference measurement coordinate systems) is not known.

  In this case, one sub-reference body 3 (one reference measurement coordinate system) as a reference for defining the three-dimensional calculation space V is defined, and one defined sub-reference body 3 (for example, a sub-reference body 3) For the reference body 3b), the sub-reference body model 103b may be defined using the three-dimensional coordinate value g as a reference measurement value. On the other hand, for sub-reference bodies 3 (for example, sub-reference bodies 3a and 3c) other than the determined one sub-reference body 3, the sub-reference is made by using the distance s between the plurality of reference marks 4 as a reference measurement value. The body models 103a and 103c may be defined. Typically, an area with the highest imaging measurement accuracy (high resolution per pixel) located in the vicinity of the optical axis of the stereo imaging unit 11 is defined as an area for defining the reference body model 102, and the area The reference measurement value (three-dimensional coordinate value) g and the photographing measurement value (three-dimensional coordinate value) f are used for the reference mark 4 of the sub-reference body 3 (for example, the sub-reference body 3b) photographed in FIG. Good. On the other hand, with respect to the reference mark 4 of other sub-reference bodies 3 (for example, sub-reference bodies 3a and 3c), the distance between them (reference measurement value s and photographing measurement value m) is used to calculate the external orientation element. It is good to do.

  In this way, when defining one sub-reference body 3 closest to the optical axis and uniformly defining the definition policy of the sub-reference body model 103 for the determined one sub-reference body 3, each orientation point is determined. The actual shortest distance from the optical axis for each 104 is calculated individually, and the reference body model 102 is more easily defined as compared with the case where the definition policy of the numerical calculation model is individually determined for each orientation point. be able to. Alternatively, as will be described in detail later, a numerical calculation model in which different constraint conditions or the like are individually given to the individual orientation points 104 according to the actual shortest distance from the optical axis is defined to provide higher accuracy. It is also possible to define an excellent reference body model 102 that can obtain external orientation elements (x, y, z) (ω, φ, κ).

  For example, when the sub-reference body 3b and the optical axis of the stereo photographing unit 11 intersect, the sub-reference body 3b is closest to the optical axis compared to the other sub-reference bodies 3a and 3c. It can be said that. In this case, the orientation points 104 constituting the sub-reference body model 103b may be defined by the information of the three-dimensional coordinate values (the photographed measurement value f and the reference measurement value g). In such a case, the three-dimensional calculation space V is strongly restricted, and the three-dimensional calculation is necessary for calculating the external orientation elements (x, y, z) (ω, φ, κ) and bundle adjustment (light beam adjustment). The coordinate value (photographing measurement value) f can be set to the three-dimensional coordinate value (photographing measurement value) f photographed and measured with high accuracy (suppressing the photographing measurement error). On the other hand, for the region where the accuracy of imaging measurement is inferior, the constraint on the three-dimensional calculation space V is weak, and information on the mutual distance (imaging measurement value) m that is largely adjusted in bundle adjustment can be used.

  Similarly, the constraint conditions used in bundle adjustment (light flux adjustment), which will be described in detail later, correspond to a three-dimensional coordinate value (photographing measurement value) f having good photographing measurement accuracy (high reliability) f. It is preferable to use a constraint condition with a larger weight (small adjustment range) together with the constraint condition of the coordinate value (reference measurement value) g. On the other hand, for a mutual distance (photographed measurement value) m of a plurality of ground control points 104 located in a region where the photographing measurement accuracy is inferior (not highly reliable), the corresponding reference measurement value (mutual distance) s The reference body model 102 may be defined by giving a constraint condition with a smaller weight (a large adjustment range) together with the constraint condition. When provided in this way, a three-dimensional coordinate value (shooting measurement value f and reference measurement value g) with high shooting measurement accuracy is configured as a main part, and a mutual distance (shooting measurement value m and reference measurement value with poor shooting measurement accuracy). It is possible to define an excellent reference body model 102 capable of accurately performing bundle adjustment for s). Table 1 shows the correspondence between the reference measurement values g and s in the three-dimensional measurement space R used in the three-dimensional measurement system 10 of the present embodiment and the photographing measurement values f and m in the three-dimensional calculation space V.

  The reference measurement values g and s shown in Table 1 are incorporated into a reference body model 102 that is a three-dimensional numerical analysis model defined by the reference body information defining unit 12 together with the photographing measurement values f and m. As will be described in detail later, at the time when the external orientation elements (x, y, z) (ω, φ, κ) are calculated by the orientation element calculation unit 13, the reference value 110 (reference measurement values g, s) and the photographing are taken. Between the measured values f and m, for example, an orientation error E is included. Also in this case, the orientation element calculation unit 13 performs bundle adjustment (light flux adjustment) of the external orientation elements (x, y, z) (ω, φ, κ), thereby reducing the orientation error E each time the bundle is adjusted. Can be made. In Table 1, the orientation error E ′ ″ in the first measurement value f ′ ″ of the bundle adjustment is changed to the orientation error E ″ that is a smaller orientation error in the second measurement value f ″ of the bundle adjustment. And can be reduced. Further, the orientation error E ″ in the second measurement value f ″ of the bundle adjustment is gradually changed to the orientation error E ′ which is a smaller orientation error in the third measurement value f ′ of the bundle adjustment. It can be reduced.

  In the example of bundle adjustment (light flux adjustment) shown in Table 1, all bundle adjustments are performed with the bundle adjustment constraint given to the reference value 110 (reference measurement values g and s) as the adjustment range of 0 (zero). The example provided so that it may not be performed is shown. For this reason, the reference value 110 (reference measurement values g and s) remains unchanged through bundle adjustment. On the other hand, as will be described in detail later, the constraint conditions for bundle adjustment are, for example, the measurement accuracy of the reference measurement values g and s and the photographing measurement values f and m, and the estimation of the virtual definition values gi and si and the virtual assigned values fi and mi. It may be determined based on accuracy. Further, when a constraint condition based on a geometric condition is added to the reference body model 102 (virtual reference body model 102i), it is based on the geometric condition added to the reference body model 102 (virtual reference body model 102i). The bundle adjustment may be performed using the constraint condition. Further, the orientation accuracy of the external orientation elements (x, y, z) (ω, φ, κ) and the orientation error E in light of the geometric conditions that the reference body model 102 should include in the constraint conditions based on the geometric conditions. It is good also as what evaluates. In this case, it is possible to evaluate the orientation accuracy from various angles.

  The three-dimensional measurement system 10 according to the present embodiment includes a plurality of (three) sub-reference bodies 3a, 3b, 3c each having 16 pieces, and a total of 48 three-dimensional coordinate values (reference measurement values) of the reference marks 4. The information of g and the photographed measurement value f) can be integrated and used as information of the 48 control points 104 included in the integrated reference body model 102 (which constitutes the integrated reference model 102). For this reason, the orientation element calculation unit 13 included in the three-dimensional measurement system 10 is provided so that the stereo imaging unit 11 can perform external orientation with high accuracy based on information on a large number of orientation points 104. In other words, the three-dimensional measurement system 10 according to the present embodiment uses the reference body information defining unit 12 to convert the reference body model 102 for external orientation so that three-dimensional measurement can be performed with a desired measurement accuracy. It is provided to define as one. The orientation element calculation unit 13 may be provided so that external orientation can be performed and internal orientation for correcting / adjusting the optical characteristics of the stereo imaging unit 11 can be performed.

  The reference body information defining unit 12 of the present embodiment further includes information on the mutual distances (photographed measurement values) m of the plurality of orientation points 104 defined in the three-dimensional calculation space V, and reference values corresponding thereto. The mutual distance (reference measurement value) of the plurality of reference marks 4 included in the plurality (three) of the sub-reference bodies 3a, 3b, and 3c, which is the information of 110, which has been previously measured by the reference measurement in the three-dimensional measurement space R. The information of s may be added to the reference body model 102 and defined. In this case, when information on a plurality of mutual distances (photographed measurement value m and reference measurement value s) is added to one orientation point 104 at the same time, the reference body information defining unit 12 includes the orientation element calculation unit 13. In addition to the information of the three-dimensional coordinate values (shooting measurement value f and reference measurement value g) of the orientation point 104 for use in external orientation of the stereo photographing unit 11, the geometric information of the sub-reference body 3 is further used as the reference body. It can be said that it is provided to be added to the model 102.

  In this way, by adding the geometric information of the sub-reference body 3 as the reference value 110 to the information of the reference body model 102 defined by the reference body information defining unit 12, the orientation element described later in detail. It is possible to accurately evaluate the orientation accuracy of the external orientation of the stereo photographing unit 11 performed by the calculation unit 13 based on the photographing measurement values f and m based on the reference value 110 (reference measurement values g and s). Therefore, it is possible to accurately grasp the orientation error E of the external orientation of the stereo photographing unit 11 performed by the orientation element calculating unit 13 based on the photographing measurement values f and m. Furthermore, bundle adjustment (light flux adjustment) of the external orientation elements (x, y, z) (ω, φ, κ) performed by the orientation element calculation unit 13 described in detail later can be performed with higher accuracy.

  The reference body information defining unit 12 of the present embodiment is, for example, 4 in the three-dimensional calculation space V corresponding to information of four reference marks 4 provided on one side surface of one sub reference body 3a. Information indicating that the four ground control points 104 should be on the same plane may be added to the information on the point ground control points 104. In this case, for example, it is assumed that the flatness formed by the four orientation points 104 to which information indicating that they should exist in the same plane is 0 (zero), the reference value 110 is given, and the geometric condition is set. It should be given. By providing in this way, the orientation accuracy of the external orientation of the stereo photographing unit 11 based on the information of the photographing measurement values f and m performed using the reference body model 102 based on the information of the reference value 110 based on the geometric condition is set. It can be evaluated with high accuracy. Alternatively, it is possible to accurately grasp the orientation error (for example, flatness) E of the external orientation of the stereo photographing unit 11 based on the information of the photographing measurement values f and m, which is calculated based on the reference value 110 based on the geometric condition. Can do.

  Further, a plane defined by the reference body information defining unit 12 as information of the reference value 110 based on the geometric condition intersects with a plane of another geometric condition similarly defined by the reference body information defining unit 12. The information of the intersection line (ridge line) generated in this way may be added to the information of the reference body model 102 as information of the reference value 110 based on the geometric condition. Furthermore, in the manner of bottom-up modeling, information on the intersection (the vertex 105 of the sub-reference body model 103) generated by the intersection of the intersection lines (ridge lines) is used as information on the reference value 110 based on the geometric condition. It may be added to information.

  For example, it is possible to grasp the geometric condition (for example, orthogonal) between two adjacent surfaces of the sub-reference body 3 provided as a cube and the geometric condition (for example, parallel) between the two surfaces forming the front and back surfaces. The reference measurement of the three-dimensional coordinate value (reference measurement value) g of the reference mark 4 included in the sub-reference body 3 is performed so that the photographing measurement value f, It is preferable to evaluate the orientation accuracy of the external orientation based on m with high accuracy. In particular, in the present embodiment, the reference body model 102 is used by using the reference value 110 based on the geometric condition related to the eight vertices of the sub reference body 3 provided as a cube (vertex 105 of the sub reference body model 103). It is effective to evaluate the orientation accuracy of external orientation based on the photographing measurement values f and m. The geometric conditions of the eight vertices 105 of the sub-reference body model 103 share a plurality of geometric conditions in correlation with the geometric conditions of the plurality of ridges and planes connected to the vertex 105, and many orientation points 104. This is because an interaction is given to the information of the three-dimensional coordinate value f and the mutual distance m.

  Furthermore, the reference body model 102 according to the present embodiment is not capable of mutual interference between the sub-reference body models 103 as a part of the above-described geometric conditions or as more physical geometric information, A bundle of external orientation elements (x, y, z) (ω, φ, κ) that describes the condition of non-interference between the body model 103 and the floor surface 16 (reference plane 106) as a reference value 110 or detailed later. It may be used as a constraint condition for adjustment (light flux condition).

  The external orientation and bundle adjustment (luminous flux adjustment) of the external orientation elements (x, y, z) (ω, φ, κ) performed by the orientation element calculation unit 13 of the present embodiment will be described. The orientation element calculation unit 13 uses the reference body model 102 corresponding to the reference body 2 that covers the entire measurement object 1 and is externally defined in the three-dimensional calculation space V. The orientation elements (x, y, z) (ω, φ, κ) are calculated. The calculation of the external orientation elements (x, y, z) (ω, φ, κ) by the orientation element calculation unit 13 is performed using the coplanar conditions of the spatial forward intersection method and the coordinates shown in the expressions (1) and (2). Using the numerical information possessed by the reference body model 102, which is a numerical analysis model, defined based on the relationship of conversion, an external orientation element (x, y, z) ( (ω, φ, κ) may be calculated. As a known external orientation method, various other approximate solutions such as a least squares method are known.

  That is, the reference body model 102 that is a numerical analysis model is used for numerical input that gives information on individual analysis conditions to optical numerical analysis using an approximate solution performed for external orientation of the stereo imaging unit 11. It is assumed to be a group of numerical information group (data set). Therefore, the orientation element calculation unit 13 that performs external orientation calculation can be positioned as a solver in the field of numerical analysis processing, and the reference body information definition unit 12 can be positioned as a preprocessor in the field of numerical analysis processing. For this reason, the reference body model 102, which is a numerical analysis model, includes arbitrary structuring and / or input information included in the concept of modeling of analysis conditions (input of analysis conditions) performed by a preprocessor in the field of numerical analysis processing. Alternatively, arbitrary addition of accompanying input information such as provision of constraint conditions may be made.

  The orientation element calculation unit 13 calculates the above-described external orientation elements (x, y, z) in order to calculate the external orientation elements (x, y, z) (ω, φ, κ) using an approximate solution. ) (Ω, φ, κ) naturally includes the orientation error E. The orientation error E can be grasped by comparing the information of the photographed measurement values f and m of the orientation point 104 constituting the reference body model 102 with the information of the reference value 110 (reference measurement values g and s). . The orientation element calculation unit 13 may further perform bundle adjustment (light flux adjustment) to remove the orientation error E. The bundle adjustment may be performed using, for example, a known Gauss-Newton method or a Levenberg-Marquardt method. Further, as will be described in detail below, when performing bundle adjustment by providing a constraint condition on the reference body model 102, it is relatively easy to provide bundle adjustment using the Lagrange undetermined multiplier method. Adjustments can be made. In addition, for example, bundle adjustment may be performed using an arbitrary optimization method such as COMPLEX method or genetic algorithm method.

  The orientation element calculation unit 13 configures the reference body model 102 when the reference body model 102 used for external orientation and bundle adjustment (light flux adjustment) further includes the reference value 110 based on the geometric condition as described above. Evaluation of the orientation accuracy (location error E (see Table 1)) of the external orientation by comparing the information of the photographing measurement values f and m of the orientation point 104 with the information of the reference value 110 based on the geometric condition. It is good.

  In bundle adjustment (light flux adjustment) performed by the orientation element calculation unit 13, the orientation point 104 is set (within the limited adjustment range) in a state where the adjustment range of the orientation point 104 is appropriately restrained using the constraint condition. When adjustment calculation (optimization calculation) to be adjusted is performed, bundle adjustment can be performed quickly and accurately. In the reference body model 102 according to the present embodiment, the reference body information defining unit 12 that defines the reference body model 102 adds constraint information for each orientation point 104 to define the reference body model 102. It should be. Alternatively, when the reference body model 102 has the reference value 110 based on the geometric condition, the reference body model 102 is defined by adding constraint information for each reference value 110 based on the geometric condition. Good.

  The reference body information defining unit 12 applies a plurality of different weights to the information of the orientation points 104 constituting the reference body model 102 according to, for example, the measurement accuracy of the reference measurement values g and s and the photographing measurement values f and m. It is good to provide so that the constraint condition 110 provided with the value may be added. Specifically, the constraint condition for bundle adjustment (light beam adjustment) of the reference value 110 (reference measurement values g and s) possessed by the orientation point 104 is a plurality of reference marks 4 included in each of the sub-reference bodies 3a, 3b, and 3c. The three-dimensional coordinate value (reference measurement value) g and / or the distance between the plurality of reference marks 4 (reference measurement value) s may be determined according to the measurement accuracy of the reference measurement. For example, when the reference measurement with different measurement accuracy is performed for each of the sub reference bodies 3a, 3b, and 3c, the sub reference body models 103a, 103b, and 103c corresponding to the individual sub reference bodies 3a, 3b, and 3c, respectively. It is preferable to add constraint conditions having different adjustment widths, in which weighting values of different reference values 110 (reference measurement values g and s) are provided according to the measurement accuracy of the reference measurement. Similarly, for example, the constraint condition for bundle adjustment of the three-dimensional coordinate value (photographed measurement value f, m) of the orientation point 104 also has a different weighting value (adjustment width) depending on the measurement accuracy of the photographed measurement value f, m. It should be determined to have.

  By providing in this way, the plurality of sub-reference body models 103a, 103b, and 103c constituting the reference body model 102 are restraint conditions that restrain the adjustment allowance (adjustment width) of bundle adjustment (light flux adjustment) within a predetermined range. The information may be further included. Further, the weight value of the constraint condition in the bundle adjustment is a plurality of reference marks included in the individual sub-reference bodies 3a, 3b, and 3c corresponding to the individual sub-reference body models 103a, 103b, and 103c that are grasped in advance. It may be determined individually according to the measurement accuracy of the four reference measurement values g and s and the measurement accuracy of the shooting measurement values f and m. With this arrangement, the external measurement elements (x, y, z) calculated on the basis of the photographing measurement values f, m with the reference measurement values g, s measured more accurately as the reference value 110 (see Table 1). ) (Ω, φ, κ) can be bundle adjusted.

  For example, the constraint condition of bundle adjustment (light flux adjustment) added to the ground control point 104 having information on the reference measurement value and photographing measurement value with good measurement accuracy is a range of a smaller adjustment allowance (adjustment width) depending on the measurement accuracy. It is preferable to determine that bundle adjustment is performed by being suppressed within the network. On the other hand, the constraint condition of bundle adjustment added to the ground control point 104 having information on the reference measurement value and the photographing measurement value with inferior measurement accuracy is within the range of a larger adjustment allowance (adjustment width) according to the measurement accuracy. It may be determined that bundle adjustment is performed more actively.

  As described above, the constraint condition of the bundle adjustment (light beam adjustment) of the reference body model 102 can be appropriately determined according to the measurement accuracy of the reference measurement value and the photographing measurement value for each of the sub-reference bodies 3a, 3b, and 3c. Further, it is possible to obtain an external orientation element (x, y, z) (ω, φ, κ) with high accuracy. Therefore, the sub reference bodies 3a, 3b, and 3c can be provided in a smaller size, and the three-dimensional measurement system 10 of the present embodiment including the small sub reference body 3 that is easy to handle can be provided in a smaller size. it can.

  Further, the constraint condition weighting of the bundle adjustment U03 is preferably provided so that a larger weighting value is given as the optical axis of the stereo photographing unit 11 is approached. In the imaging region near the optical axis of the stereo imaging unit 11, it can be said that an imaging measurement value (three-dimensional coordinate value f and / or mutual distance m) with better measurement accuracy can be obtained. For this reason, a constraint with a smaller bundle adjustment width, to which a larger weighting value is given, with respect to the photographing measurement value (three-dimensional coordinate value f and / or mutual distance m) in the vicinity of the optical axis of the stereo photographing unit 11. It is preferable to perform bundle adjustment (light flux adjustment) U03 by giving conditions. On the other hand, in the imaging region remote from the optical axis of the stereo imaging unit 11, the measurement accuracy of the imaging measurement value (three-dimensional coordinate value f and / or mutual distance m) is relatively inferior. For this reason, a smaller weighting value is given to the measured measurement value (three-dimensional coordinate value f and / or the mutual distance m) remote from the optical axis of the stereo imaging unit 11, and the bundle adjustment width is further increased. It is preferable to perform a bundle adjustment more positively by giving a large constraint condition. By providing in this way, it is possible to perform bundle adjustment with an emphasis on photographing measurement values (three-dimensional coordinate value f and / or mutual distance m) with better measurement accuracy.

  Note that the vicinity of the optical axis typically means a region around the optical axis of the lens of the stereo photographing unit 11, but in a broad sense, a photographing region having the highest photographing measurement accuracy and the highest resolution per pixel. This is not necessarily a circular imaging region centered on the optical axis of the lens due to other characteristics (internal orientation) of the lens characteristics. Specifically, the “near the optical axis” region defines a photographing region having the highest resolution per pixel by performing a photographing experiment / actual measurement using the individual stereo measurement unit 11 (camera / lens). Therefore, it is preferable that an imaging region corresponding to “near the optical axis” is determined.

  For example, the weighting of the constraint condition for bundle adjustment (light flux adjustment) U03 is different for the central part closer to the center and the outer peripheral part of the stereo imaging part 11 including the optical axis. It is good to provide so that the value of may be provided. In this case, it is preferable to assign a larger weighting value of the constraint condition to the orientation point 104 included in the central portion including the optical axis of the stereo photographing unit 11 so as to suppress the bundle adjustment width. On the other hand, the orientation point 104 included in the periphery of the imaging region of the stereo imaging unit 11 may be given a smaller weight value for the constraint condition to provide a larger bundle adjustment range. Furthermore, the photographing area (view angle) of the stereo photographing unit 11 may be divided more finely than the above-described two divisions so as to give more different weight values. It should be noted that, based on other reasons for assigning the weight of the constraint condition for bundle adjustment of the ground control point 104 included in the reference body model 102, the central portion is exceptionally positioned at the peripheral portion of the photographing region (view angle) of the stereo photographing portion 11. There may be a case where a small number of orientation points 104 to which a large weight value is assigned are included. This is because the constraint condition can determine the weighting value based on a plurality of reasons (for example, by superimposing a plurality of reasons). Even in such a case, when there is a tendency that a large weighting value is given as the optical axis of the stereo photographing unit 11 is approached as a whole, the weighting becomes large as the optical axis of the stereo photographing unit 11 is approached. It can be said that a value is given.

  Further, the weighting of the constraint condition of the bundle adjustment U03 is compared with the weight values given to the mutual distances s, si (see FIG. 6), m, mi (see FIG. 6), and the three-dimensional coordinate value g, It is good to provide so that the value of the weight given to gi (refer FIG. 6), f, fi (refer FIG. 6) may become a big value. The constraint condition given to the three-dimensional coordinate values g, gi, f, and fi of the orientation point 104 is that the bundle adjustment (light beam adjustment) U03 is directly constrained to the three-dimensional calculation space V due to its property. Can do. For this reason, for the three-dimensional coordinate values g, gi, f, and fi of the orientation point 104, the bundle adjustment U03 is performed by giving a larger weighting value and giving a constraint condition with a smaller bundle adjustment width. It is good to do. In this case, since the reference body model 102 can be constrained with respect to the three-dimensional calculation space V, for example, the reference body model 102 rotates unintentionally in the three-dimensional calculation space V by bundle adjustment. It is possible to prevent the occurrence of problems such as these.

  On the other hand, the information on the mutual distances s, si, m, mi of the orientation points 104 is, for example, 3 while maintaining the mutual distances s, si, m, mi for the plurality of orientation points 104 due to their properties. It can be said that it has the freedom degree which can move freely within the dimensional calculation space V. For this reason, the information on the distances s, si, m, and mi between the orientation points 104 cannot be a constraint condition that directly restrains the reference body model 102 with respect to the three-dimensional calculation space V. For this reason, for the mutual distances s, si, m, and mi, a constraint condition with a smaller weighting value and a larger bundle adjustment width is given, and bundle adjustment (light flux adjustment) is more aggressive. ) It should be U03. In such a case, the constraint condition given to the three-dimensional coordinate values g, gi (see FIG. 6), f, fi (see FIG. 6) is used as an anchor of the reference body model 102 with respect to the three-dimensional calculation space V. On the other hand, bundle adjustment can be performed by adjusting the values of the mutual distances s, si, m, and mi larger. Therefore, the adjustment width of the reference body model 102 with respect to the three-dimensional calculation space V can be kept within the range of the predetermined constraint conditions, and the values of the mutual distances s, si, m, mi can be adjusted to be larger. Therefore, it is possible to perform an excellent bundle adjustment calculation that can calculate the external orientation elements (x, y, z) (ω, φ, κ) with less orientation error E in a shorter time.

  Alternatively, the reference body information defining unit 12 may further provide a constraint condition according to the reference value 110 based on the geometric condition of the reference body model 102 and the sub reference body model 103. As described above, the reference body model 102 and the sub-reference body model 103 are individually different based on, for example, the measurement accuracy of the reference measurement values g and s and the photographing measurement values f and m of the respective orientation points 104. A first constraint condition given by the condition is given and provided. In addition to this constraint condition, the second constraint condition provided according to the reference value 110 based on the geometric condition may be doubled.

  In this case, within the range of the degree of freedom of the bundle adjustment allowance (adjustment width) limited by the first constraint condition given in accordance with the measurement accuracy of the reference measurement values g and s and the photographing measurement values f and m. Further, the bundle adjustment amount is limited by the second constraint condition given in accordance with the geometric condition. For this reason, by providing a bundle adjustment amount to one ground control point 104, there is a second constraint condition based on a geometric condition between the control point 104 and the one ground control point 104 to which the adjustment amount is given. Corresponding bundle adjustment amounts can be given to other ground control points 104 in conjunction with each other. For this reason, the bundle adjustment amount can be distributed and given to the entire reference body model 102 more accurately.

  For example, the bundle adjustment amount is given to only one orientation point 104 having the largest amount of orientation error E among the 48 orientation points 104 included in the reference body model 102 in the present embodiment. The bundle adjustment amount can be distributed in a moderately distributed manner to other orientation points 104 that share (constrained) constraints based on geometric conditions with the orientation points 104. One orientation point 104 having the largest amount of orientation error E in the reference body model 102 is, for example, the photographing measurement values (three-dimensional coordinate values) f and reference measurement values (three-dimensional coordinate values) g of all orientation points 104. And the orientation point 104 having the largest difference (orientation error E) may be determined. In this way, even when bundle adjustment (light flux adjustment) is performed within the range of the constraint condition based on the geometric condition provided as one constraint condition, the reference measurement value g provided simultaneously as another constraint condition, By providing a bundle constraint condition based on the measurement accuracy of s and measurement values f and m in duplicate, the ground control point 104 has the measurement accuracy of the reference measurement values g and s and the measurement values f and m. It is not adjusted beyond the constraint conditions based on it.

  In this case, first, one orientation point 104 (or vertex 105) having the largest orientation error E is determined, and an estimated orientation error amount and an estimated orientation error to be added to the determined orientation point 104 (or vertex 105). A bundle adjustment vector (adjustment amount and adjustment direction) based on the direction (estimated error vector) may be determined. Then, it is good to give the determined bundle adjustment vector to the orientation point 104 (or vertex 105) of the adjustment object in which the constraint conditions were provided twice. With this arrangement, the second constraint condition based on the geometric condition is used within the adjustment range permitted by the first constraint condition based on the measurement accuracy of the reference measurement values g and s and the photographed measurement values f and m. Thus, bundle adjustment vectors (light flux adjustment) can be performed by distributing the bundle adjustment vectors to be given to a larger number of orientation points 104 (or vertices 105). In this way, when the bundle adjustment amount is given, the orientation error E that has a certain tendency such as distortion and is dispersed throughout the reference body model 102 or the sub-reference body model 103 can be effectively removed.

  In bundle adjustment (light flux adjustment) performed by the orientation element calculation unit 13, the reference body model 102 is configured within the adjustment range allowed by all the constraint conditions added to the reference body model 102 in the three-dimensional calculation space V. The ground control point 104 is repeatedly adjusted (for each trial / iteration). In this way, each time bundle adjustment is performed as shown in Table 1, the orientation error E included in the reference body model 102 and the external orientation elements (x, y, z) (ω, φ, κ) gradually decreases. The bundle adjustment is performed as described above, and the stereo imaging unit 11 with higher accuracy is localized.

  With reference to FIG. 2, a three-dimensional measurement system according to a second embodiment of the present invention will be described. The three-dimensional measurement system 10 according to the present embodiment performs measurement by sequentially placing one sub-reference body 3 on the floor surface 16 and on two mounts 7a and 7b having different heights regardless of dimensional accuracy. The three-dimensional measurement space occupied by the reference body 2 that covers the entire human body that is the object 1 is provided so as to be sequentially covered by one sub-reference body 3. Further, at this time, the stereo photographing unit 11 is provided so as to obtain three sets of stereo images 20 a and 20 b that are photographed by sequentially shifting the time in accordance with the movement of the sub reference body 3. In this case, the external orientation of the stereo photographing unit 11 can be performed using only one sub reference body 3.

  In this case, the reference body model 102 defined in the three-dimensional calculation space V is a sub-sequence sequentially arranged at a plurality of three-dimensional coordinate positions so as to cover the whole measurement object 1 in the three-dimensional measurement space R. The reference body 3 is defined based on a plurality of stereo images 20 a and 20 b obtained by photographing the reference body 3 a plurality of times with the stereo photographing unit 11. Specifically, in the reference body model 102, the reference mark 4 included in the sub-reference body 3 is based on the front of the space based on a plurality of (a total of 12 sets taken simultaneously from four directions in three times) stereo images 20a and 20b. A plurality of (48 points) orientation points 104 defined by being projected onto the three-dimensional calculation space V according to the coplanar condition of the meeting method are defined.

  In the present embodiment, the arrangement positions of the sub reference bodies 3 in the three-dimensional measurement space R are sequentially changed so as to cover the entire measurement object 1, and the sub reference bodies 3 are sequentially placed at a plurality of different three-dimensional coordinate positions. Can be arranged. In addition, the sub-reference body 3 arranged at a plurality of (three places) different three-dimensional coordinate positions is photographed by the stereo photographing unit 11 at each of the plurality of (three places) placement positions, and a plurality of (from four directions three times) A total of 12 sets of stereo images 20a and 20b photographed simultaneously can be obtained. Alternatively, the stereo images 20a and 20b of the sub-reference body 3 may be obtained by performing multiple exposures (triple copying) on the same (four sets) of stereo images 20a and 20b. In the present embodiment, a large number (48 points) as in the first embodiment described above, based on a plurality of (12 sets in total taken from 3 directions simultaneously) stereo images 20a and 20b. ), And the reference body model 102 including the orientation points 104 can be integrally defined in the three-dimensional calculation space V by the reference body information defining unit 12. Note that the present invention is not limited to the three times shown in the present embodiment, and more orientation points 104 may be defined by increasing the number of times the arrangement position is changed and the number of times of photographing.

  At this time, the arrangement of the sub reference body 3 at a plurality of three-dimensional coordinate positions in the three-dimensional measurement space R is, for example, on a plurality of gantry 7 (first gantry 7a and second gantry 7b) having different heights. The sub-reference bodies 3 can be provided in order. Further, reference measurement values (three-dimensional coordinate values) g of a plurality of reference marks 4 included in the sub-reference body 3 and / or a plurality of references used as information on the reference value 110 added to the reference body model 102 (the orientation point 104). Since the information of the mutual distance (reference measurement value) s of the marks 4 is the same, it is preferable that the information is used repeatedly corresponding to one sub reference body 3.

  For this reason, the three-dimensional measurement system 10 sequentially shoots the sub-reference body 3 smaller than the reference body 2 at a plurality of three-dimensional coordinate positions so as to cover the entire measurement object 1 and shoots with the stereo imaging unit 11 The reference body model 102 corresponding to the reference body 2 that covers the entire measurement object 1 can be defined in the three-dimensional calculation space V based on the stereo images 20a and 20b. Further, since the orientation element calculation unit 13 can accurately externally locate the stereo imaging unit 11 using the reference body model 102 and measure the measurement object 1 three-dimensionally, a small sub-reference body that is easy to handle. 3 can be provided in a small size.

  A three-dimensional measurement system according to the third embodiment of the present invention will be described with reference to FIG. The three-dimensional measurement system 10 of the present embodiment is provided so that the moving sub-reference body 3 is continuously photographed as a series of moving images by the stereo photographing unit 11 and external orientation of the stereo photographing unit 11 is performed. In this case, the reference body model 102 defined in the three-dimensional calculation space V is moved to a plurality of three-dimensional coordinate positions so as to cover the entire measurement object 1 in the three-dimensional measurement space R. The body 3 is defined including a plurality of orientation points 104 based on a plurality of stereo images 20 a and 20 b obtained by continuously photographing the body 3 with the stereo photographing unit 11.

  In the present embodiment, the sub reference body 3 is arranged at a plurality of different three-dimensional coordinate positions by moving and changing the arrangement position of the sub reference body 3 in the three-dimensional measurement space R so as to cover the entire measurement object 1. be able to. In addition, a plurality of stereo images 20a and 20b can be obtained by continuously capturing (moving image capturing) the sub-reference body 3 disposed at a plurality of different three-dimensional coordinate positions by the stereo photographing unit 11 at each of the plurality of disposed positions. . Further, the reference body model 102 including the plurality of orientation points 104 defined based on the plurality of stereo images 20a and 20b can be integrally defined in the three-dimensional calculation space V by the reference body information defining unit 12. .

  For example, one sub reference body 3 is moved 2 m in the vertical direction from the floor surface 16 (may be higher or lower), and the movement start position and stop position of the sub reference body 3 are intermediate. In this position, the sub-reference body 3 can be provided so as to obtain a total of 12 sets of stereo images 20a and 20b obtained by continuously photographing the sub-reference body 3 with the stereo photographing unit 11 and simultaneously photographing three times from four directions. As described above, the stereo images 20a and 20b are composed of 4 groups of 8 sets per one arrangement position photographed simultaneously from a large number of stereo images 20a and 20b that can be obtained by continuous photographing (moving image photographing) by the stereo photographing unit 11. The stereo images 20a and 20b may be obtained by extracting the three arrangement positions. Alternatively, the moving sub-reference body 3 is stopped each time shooting is performed, and a still image is shot by the stereo shooting unit 11 so that a total of twelve sets of stereo images 20a and 20b simultaneously shot from four directions are taken. It is good also as what is provided so that it may obtain.

  In the present embodiment, based on a total of 12 sets of stereo images 20a and 20b obtained by three simultaneous photographings from four directions, a total of 48 having information of photographing measurement values f and m and reference measurement values g and s. By integrating (synthesizing) the information of the point control point 104 in the three-dimensional calculation space V using the reference body information defining unit 12, the integrated reference body 2 larger than the sub reference body 3 is formed. A corresponding reference body model 102 (three-dimensional numerical analysis model) can be defined. In the continuous shooting (moving image shooting) by the stereo shooting unit 11, more stereo images 20a and 20b are shot within a shooting speed (frame rate) range in which the stereo images 20a and 20b without blurring can be obtained. It is good also as what is provided. In this case, since the reference body model 102 composed of a larger number of orientation points 104 can be defined by the reference body information defining unit 12, the stereo imaging unit 11 can be based on the more orientation points 104. External orientation can be performed with higher accuracy.

  The movement of the sub reference body 3 to a plurality of three-dimensional coordinate positions in the three-dimensional measurement space R may be performed, for example, by a standardizer performing external orientation of the three-dimensional measurement system 10 holding the sub reference body 3 with both hands. It is good also as what is provided in. In this case, the movement of the sub-reference body 3 is performed on the positioner's head from above the floor surface 16 in a state where the standardizer grips the sub-reference body 3 with both hands without using any guide and drive device. It can be realized by lifting up to the vertical direction. In this case, the orientation can be performed by moving the sub-reference body 3 in the vertical direction to a position sufficiently above the human body that is the measurement object 1 without using a complicated guide and driving device.

  At this time, the sub-reference body 3 is moved not only in the vertical direction but also in the horizontal direction by using the sub-reference body 3 having a smaller size (for example, one side of 30 cm). It is good also as what performs the external orientation of the stereo imaging | photography part 11 as what covers the whole human body which is the measuring object 1 using.

  In the three-dimensional measurement system 10 according to the present embodiment, the large and rigid reference body 2 is not physically provided and used in the three-dimensional measurement space R that is a real space, and the sub-size is relatively small and easy to handle. The stereo imaging unit 11 can be externally positioned with high accuracy by covering the entire human body that is the measurement object 1 using the reference body 3. In addition, by taking a picture of the sub-reference body 3 by the stereo photographing unit 11 by continuous photographing (moving image photographing), based on a large number of stereo (still) images 20a and 20b obtained by continuous photographing (a series of moving image photographing). The external orientation calculation of the stereo photographing unit 11 can be performed more precisely. For this reason, it is possible to perform the three-dimensional measurement by locating the stereo photographing unit 11 with higher accuracy.

  With reference to FIG. 4, a three-dimensional measurement system according to one embodiment of the present invention will be described. In the three-dimensional measurement system 10 of the present embodiment, the movement of the sub-reference body 3 is provided such that it is guided by the guide unit 8 that is a guide device. By configuring in this way, the movement of the sub reference body 3 to a plurality of three-dimensional coordinate positions in the above-described three-dimensional measurement space R can be provided so as to be guided by the guide unit 8.

  For example, the movement of the sub reference body 3 is supported by guiding the sub reference body 3 in the vertical direction using a linear guide or a guide post / bush shoe or the like, and using a driving force such as a linear motor or a stepping motor with a worm gear. It is recommended that it be provided so as to do. Alternatively, the sub reference body 3 may be provided so as to be manually lifted in the vertical direction by using a pulley and a rope. In this way, the sub-reference body 3 can be guided and driven to move the sub-reference body 3 in the vertical direction from the floor surface 16 to, for example, a position 2 m above.

  For this reason, the three-dimensional measurement of the human body that is the measurement object 1 using the three-dimensional measurement system 10 can be performed more easily using the single sub-reference body 3 that is small and easy to handle. The three-dimensional measurement system 10 including only one sub reference body 3 can be provided in a small size.

  A three-dimensional measurement system according to the fourth embodiment of the present invention will be described with reference to FIG. In the three-dimensional measurement system 10 of the present embodiment, the reference body information defining unit 12 is a virtual reference of the virtual sub-reference body 3i that is assumed to cover a part of the measurement object 1 in the three-dimensional measurement space R. Corresponding to the three-dimensional coordinate value (virtual definition value) gi of the mark 4 i, the orientation point 104 is provided to be added to the three-dimensional coordinate point (value) (virtual assigned value) fi of the three-dimensional calculation space V. The reference body information defining unit 12 defines a control point 104 at a three-dimensional coordinate point (value) (virtual assigned value) fi in the three-dimensional calculation space V, and includes a plurality of control points 104. 103i is provided as a numerical analysis model for externally locating the stereo photographing unit 11. The virtual sub reference body model 103i constitutes a part of the virtual reference body model 102i that the reference body information defining unit 12 finally defines in the three-dimensional calculation space V.

  The virtual reference body model 102i finally defined in the three-dimensional calculation space V by the reference body information defining unit 12 of the present embodiment covers the entire human body that is the measurement object 1 in the three-dimensional measurement space R. It is defined corresponding to the virtual reference body 2i assumed as described above. In other words, the virtual sub reference body model 103i is assumed for the sub reference body 3 in which the reference body information defining unit 12 actually exists so as to cover the entire human body that is the measurement object 1 in the three-dimensional measurement space R. The reference body information defining unit 12 defines the three-dimensional calculation space V corresponding to the virtual sub reference body 3i that covers a part of the measurement object 1 to be added.

  For example, the reference body information defining unit 12 has, as illustrated, reference measurement values (three-dimensional coordinate values) of 16 reference marks 4 included in one existing sub-reference body 3 arranged in the three-dimensional measurement space R. ) Two virtual sub-reference bodies 3i having 32 (two times 16) virtual reference marks 4i at a three-dimensional coordinate position (virtual definition value) gi assuming that g has moved 70 cm in the vertical direction. Can be assumed. In this case, the reference body information defining unit 12 corresponds to the three-dimensional coordinate values (virtual definition values) gi of the 32 virtual reference marks 4i assumed in the three-dimensional measurement space R. The virtual sub-reference body model 103i can be defined by adding the orientation points 104 to the 32 three-dimensional coordinate points (values) (virtually assigned values) fi. In the three-dimensional measurement space R, the actual arrangement of one sub-reference body 3 may be performed using, for example, the stands 7a and 7b shown in FIG.

  Alternatively, the reference body information defining unit 12 includes the sub reference body model 103 obtained based on the stereo images 20a and 20b obtained by photographing the existing sub reference body 3 by the stereo photographing unit 11 in the three-dimensional calculation space V. The three-dimensional coordinate value (virtual definition value) gi of the virtual reference mark 4i may be assumed based on the three-dimensional coordinate value (photographed measurement value) f of the individual orientation points 104. In this case, the three-dimensional measurement corresponding to the three-dimensional coordinate position in the three-dimensional calculation space V obtained by translating the photographing measurement point (value) (three-dimensional coordinate value) f in the three-dimensional calculation space V by 70 cm in the vertical direction. Two virtual sub-reference bodies 3i having 32 (twice 16) virtual reference marks 4i in a three-dimensional coordinate position (value) (virtual definition value) gi in the space R can be assumed. Further, as described above, the virtual reference is set to the three-dimensional coordinate position (point) (virtual definition value) gi of the three-dimensional measurement space R corresponding to the photographing measurement point (value) (three-dimensional coordinate value) f in the three-dimensional calculation space V. A virtual sub-reference body 3i having a mark 4i is assumed, and a three-dimensional coordinate point (value) (virtual) in the three-dimensional calculation space V corresponding to a virtual definition value (three-dimensional coordinate value) gi in the three-dimensional measurement space R. The virtual sub reference body model 103i can be defined by defining the orientation point 104 at (given value) fi.

  The definition of such a virtual sub-reference body model 103 i that is assumed to have the same shape as the existing sub-reference body model 103 is more directly related to the information of the sub-reference body model 103 in the three-dimensional calculation space V. It can also be regarded as a definition of the virtual sub-reference body model 103i by duplication (copying). In such a case, in other words, in other words, a virtual sub-reference body composed of information in which the information of the sub-reference body model 103 is copied (copied) in the space around the sub-reference body model 103 in the three-dimensional calculation space V It can also be understood that the model 103i can be defined to define the virtual reference body model 102i corresponding to the virtual reference body 2i that covers the entire measurement object 1 in the three-dimensional measurement space R.

  The size and shape of the virtual sub-reference body 3i is assumed to be the same shape as that of one actual sub-reference body 3 to be photographed and measured or another actual sub-reference body 3 (for example, stored in a storage location). In a fictitious dimensional shape different from the actual sub-reference body 3 so as to cover a part of the measurement object 1 that cannot be covered by one actual sub-reference body 3 to be photographed and measured, A sub-reference body 3i may be assumed. For example, in the three-dimensional measurement space R, an imaginary surface that covers the upper surface of one actual sub-reference body 3 that is photographed and measured and is arranged so as to cover the center of the measurement object 1 and the upper part of the measurement object 1 The assumption may be made so that the lower surface of one virtual sub-reference body 3i having a dimensional shape different from the actual sub-reference body 3 assumed for the dimensional shape is in contact. Similarly, in the three-dimensional measurement space R, a hypothetical surface that covers the lower surface of one actual sub-reference body 3 to be photographed and measured that is arranged so as to cover the center of the measurement object 1 and the lower part of the measurement object 1 The assumption may be made such that the upper surface of another virtual sub-reference body 3i having a size and shape different from the actual sub-reference body 3 assumed for the size and shape is in contact.

  That is, the reference body information defining unit 12 supplements the virtual sub reference body 3i that covers a part of the measurement object 1 in an area where the sub reference body 3 cannot cover the measurement object 1 in the three-dimensional measurement space R. And a virtual sub-reference body model 103i is virtually added to the three-dimensional calculation space V and defined. The information of the virtual sub reference body model 103i virtually added to the three-dimensional calculation space V by the reference body information defining unit 12 is defined as having the virtual sub reference body 3i in the three-dimensional measurement space R, for example. Information on a virtual assigned value (mutual distance) mi corresponding to information on a mutual distance (virtual definition value) si of the plurality of virtual reference marks 4i may be included. Further, the information of the orientation points 104 included in the virtual sub reference body model 103i includes an assessment of orientation accuracy for external orientation of the stereo imaging unit 11 and external orientation elements (x, y, z) (ω, φ, κ). The information of the reference value 110 (for example, the virtual definition values gi and si) for use in the constraint condition for bundle adjustment may be defined.

  Information about the virtual assigned value (three-dimensional coordinate value fi and / or virtual inter-distance mi) included in the orientation point 104 of the virtual sub-reference body model 103i and information about the reference value 110 (for example, the virtual definition value gi, si) are: This is an estimated value estimated by the reference body information defining unit 12. For this reason, when the information of the virtual assigned values fi and mi and the information of the reference value 110 (for example, the virtual definition values gi and si) are accurately estimated, the stereo photographing unit 11 with high accuracy using these information. It can be said that it is possible to perform external orientation. The virtual assigned values fi and mi are preferably estimated in consideration of the internal orientation elements of the stereo photographing unit 11 obtained in advance. In other words, the virtual provision values fi and mi are estimated by including (considering) the influence of the lens aberration of the individual stereo photographing unit 11 obtained in advance by photographing experiments / actual measurement, and the virtual provision value fi with high accuracy is obtained. , Mi can be estimated.

  On the other hand, there are cases where the estimation accuracy of the information of the virtual assigned values fi and mi and the information of the reference value 110 (for example, the virtual definition values gi and si) does not reach the external orientation accuracy and the three-dimensional measurement accuracy of the stereo imaging unit 11 to be obtained. Can do. Also in this case, it is obtained after performing the external orientation of the stereo photographing unit 11 using the information of the virtual assigned values fi and mi that are estimated values and the information of the reference value 110 (for example, the virtual definition values gi and si). Information of the external orientation elements (x, y, z) (ω, φ, κ) as reference values 110 (for example, reference measurement values g, s of the actual sub-reference body 3 that the reference body model 102 has) By performing bundle adjustment (light flux adjustment) based on the above, it is possible to obtain an external orientation element (x, y, z) (ω, φ, κ) having a desired external orientation accuracy and to perform three-dimensional measurement with high accuracy. it can. In this case, in order to obtain a more accurate external orientation element (x, y, z) (ω, φ, κ) more quickly, different weighting is performed based on the measurement accuracy and the estimation accuracy, as will be described in detail later. It is preferable that the bundle adjustment is performed by providing the constraint conditions.

  For example, the orientation element calculation unit 13 according to the present embodiment includes an actual sub-reference body that is grasped in advance and includes a virtual reference body model 102 i that is an integrated reference body model 102 defined by the reference body information definition unit 12. Bundle adjustment (flux adjustment) with reference value 110 as information on the three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 included in 3 and / or the mutual distances (reference measurement values) s of the plurality of reference marks 4 Can be provided. In this case, the photographing measurement values of the three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 included in the existing sub-reference body 3 based on the stereo images 20a and 20b obtained by photographing with the stereo photographing unit 11. It is preferable that the photographing measurement value m of f and / or the mutual distance (reference measurement value) s of the plurality of reference marks 4 is a main target of bundle adjustment. Further, a virtual provision value fi corresponding to the three-dimensional coordinate values (virtual definition values) gi of the plurality of virtual reference marks 4i defined as having the virtual sub-reference body 3i defined by the reference body information defining unit 12; It is preferable that the virtual assignment value (inter-distance) mi corresponding to the mutual distance (virtual definition value) si of the plurality of virtual reference marks 4i is a main target of bundle adjustment. In this case, an external orientation element (x, x) having a small error between the reference value 110 (reference measurement values g and s based on the reference measurement included in the virtual reference body model 102i) and the photographed measurement values f and m by bundle adjustment. y, z) (ω, φ, κ) can be calculated.

  As described above, the orientation element calculation unit 13 obtains information on the photographing measurement values f and m and the reference values 110 (reference measurement values g and s) included in the orientation points 104 included in the sub reference body model 103 from the stereo measurement unit 11. It can be used for orientation and bundle adjustment (light flux adjustment). In addition, in the orientation element calculation unit 13 according to the present embodiment, the virtual sub-reference body model 103i that is defined by being added to the three-dimensional calculation space V by the reference body information defining unit 12 is included in the virtual assignment. External orientation and bundle adjustment of the stereo imaging unit 11 can be performed using information on the values fi and mi and the reference value 110 (for example, virtual definition values gi and si). Furthermore, as described above, when the geometric condition of the sub-reference body model 103 and the virtual sub-reference body model 103i is used as the constraint condition, the bundle adjustment can be performed with higher accuracy. For this reason, the orientation element calculation unit 13 according to the present embodiment performs the external orientation and bundle adjustment of the stereo photographing unit 11 with higher accuracy based on more information included in the sub reference body model 103 and the virtual sub reference body model 103i. Therefore, the sub-reference body 3 can be provided more compactly. In addition, the three-dimensional measurement system 10 including the small sub-reference body 3 that can be easily handled can be provided in a small size.

  A description will be given of weighting of constraint conditions in bundle adjustment (light flux adjustment) performed by the orientation element calculation unit 13 of the present embodiment. In the present embodiment, the bundle adjustment is weighted by the reference measurement of the ground control points 104 constituting the sub-reference body model 103 defined corresponding to one actual sub-reference body arranged in the three-dimensional measurement space R. It is preferable that a constraint condition is provided so that information on the values g and s and the photographing measurement values f and m is more important (adjustment amount is suppressed). On the other hand, the virtual sub reference body model 103i defined by the reference body information defining unit 12 virtually added to the three-dimensional calculation space V corresponding to the virtual sub reference body 3i assumed in the three-dimensional measurement space R. For the information of the virtual definition values gi and si and the virtual assignment values fi and mi included in the orientation points 104 constituting the constraint point, a constraint condition is set so that a lower weighting value is given and bundle adjustment is performed more actively. It should be.

  That is, the bundle adjustment (light flux adjustment) of the external orientation elements (x, y, z) (ω, φ, κ) of the present embodiment is individually weighted for the sub-reference body model 103 and the virtual sub-reference body model 103i. It is good to provide so that it may be performed with the restraint conditions made. By providing in this way, information of the sub reference body model 103 constituted by information obtained by actually measuring the actual sub reference body 3 is virtually stored in the three-dimensional calculation space V by the reference body information defining unit 12. Therefore, it is possible to provide bundle adjustment with more importance than the information of the virtual sub-reference body model 103i configured by information added and defined (suppressing the adjustment amount).

  Further, the weighting values are, for example, virtual assigned values fi and mi and reference values 110 (for example, virtual definition) included in the virtual sub-reference body model 103i assumed and added (defined) by the reference body information defining unit 12. It may be provided so as to be determined individually according to the estimation accuracy of the values gi, si). By providing in this way, virtual provision values fi and mi and reference value 110 (for example, virtual definition value gi) included in the virtual sub reference body model 103i assumed and added (defined) by the reference body information defining unit 12 are provided. , Si), a constraint condition for bundle adjustment (light flux adjustment) can be appropriately determined according to the estimation accuracy of si. That is, for example, the constraint condition for bundle adjustment added to the orientation point 104 having information on the virtual definition value and the virtual assigned value with better estimation accuracy is within the range of less adjustment allowance (adjustment width) depending on the estimation accuracy. It is good to determine that bundle adjustment is made by being suppressed by. On the other hand, the constraint condition of bundle adjustment added to the orientation point 104 having information of the virtual definition value and the virtual assigned value with inferior estimation accuracy is within the range of a larger adjustment allowance (adjustment width) according to the estimation accuracy. It may be determined that bundle adjustment is performed more actively.

  For example, as a constraint condition of the reference value 110 (reference measurement values g, s) of the orientation point 104 included in the sub-reference body model 103 in the three-dimensional calculation space V, the maximum measurement accuracy of the reference measurement of the existing sub-reference body 3 is maximized. It is preferable to quantitatively give the fluctuation amount as the adjustment range. For example, when the measurement accuracy of the reference measurement is ± 0.2 mm, an adjustment width of 0.4 mm may be given to the reference value 110 (reference measurement value g, s) of the ground control point 104. In addition, the sub-reference body model 103 in the three-dimensional calculation space V has an actual sub as a constraint condition of the three-dimensional coordinate value (shooting measurement value) f and / or the mutual distance (shooting measurement value) m of the orientation point 104. It is preferable to quantitatively give the maximum fluctuation amount of the measurement accuracy of the photographing measurement of the reference body 3 as the adjustment range. For example, when the measurement accuracy of imaging measurement is ± 0.5 mm, an adjustment width of 1 mm is set for the three-dimensional coordinate value (imaging measurement value) f and / or the mutual distance (imaging measurement value) m of the orientation point 104. It should be given.

  Further, the reference value 110 of the ground control point 104 (for example, the virtual definition value gi, the virtual sub reference body model 103 i virtually added (defined) to the three-dimensional calculation space V by the reference body information defining unit 12. si) As a constraint condition (see Table 1), a value based on the maximum fluctuation amount of the assumed accuracy of the virtual definition value gi and si may be quantitatively given as an adjustment range. For example, when the measurement accuracy of the reference measurement of the sub-reference body 3 used as a reference for the hypothetical definition values gi and si is ± 0.2 mm, the value is 1.6 mm, which is four times the maximum variation of the measurement accuracy. May be given as an adjustment range of the assumed accuracy of the reference value 110 (virtual definition values gi, si). Further, the virtual sub-reference body model 103i virtually added (defined) to the three-dimensional calculation space V by the reference body information defining unit 12 has a three-dimensional coordinate value (virtually assigned value) fi of the orientation point 104 and As a constraint condition for the mutual distance (virtually assigned value) mi, it is preferable that a value based on the maximum fluctuation amount of the assumed accuracy of the virtually given values fi and mi is quantitatively given as the adjustment range. For example, when the measurement accuracy of the reference measurement of the sub-reference body 3 used as a reference for the assumption of the virtual assigned values fi and mi is ± 0.2 mm, it is 3.2 mm, which is eight times the maximum variation of the measurement accuracy. May be given as an adjustment range of the assumed accuracy of the three-dimensional coordinate value (virtually assigned value) fi and / or the mutual distance (virtually given value) mi of the orientation point 104.

  The adjustment amounts of the reference measurement values g and s (reference value 110), the photographing measurement values f and m, the virtual definition value gi and si (reference value 110), the virtual provision value fi and mi satisfy these constraint conditions (adjustment ranges). By constraining the bundle adjustment calculation so that it does not fluctuate beyond it, the bundle adjustment calculation can be prevented from divergence and reliably converged, and the bundle adjustment (flux adjustment) can be performed quickly and accurately. Can do.

  Alternatively, the weighting value of the constraint condition of the reference value 110 (reference measurement value g, s) of the ground control point 104 of the sub-reference body model 103 in the three-dimensional calculation space V places the highest importance on the measurement accuracy of the reference measurement. The largest value (adjustment suppression coefficient) is preferably given qualitatively. For example, an adjustment suppression coefficient of 0.9 may be given. Further, the sub-reference body model 103 in the three-dimensional calculation space V has a weighting value of a constraint condition of the three-dimensional coordinate value (photographed measurement value) f and / or the mutual distance (photographed measurement value) m of the orientation point 104. Then, it is preferable to give the second largest value (adjustment suppression coefficient) qualitatively, giving priority to the measurement accuracy of the photographing measurement. For example, an adjustment suppression coefficient of 0.8 may be given.

  In addition, the weight value of the constraint condition of the reference value 110 (for example, the virtual definition value gi, si) of the ground control point 104 included in the virtual sub-reference body model 103i in the three-dimensional calculation space V is the virtual definition value gi, si. In consideration of the estimation accuracy, the third largest value (adjustment suppression coefficient) may be qualitatively given. For example, an adjustment suppression coefficient of 0.7 may be given. Further, the weight value of the constraint condition of the three-dimensional coordinate value (virtual assigned value) fi and / or the mutual distance (virtual assigned value) mi of the orientation point 104 included in the virtual sub-reference body model 103i in the three-dimensional calculation space V Considering the estimation accuracy of the virtual assigned values fi and mi, it is preferable to qualitatively give the smallest value (adjustment suppression coefficient). For example, an adjustment suppression coefficient of 0.6 may be given.

  In this way, the constraint conditions for each piece of information (reference measurement value, photographing measurement value, virtual definition value, virtual value) that the control point 104 constituting the reference body model 102 or virtual reference body model 102i in the three-dimensional calculation space V has. When a qualitative adjustment suppression coefficient is given by numerical values that are weighted differently, the adjustment amount is changed from the adjustment amount of each information of the orientation point 104 in each iteration (trial) calculated by the external orientation algorithm. By subtracting the value obtained by multiplying the adjustment suppression coefficient, it is preferable to provide the control point 104 with a larger weight so as to suppress the adjustment amount. In addition to the first constraint condition determined based on the measurement accuracy of the reference measurement value, the photographing measurement value, the virtual definition value, and the estimation accuracy of the virtual assigned value, the second based on the geometric condition as described above. It is good also as what provides these restraint conditions.

As described above, in the first to fourth embodiments, the stereo imaging unit is determined by the orientation element calculation unit 13 based on the reference body model 102 or the virtual reference body model 102i that is integrally defined using the reference body information definition unit 12. An example of calculating one external orientation element (x, y, z) (ω, φ, κ) has been described. However, in other embodiments according to the first to fourth embodiments, the external orientation elements (x, y, z) (ω, φ, κ) of the stereo imaging unit 11 are integrally provided standards. A plurality of external orientation elements (x _abc , y _abc , z _abc ) (different for each measurement region) calculated by bundle adjustment calculation having a plurality of differently weighted constraint conditions in the body model 102 or the virtual reference body model 102 i ( Three-dimensional measurement may be performed using the values of (ω _abc , φ _abc , κ _abc ).

The description will be given with reference to FIG. For example, in the three-dimensional measurement system 10 of the first embodiment shown in FIG. 1, the measurement region (sub-reference body) of the three-dimensional measurement space R corresponding to the three-dimensional calculation space V in which the sub-reference body model 103a is defined. When the human body that is the measurement object 1 is three-dimensionally measured in the space occupied by 3a, the first external orientation element (bundled adjustment using the constraint condition with the largest weight on the sub-reference body model 103a) ( x _a , y _a , z _a ) (ω _a , φ _a , κ _a ) may be used. Similarly, when three-dimensional measurement is performed on a measurement region corresponding to another sub-reference body model 103b (a space occupied by the sub-reference body 3b), the constraint condition with the largest weight is used for the sub-reference body model 103b. bundle adjusted second external orientation parameters _{(x b, y b, z} b) (ω b, φ b, κ b) or equal to those using. In addition, when three-dimensional measurement is performed on a measurement region corresponding to another sub-reference body model 103c (a space occupied by the sub-reference body 3c), the constraint condition with the largest weight is used for the sub-reference body model 103c. The bundle-adjusted third external orientation elements (x _c , y _c , z _c ) (ω _c , φ _c , κ _c ) may be used.

In this case, for example, in order to three-dimensionally measure the space occupied by the sub-reference body 3a, each of the sub-reference body models 103a, 103b, 103c is provided with differently weighted constraint conditions at a ratio of 3: 2: 1. It is preferable to calculate the first external orientation elements (x _a , y _a , z _a ) (ω _a , φ _a , κ _a ) by performing bundle adjustment calculation. Further, in order to measure the space occupied by the sub-reference body 3b three-dimensionally, bundle adjustment calculation is performed by providing each of the sub-reference body models 103a, 103b, 103c with differently weighted constraint conditions at a ratio of 1: 2: 1. To calculate the second external orientation element (x _b , y _b , z _b ) (ω _b , φ _b , κ _b ). In addition, in order to measure the space occupied by the sub-reference body 3c in a three-dimensional manner, bundle adjustment calculation is performed by providing each of the sub-reference body models 103a, 103b, 103c with differently weighted constraint conditions at a ratio of 1: 2: 3 To calculate the third external orientation element (x _c , y _c , z _c ) (ω _c , φ _c , κ _c ). In this case, the weighting of the constraint conditions is determined with emphasis on geographical elements so as to give a larger weighting value to the sub-reference body model 103 closer to each measurement region to be calculated. .

In this way, the orientation element calculation unit 13 individually performs a plurality of external orientations and bundle adjustment calculations by using the reference body model 102 or the virtual reference body model 102i integrally formed by the reference body information defining unit 12. Accordingly, in the three-dimensional measurement space R, a plurality (three) of external orientation elements (x _abc , y _abc , z _abc ) that are different for different measurement areas respectively covered by a plurality (three) of the sub-reference bodies 3a, 3b, 3c. ) (Ω _abc , φ _abc , κ _abc ) values can be calculated to perform three-dimensional measurement. The values of a plurality of external orientation elements (x _abc , y _abc , z _abc ) (ω _abc , φ _abc , κ _abc ) calculated for different measurement areas are obtained by using the constraint conditions provided for the different measurement areas. Since the bundle is adjusted and optimized, it can be said that the external orientation elements (x, y, z) (ω, φ, κ) have higher accuracy corresponding to each measurement region. For this reason, according to the present embodiment, the external orientation elements (x _abc , y _abc , z _abc ) (ω _abc , φ _abc , κ _abc ) optimized for each individual measurement region are used to improve the accuracy of 3 Dimensional measurements can be performed.

  Next, coordinate conversion from the three-dimensional measurement coordinate system to the floor reference coordinate system will be described with reference to FIG. In the three-dimensional measurement system 10 of the first to fourth aspects, a plurality of floor surface reference marks 16b may be provided on the floor surface 16 on which the measurement object 1 is disposed in the three-dimensional measurement space R. The plurality of stereo photographing units 11a to 11d may be provided so as to photograph a plurality of floor surface reference marks 16b in stereo. In addition, the reference body information defining unit 12 uses the stereo image 20a, 20b of the plurality of floor surface reference marks 16b to obtain information on the floor surface 16 on which the measurement object 1 is arranged in the three-dimensional calculation space V. The information may be provided so as to be incorporated into the reference body model 102 as information on the plane (reference plane) 106.

When provided in this way, the reference body model 102 defined in the three-dimensional calculation space V is information on the floor surface 16 (the reference plane 106 of the reference plane 106) to be a measurement reference plane of the three-dimensional measurement of the human body that is the measurement object 1. Information). For this reason, the three-dimensional measurement result of the human body that is the measurement object 1 can be normalized and used as a measurement reference surface by normalizing the floor surface 16 (reference plane 106), and three-dimensional measurement can be easily performed. As described above, for the external orientation of the stereo photographing unit 11, the origin O (see FIG. 16) of the three-dimensional calculation space V is, for example, the first optical lens system (lens group) included in one stereo photographing unit 11. initially defined on a side principal point O ₁ after. Alternatively, for example, the origin O of the three-dimensional measurement space R is determined so that the origin O of the three-dimensional measurement space R is positioned on an arbitrary reference mark 4 included in the sub-reference body 3c. Also in this case, all the information of the initially defined (arranged) three-dimensional calculation space V is the floor reference in the three-dimensional measurement space R having the origin on the reference plane 106 in the three-dimensional calculation space V. The floor 16 having the mark 16b is preferably used as a measurement reference plane so as to perform coordinate conversion into information of a new orthogonal three-dimensional coordinate system (new three-dimensional calculation space V) and perform three-dimensional measurement.

  In the case where the floor reference mark 16b is provided in the three-dimensional measurement space R, for example, the floor reference mark 16b is provided on one floor sheet 16a, and the floor sheet 16a is provided on the floor surface 16. The floor surface reference mark 16b may be provided on the floor surface 16 by laying.

  The reference body information defining unit 12 uses the information on the floor surface 16 as information on one plane (reference plane) 106 in the three-dimensional calculation space V, and the three-dimensional coordinate values included in the reference body model 102 in the three-dimensional calculation space V. Can be defined within a set. Alternatively, in one embodiment, the reference plane 106 is defined (image) as information on the horizontal plane (reference plane) 106 that further includes information indicating that the reference plane 106 is horizontal with respect to the external (ground) space in the three-dimensional measurement space R. It can also be done. By providing in this way, the coordinate system of the three-dimensional calculation space V in which the information of the reference body model 102 is defined can be defined as a normalized three-dimensional coordinate system based on the horizontal plane (reference plane) 106. For example, the three-dimensional measurement value can be obtained by expressing the three-dimensional measurement information of a plurality of different measurement objects 1 such as human bodies as information in a normalized three-dimensional coordinate system so as to be easily compared with each other.

  Alternatively, it is possible to estimate the action of gravity, for example, by using only the three-dimensional coordinate information of the sub-reference body model 103 (or the reference body model 102) in the three-dimensional calculation space V without having information of the reference plane 106. Alternatively, based on the external dimension information of the sub-reference body model 103, it is possible to estimate the horizontal plane or absolute coordinate value in the three-dimensional measurement space R within a limited accuracy range. However, in addition to the information of the reference body model 102 defined in the three-dimensional calculation space V, the information of the known measurement reference point (floor surface reference mark 16b) provided on the floor surface 16 of the three-dimensional measurement space R is added. When external orientation calculation is performed, the external orientation accuracy of the stereo imaging unit 11 with respect to the horizontal plane (reference plane) 106 and the reliability (measurement accuracy) and stability of the three-dimensional measurement can be further improved.

  Alternatively, even when information on the distance between the plurality of floor surface reference marks 16b based on the actual measurement of the floor surface reference marks 16b in the three-dimensional measurement space R is not accurately grasped in advance, the floor in the three-dimensional calculation space V It is possible to define the plane (reference plane) 106 with a given accuracy. However, when the distance between the plurality of floor surface reference marks 16b in the three-dimensional measurement space R is accurately grasped in advance based on actual measurement (reference measurement), information on the floor plane (reference plane) 106 is included. An accurate reference measurement value can be given to the reference body model 102 in the three-dimensional calculation space V. In this case, the external orientation of the stereo photographing unit 11 with respect to the floor surface 16 (reference plane 106) can be performed with higher accuracy.

  As described above, the reference body model 102 defined in the three-dimensional calculation space V is based on the photographing measurement values and the reference measurement values of the plurality of floor surface reference marks 16b provided on the floor surface 16 in the three-dimensional measurement space R. By including the information on the floor surface (reference plane) 106 defined by the reference body information defining unit 12, it is possible to obtain normalized three-dimensional measurement information with higher information value. For example, the height from the floor surface 16 in the three-dimensional measurement space R that is the measurement reference surface to the top of the human body that is the measurement object 1 (the highest height) is defined as the height, and the height of the human body with high accuracy. Measurement information can be obtained. For this reason, based on many normalized height measurement information, the statistical information which compared the height of many persons can also be obtained, for example. Or similarly, it is good also as what grasps | ascertains (determines) the size or design of the clothes which match the body shape of most people based on the three-dimensional measurement information of the body shape of many people.

  With reference to the block diagram shown in FIG. 7, the overall configuration of the three-dimensional measurement system 10 of the present embodiment will be described. The control unit 18 which is a central processing unit (Central Processing Unit) provided in the three-dimensional measurement system 10 is provided so as to control the three-dimensional measurement system 10 and each functional unit included in the three-dimensional measurement system 10 in an integrated manner. As described above, the three-dimensional measurement system 10 includes four (4 units) stereo imaging units 11. The four stereo imaging units 11 are controlled by the imaging synchronization unit 11e so that the sub-reference body 3 and the measurement object 1 are simultaneously imaged from the entire circumference. The four stereo imaging units 11 perform the external orientation S04 of the stereo imaging unit 11 by simultaneously performing stereo imaging S02 (see FIG. 12) of the sub-reference body 3 from the entire circumference. Similarly, the four stereo photographing units 11 perform the three-dimensional measurement S05 by simultaneously photographing the measurement object 1 in stereo from the entire circumference. Note that the three-dimensional measurement system 10 may include only one stereo photographing unit 11 (one unit). In this case, it is possible to perform the three-dimensional measurement S05 on only one surface of the measurement object 1 that is stereo-photographed by one stereo photographing unit 11. Further, since the photographing synchronization unit 11e is not provided, the three-dimensional measurement system 10 can be provided more easily.

  As described above, the three-dimensional measurement system 10 of the present embodiment includes the sub-reference body 3 that constitutes a part of the reference body 2 that covers the entire measurement object 1. The sub reference body 3 presents the reference mark 4 included in the sub reference body 3 to the stereo photographing unit 11. The sub-reference body 3 physically exists in the three-dimensional measurement space R, which is a real space, and is provided S01 to the three-dimensional measurement space R of the three-dimensional measurement system 10. As described above, a plurality of sub-reference bodies 3 can be stacked and used so as to cover the entire measurement object 1. Alternatively, as in the second embodiment, the sub-reference body 3 can be placed on the mounts 7a and 7b and arranged to cover the entire measurement object 1. Alternatively, as in the third embodiment, the sub-reference body 3 can be moved and disposed so as to cover the entire measurement object 1. Alternatively, instead of covering the entire measurement object 1 with the sub reference body 3 as in the fourth embodiment, the virtual sub reference body model 103i is added to the three-dimensional calculation space V as described above. Thus, the sub reference body 3 may be used so that the entire measurement object 1 is covered with the virtual reference body 2 i including the sub reference body 3.

  As described above, the reference body information defining unit 12 included in the three-dimensional measurement system 10 according to the present embodiment is used for external orientation S04 of the stereo photographing unit 11 based on the stereo images 20a and 20b of the sub reference body 3. The reference body model 102, which is a three-dimensional numerical analysis model, is defined as a unit S03. As described above, the orientation element calculation unit 13 included in the three-dimensional measurement system 10 numerically analyzes the reference body model 102 using, for example, an approximate solution method using the least square method, and external orientation elements (x, y, z) (ω , Φ, κ) is calculated S04. As a result, the four (4 units) stereo imaging units 11 can be localized by external orientation S04. A recording unit (not shown) provided in the three-dimensional measurement system 10 so that the external orientation elements (x, y, z) (ω, φ, κ) calculated by the orientation element calculation unit 13 can be used in the three-dimensional measurement S05. ) Should be saved. By using the external orientation elements (x, y, z) (ω, φ, κ) obtained in this way, the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 is measured by the stereo photographing unit 11 in stereo photography. The three-dimensional measurement S05 of the object 1 can be performed.

  Furthermore, as described above, the three-dimensional measurement system 10 includes the floor reference mark 16b provided on the floor sheet 16a that presents information on the floor 16 to the stereo imaging unit 11. As described above, based on the stereo images 20a and 20b (see FIG. 10) of the floor reference mark 16b photographed by the stereo photographing unit 11, the reference body model 102 defined by the reference body information defining unit 12 is defined as a measurement standard. Information on surface 106 can be added U04. Therefore, it is possible to obtain three-dimensional measurement information with higher information value normalized based on the information of the measurement reference plane 106 included in the reference body model 102.

  Furthermore, the three-dimensional measurement system 10 of the present embodiment can use a position variation detection target mark that can be used as a monitoring reference point for detecting M01 the position variation 29 of the photographing position after the external orientation S04 of the stereo photographing unit 11. 17a. As will be described in detail later, the position variation detection target mark 17a may be provided, for example, on the support unit 17 that supports the stereo photographing unit 11. Similarly to the position variation detection target mark 17a, the floor reference mark 16b can also be used for detection M01 of the position variation 29 of the photographing position of the stereo photographing unit 11. As will be described in detail later, in the three-dimensional measurement system 10 of the present embodiment, the position variation 29 of the floor reference mark 16b and / or the position variation detection target mark 17a photographed by the stereo photographing unit 11 is detected as a photographing position variation detection unit. 15 can detect M01. For this reason, generation | occurrence | production of the measurement error of the three-dimensional measurement after external orientation S04 can be monitored and detected. Note that the imaging position variation detection unit 15, the floor sheet 16a, the floor reference mark 16b, and the position variation detection target mark 17a provided in the three-dimensional measurement system 10 of the present embodiment are more easily provided with the three-dimensional measurement system 10. Therefore, it may be omitted as appropriate.

  With reference to the block diagram of FIG. 8, the configuration of the three-dimensional measurement unit 14 provided in the three-dimensional measurement system 10 of the present embodiment will be described. As described above, the three-dimensional measurement unit 14 can obtain a set of stereo images 20a and 20b (see FIG. 9) by performing stereo imaging S05 of the measurement object 1 with the stereo imaging unit 11 subjected to external orientation S04. The three-dimensional measurement unit 14 limits the target space of the stereo matching process (corresponding point detection process) to be performed on the obtained set of stereo images 20a and 20b within the detection process limited space A02. It has a setting unit 14a. The processing time of the stereo matching process can be shortened by setting A02 of the detection process limited space 21 by the detection process limited space setting unit 14a. Further, as will be described in detail later, when setting the detection processing limited space limited to the range further narrowed after the preprocessing matching A05 (again), the erroneous matching point removal of the stereo matching processing by the preprocessing matching A05 is performed. A07 can be performed.

  The setting A02 of the detection process limited space 21 is further performed by performing the back projection A04 on the pair of stereo images 20a and 20b by the back projection unit 14a1 included in the detection process limited space setting unit 14a. Stereo matching processing time can be shortened. Furthermore, the portion 22 other than the detection processing limited space 21 on the stereo images 20a and 20b is reliably filled with a single color (for example, black) using the fill processing unit 14a2 included in the detection processing limited space setting unit 14a. Stereo matching processing time can be shortened. Note that the detection processing limited space setting unit 14a, the back projection unit 14a1, and the paint processing unit 14a2 included in the three-dimensional measurement unit 14 of the present embodiment may be omitted as appropriate in order to provide the three-dimensional measurement system 10 more easily. Good.

  The three-dimensional measurement unit 14 according to the present embodiment includes a background removal unit 14b that removes A03, which may cause an increase in stereo matching processing time. The background removing unit 14b subtracts another stereo image 28 (see FIG. 11) that does not include the measurement object 1 from one stereo image 27 (see FIG. 11) that includes the measurement object 1 captured by the stereo imaging unit 11. The subtraction operation unit 14b1 for subtracting the background 9 of the measurement object 1 is provided. By removing the background 9 A03 using the background removal unit 14b, the stereo matching processing time can be further shortened, and mismatching can be prevented and removed. The other stereo image 28 obtained by photographing the background 9 (not including the measurement object 1) is taken when the measurement object 1 is photographed when the three-dimensional measurement system 10 is set up or before the measurement object 1 is photographed. It is recommended that the image be obtained appropriately after performing the above. In addition, the background removal unit 14b and the subtraction calculation unit 14b1 included in the three-dimensional measurement unit 14 of the present embodiment may be omitted as appropriate in order to provide the three-dimensional measurement system 10 more easily.

  The three-dimensional measurement unit 14 according to the present embodiment includes a stereo matching processing unit 14c that performs stereo matching processing (corresponding point detection processing). The stereo matching processing unit 14c includes a preprocessing unit 14c1 that performs the first stereo matching processing (preprocessing matching processing) A05 easily and quickly. The preprocessing unit 14c1 designates A06 the matching range determined by the first matching processing (preprocessing matching processing) A05 as the detailed matching processing range (detailed detection processing limited space) 21a. In addition, the stereo matching processing unit 14c includes a detailed processing unit 14c2 that performs a detailed second stereo matching process (detailed matching process) A08 within the detailed matching process range 21a. By providing in this way, the stereo matching processing time can be further shortened by keeping the information processing target of the detailed matching processing A08 requiring appropriate information processing time within the detailed matching processing range 21a. Note that the pre-processing unit 14c1 and the detailed processing unit 14c2 included in the stereo matching processing unit 14c of the present embodiment may be appropriately omitted in order to provide the three-dimensional measurement system 10 more easily.

  Here, with reference to FIG. 12, a method for three-dimensionally measuring the measurement object 1 performed using the three-dimensional measurement system 10 of the present embodiment will be described. Details of this method will be described later. In the method of measuring the measurement object 1 three-dimensionally, the three-dimensional measurement space of the three-dimensional measurement system 10 is used to perform the external orientation S04 of the stereo imaging unit 11 using the sub-reference body 3 that is a reference device for three-dimensional measurement. Provide (carry in) S01 the sub-reference body 3 to R. Subsequently, the stereo imaging unit 11 performs stereo imaging S02 on the reference mark 4 included in the sub-reference body 3. Stereo imaging S02 includes a step S02a (not shown) of stacking a plurality of sub-reference bodies 3, a step S02b (not shown) of placing the sub-reference bodies 3 on the mounts 7a and 7b, and a step S02c of moving the sub-reference bodies 3. (Not shown) and one or more steps selected from the group of step S02d (not shown) for adding the virtual sub-reference body model 103i to the three-dimensional calculation space V may be included. Subsequently, the three-dimensional corresponding to the reference body 2 that covers the entire measurement object 1 including information on the reference measurement values g and s of the reference mark 4 included in the sub-reference body 3 and the photographed measurement values f and m. The reference body model 102, which is a numerical analysis model, is integrally defined by the reference body information defining unit 12 (S03). Subsequently, the external orientation elements (x, y, z) (ω, φ, κ) are calculated by the orientation element calculation unit 13 using the reference body model 102, and the external orientation (localization) of the stereo photographing unit 11 is calculated. Do it. Subsequently, the three-dimensional shape of the measurement object 1 can be precisely measured by performing the three-dimensional measurement S05 on the measurement object 1 with the stereo imaging unit 11 subjected to the external orientation S04.

  Subsequently, referring to FIG. 9, setting of the detection process limited space 21 performed by the detection process limited space setting unit 14 a included in the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 of the first to fourth embodiments. Will be described. The three-dimensional measurement unit 14 includes a detection process limited space setting unit 14 a that sets a detection process limited space 21 in which the measurement object 1 is included in the three-dimensional calculation space V. Further, the detection process limited space setting unit 14a is provided so as to limit A02 the range in which the corresponding point detection process (stereo matching process) on the pair of stereo images 20a and 20b is performed within the detection process limited space 21.

  For example, in the case of performing stereo matching processing (corresponding point detection processing) in the three-dimensional calculation space V (three-dimensional measurement space R), in particular, a moving subject such as a measurement operator (not shown) in the three-dimensional measurement space R There may also be cases where background noise information is reflected. In such a case, the information on the background noise may be subject to information processing in stereo matching processing including pre-processing matching processing A05 and detailed matching processing A08, which will be described in detail later, and information processing time may be increased. There is sex. In order to shorten the information processing time of the stereo matching process, the detection process limited space setting unit 14a is provided so as to limit the target range of the stereo matching process within the detection process limited space A02.

  In order to perform a quick three-dimensional measurement with a short stereo matching process (corresponding point detection process), it is preferable to perform a background noise information removal process in stereo photography. Conventionally, the background noise removal processing has a problem in that appropriate information processing time is spent and noise that cannot be completely removed even by the removal processing remains. In the three-dimensional measurement system 10 according to the present embodiment, a three-dimensional measurement space R (three-dimensional calculation space) in which stereo matching processing is performed using the detection processing limited space setting unit 14a without performing conventional background noise removal processing. The detection processing space in V) is limited to A02 within a predetermined space (detection processing limited space 21) in which the measurement object 1 is included (specified by the measurer). Note that the correspondence relationship between the three-dimensional measurement space R and the three-dimensional calculation space V is completely grasped by external orientation performed prior to the three-dimensional measurement. For this reason, in the setting A02 of the detection process limited space 21 by the detection process limited space setting unit 14a, both are regarded as synonymous.

  By providing in this way, all information included in the region 22 outside the detection process limited space 21 that is not included in the detection process limited space 21 can be uniformly removed without performing any information processing. Therefore, the information processing speed of the stereo matching process (corresponding point detection process) of the three-dimensional measurement can be improved and the information processing time can be shortened. The detection process limited space 21 set by the detection process limited space setting unit 14a is the sub-reference body 3, the column 17 of the stereo photographing unit 11, or the measurement object 1 in the three-dimensional measurement space R, as will be described later. It should be determined based on the size of a human body.

  Further, the detection processing limited space setting unit 14a performs corresponding point detection processing in a two-dimensional plane space on the stereo images 20a and 20b in which the measurement object 1 is projected on the stereo images 20a and 20b captured by the stereo imaging unit 11 ( A range for performing the stereo matching process) may be provided so as to limit A02. For this purpose, the detection process limited space setting unit 14a further includes a back projection unit 14a1, and the back projection unit 14a1 is set in the three-dimensional measurement space R (three-dimensional calculation space V) by the detection process limited space setting unit 14a. The set detection processing limited space 21 may be provided so as to be back-projected A04 on a two-dimensional plane on the stereo images 20a and 20b.

  By providing in this way, the detection process limited space 21 setting (limitation) process A02 by the detection process limited space setting unit 14a is performed on the stereo images 20a and 20b using the back projection unit 14a1 on the three-dimensional measurement space R (3 The detection processing limited space 21 in the dimensional calculation space V) can be back-projected A04 and performed on a two-dimensional plane. For this reason, the information of the detection processing limited space 21 set in three dimensions in the three-dimensional measurement space R (three-dimensional calculation space V) is further compared with the information processing as the information of the three-dimensional space as it is. Processing time can be shortened. The back projection of the detection processing limited space 21 onto the two-dimensional plane on the stereo images 20a and 20b using the back projection unit 14a1 is an external orientation obtained by external orientation or bundle adjustment (flux adjustment) by the orientation element calculation unit 13. It may be performed using the element (x, y, z) (ω, φ, κ) and the relational expression for coordinate transformation of the above-described equations (1) and (2).

  Specifically, the detection processing limited space 21 may be set by back-projecting the space in which the sub-reference body 3 exists on the stereo images 20a and 20b using the back projection unit 14a1. Alternatively, by using the support column 17 of the stereo photographing unit 11, an area surrounded by a straight line connecting a plurality of position variation detection target marks 17a included in the support column 17 described in detail later is set as the detection processing limited space 21. It is good also as what to do. Alternatively, an area in a specific range on the stereo images 20a and 20b determined based on the size of the human body that is the measurement object 1 may be set as the detection processing limited space 21.

  Further, the detection processing limited space setting unit 14a detects a range for performing corresponding point detection processing (stereo matching processing) by painting a portion 22 other than the range corresponding to the detection processing limited space 21 on the stereo images 20a and 20b with a single color. It is good to provide so that it may carry out limitation A02 in the process limited space 21. FIG. For this purpose, the detection processing limited space setting unit 14a includes a fill processing unit 14a2, and the fill processing unit 14a2 displays a portion 22 other than the range corresponding to the detection processing limited space 21 on the stereo images 20a and 20b in a single color. It is preferable to provide a range in which the corresponding point detection process is performed within the detection process limited space 21 by limiting it to A02.

  In this manner, corresponding points are detected by painting a portion 22 other than the detection processing limited space 21 with a single color on the two-dimensional plane of the stereo images 20a and 20b using the fill processing unit 14a2 included in the detection processing limited space setting unit 14a. It is possible to reliably prevent erroneous detection in the process (stereo matching process). For this reason, a corresponding point detection process can be performed rapidly and reliably. It should be noted that the solid color filling of the portion 22 other than the detection processing limited space 21 performed by the painting processing unit 14a2 may be performed using any single color such as black or blue.

  With reference to FIG. 10, the detection of the fluctuation | variation of the imaging | photography position which the three-dimensional measurement system 10 of 1st thru | or 4th embodiment performs is demonstrated. The three-dimensional measurement system 10 may include an imaging position variation detection unit 15 that detects a position variation 29 of the stereo imaging unit 11 in the three-dimensional measurement space R from the time of external orientation element calculation S04 (see FIG. 12). In addition, the photographing position variation detection unit 15 includes stereo images 20a and 20b obtained after the stereo photographing unit 11 after the external orientation element calculation S04 and stereo images 20a and 20b obtained by the stereo photographing unit 11 during the external orientation element calculation S04. It is preferable that the comparison is provided so as to detect the presence or absence of the position variation 29 of the stereo imaging unit 11 in the three-dimensional measurement space R.

  The stereo photographing unit 11 is preferably configured to be fixed and supported by the support unit 17 to which the position variation detection target mark 17a is attached, and provided so as to photograph the position variation detection target mark 17a in stereo. In addition, the imaging position variation detection unit 15 compares the position of the position variation detection target mark 17a on the stereo images 20a and 20b captured by the stereo imaging unit 11 at the time of external orientation element calculation S04 and after the external orientation element calculation S04. Thus, it may be provided so as to detect the presence or absence of the position variation 29 of the stereo photographing unit 11.

  The stereo photographing unit 11 is configured to photograph the floor reference mark 16b on the floor surface 16 on which the measurement object 1 is arranged, and the photographing position variation detection unit 15 is a stereo photographed by the stereo photographing unit 11. The position of the floor reference mark 16b on the images 20a and 20b is compared between the time of the external orientation element calculation S04 and after the external orientation element calculation S04, and is provided so as to detect the presence or absence of the position variation 29 of the stereo photographing unit 11. Good.

  The imaging position variation detection unit 15 is provided so as to use the position variation detection target mark 17a attached to the support unit 17 of the stereo imaging unit 11 as a monitoring reference point for monitoring the position variation 29 of the stereo imaging unit 11. Good. When the three-dimensional measurement system 10 includes a plurality of (four (4 units)) stereo photographing units 11a to 11d, for example, the other stereo photographing unit 11c is fixedly supported by one stereo photographing unit 11a. The position fluctuation detection target mark 17a affixed to the support part 17 may be photographed and provided so as to monitor the position fluctuation of the stereo photographing part 11a and / or the stereo photographing part 11c. As described above, it is preferable that the plurality of stereo imaging units 11a to 11d are provided so as to monitor the position variation 29 mutually.

  Alternatively, the one stereo photographing unit 11a photographs the position variation detection target mark 17a attached to the support unit 17 (protrusion 17b) on which the one stereo photographing unit 11a itself is fixed and supported, and the stereo photographing unit 11a. It is good also as what is provided so that the position fluctuation | variation 29 with respect to the support part 17 may be monitored. In this case, for example, the support portion 17 is provided with a protruding portion or a bent portion 17b extending in the outer peripheral direction of the support shaft of the support portion 17 to which the position variation detection target mark 17a is attached. The position fluctuation detection target mark 17a may be provided so as to be photographed within the imaging range of the imaging unit 11a.

  In addition, the photographing position variation detection unit 15 (see FIG. 7), like the above-described position variation detection target mark 17a, is a floor reference provided on the floor surface 16 photographed by the plurality of stereo photographing units 11a to 11d. The mark 16b may be provided to be used as a monitoring reference point for detecting the position variation 29. As described above, the floor reference mark 16b may be provided using the floor sheet 16a laid on the floor surface 16.

  By providing in this way, the coordinate position on the stereo images 20a, 20b of the position variation detection target mark 17a and / or the floor reference mark 16b photographed after the external orientation element calculation S04 by the stereo photographing unit 11 is calculated. It can be compared with the coordinate position at S04. For this reason, the imaging position variation detection unit 15 can detect the presence or absence of the position variation 29 of the stereo imaging unit 11 in the three-dimensional measurement space R.

  The presence / absence of the position variation 29 by the photographing position variation detection unit 15 may be provided so as to be performed on any stereo photographing units 11a to 11d at an arbitrary timing after the external orientation S04. For example, the detection M01 of the presence or absence of the position variation 29 may be performed on all the stereo imaging units 11a to 11d immediately before performing the three-dimensional measurement. In this case, since it can be confirmed that there is no fluctuation 29 in the photographing position in all the stereo photographing units 11a to 11d that perform the three-dimensional measurement, the highly reliable three-dimensional measurement can be performed.

  The photographing position fluctuation detection unit 15 more strictly detects the position fluctuation 29 based on the information of the position fluctuation detection target mark 17a and / or the floor reference mark 16b at the time of detection of an arbitrary position fluctuation M01 after the external orientation S04. An external orientation calculation for the position variation 29 may be performed by using the orientation element calculation unit 13 to detect the position variation 29. In this case, the imaging position variation detection unit 15 performs the external orientation calculation U06 based on the information of the monitoring reference point (position variation detection target mark 17a and / or floor reference mark 16b) in advance during the external orientation element calculation S04. In this way, the orientation element calculation unit 13 may be provided so as to be controlled.

  In addition, at any position fluctuation detection M01, the photographing position fluctuation detection unit 15 is based on a monitoring reference point (designated monitoring reference point) that is recognized and designated by the photographing position fluctuation detection unit 15 as having no plural position fluctuations 29. Thus, the orientation element calculation unit 13 may be controlled to perform external orientation calculation for detecting the position variation 29. In addition, the external orientation elements (x, y, z) (ω, φ, κ) calculated for detecting the position variation 29 are provided so as to confirm that there is no change compared to the time of the external orientation element calculation S04. May be. In this case, it can be said that the calculation of the external orientation elements (x, y, z) (ω, φ, κ) performed for detecting the position variation 29 has reproducibility.

  More precisely, the detection of the position variation 29 by the photographing position variation detection unit 15 includes the stereo photographing unit 11a including the time of the external orientation element calculation S04 and the time of the photographing measurement M02 for the three-dimensional measurement S05 of the measurement object 1. It is good also as what is provided so that it may always perform based on the information of the stereo images 20a and 20b obtained by the continuous moving image photography which -11d performs continuously. By providing in this way, it is possible to guarantee through the history that no position variation 29 (positional deviation) has occurred in the positions and postures of the stereo photographing units 11a to 11d at the time of external orientation element calculation S04.

  As described above, when the position variation 29 is detected based on the moving image photographing continuously performed by the stereo photographing units 11a to 11d, the variation of the coordinate position of the monitoring reference point on the stereo images 20a and 20b is monitored. In addition, it may be provided so as to monitor the presence or absence of the position fluctuation 29 of the monitoring reference point in the dimension of the movement speed of the monitoring reference point or the acceleration of the movement. In the case of providing in this way, the presence / absence of the position variation 29 of the photographing positions of the stereo photographing units 11a to 11d since the external orientation element calculation S04 can be monitored more strictly through the history.

  In the monitoring of the presence or absence of the position variation 29 performed by the photographing position variation detection unit 15, for example, the position variation 29 of the position variation detection target mark 17a provided on the support unit 17 of the stereo photographing unit 11 is not detected, but the floor reference It is also assumed that only the position variation 29 of the mark 16b (floor surface sheet 16a) is detected. In this case, the imaging position variation detection unit 15 may perform external orientation calculation for quantitative detection of the position variation 29 using the orientation element calculation unit 13. For example, the stereo photographing unit 11 is externally oriented based on only the monitoring reference point at which the position variation 29 is evaluated, that is, only on the floor reference mark 16b in this case, and the stereo photographing is performed. The external orientation elements (x, y, z) (ω, φ, κ) of the unit 11 may be calculated.

  Subsequently, the imaging position variation detection unit 15 compares the external orientation results (before and after the external orientation element calculation S04) before and after the occurrence of the position variation 29 of the floor reference mark 16b. It is preferable to quantitatively calculate the fluctuation amount (displacement amount, rotation amount) of the external orientation elements (x, y, z) (ω, φ, κ). When provided in this way, the photographing position fluctuation detection unit 15 generates the position fluctuation 29 based on the fluctuation amount (displacement amount, rotation amount) of the external orientation elements (x, y, z) (ω, φ, κ). It is possible to quantitatively grasp the positional variation 29 of the floor reference mark 16b that is evaluated to be the same. Based on the amount of the position variation 29 of the floor reference mark 16b grasped in this way, the imaging position variation detection unit 15 simply calculates measurement coordinate information related to the floor reference mark 16b included in the three-dimensional measurement coordinate system. Correction may be performed to continue the three-dimensional measurement.

  Alternatively, the result of the external orientation calculation for calculating the amount of the position variation 29 performed based only on the monitoring reference point (for example, the floor reference mark 16b) from which the position variation 29 is detected is the imaging position variation detection unit 15. May be used for correcting other similar measurement coordinate information. For example, only the monitoring reference point (for example, the position variation detection target mark 17a) that excludes the remaining monitoring reference point evaluated that the position variation 29 has not occurred, that is, the position that the position variation 29 has occurred is excluded. It is good also as what further performs external orientation calculation performed based on this, and compares both. In this case, the result of the external orientation calculation based on the monitoring reference point evaluated that the position variation 29 has not occurred, and the result of the external orientation calculation based on the monitoring reference point evaluated that the position variation 29 has occurred Thus, the amount of the position variation 29 (displacement amount, rotation amount) can be grasped quantitatively.

  With reference to FIG. 11, the removal of the background 9 performed by the background removal unit 14b included in the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 according to the first to fourth embodiments will be described. The background removal unit 14b included in the three-dimensional measurement unit 14 captures the background 9 that does not include the measurement target 1 from one stereo image 27 obtained by capturing the measurement target 1 captured by the stereo imaging units 11a to 11d. By subtracting the stereo image 28, the background 9 other than the measurement object 1 may be provided to be removed A03.

  As described above, even in the detection processing limited space 21 set by the detection processing limited space setting unit 14a, the stereo images 20a and 20b by the stereo photographing unit 11 are displayed on a background (noise) 9 such as a personal computer (not shown). May be included. The background (noise) 9 can be said to cause a large information processing burden in the corresponding point detection process (stereo matching process). For this reason, it is preferable that the background removal unit 14b performs the background 9 removal process in parallel with the setting of the detection process limited space 21 performed by the detection process limited space setting unit 14a.

  In this case, photographing by the stereo photographing unit 11 can obtain one stereo image 27 obtained by photographing the measurement object 1 and another stereo image 28 obtained by photographing the background 9 (not including the measurement object 1). It is good to do as much as you can. In addition, the background removing unit 14b performs a subtraction operation on one two-dimensional plane space of each stereo image 20 from one stereo image 27 obtained by photographing the measurement target 1, and another stereo image 28 obtained by photographing the background 9. The subtraction operation unit 14b1 may be provided.

  The background removing unit 14b is provided so as to remove the information of the background 9 included in the other stereo image 28 by subtracting from the one stereo image 27 in which the measurement object 1 is photographed using the subtraction calculating unit 14b1. Yes. The background removal unit 14b is assumed to fill the image portion occupied by the background 9 subtracted and removed by the subtraction calculation unit 14b1 with a single color, for example, as with the painting unit 14a2 included in the detection processing limited space setting unit 14a. Good.

  As described above, since the three-dimensional measuring unit 14 includes the background removing unit 14b, it can be provided so as to positively exclude the background 9 that is a heavy burden of the stereo matching process. Therefore, the three-dimensional measurement system 10 can perform three-dimensional measurement quickly and efficiently.

  Returning to FIG. 9, stereo matching processing performed by the stereo matching processing unit 14 c included in the three-dimensional measurement unit 14 included in the three-dimensional measurement system 10 according to the first to fourth embodiments will be described. The three-dimensional measuring unit 14 may be provided with a stereo matching processing unit 14c having a preprocessing unit 14c1 (see FIG. 8) and a detailed processing unit 14c2 (see FIG. 8). Further, the stereo matching processing unit 14c may be provided so as to perform the detailed matching processing A08 in the detailed processing unit 14c2 with the detailed matching processing range 21a determined by the preprocessing unit 14c1 as a processing target.

  The stereo matching processing unit 14c is provided to perform the detailed matching processing A08 by the detailed processing unit 14c2 only for the processing within the detailed matching range 21a determined by the preprocessing matching A05 performed by the preprocessing unit 14c1. In the pre-processing matching A05, for example, a stereo matching process that is performed quickly and preliminarily using an OCM (direction code matching) method or the like may be performed. On the other hand, in the detailed matching process A08, it is preferable to perform a highly accurate stereo matching process using an LSM (least square matching) method or the like. Alternatively, in the preprocessing matching A05, for example, a residual sequential test method (SSDA method) configured to perform a stereo matching process simply and quickly may be used. On the other hand, in the detailed matching process A08, the stereo matching process may be performed using an arbitrary normalized correlation method (NCM) configured to perform a more detailed stereo matching process.

  By providing in this way, for example, the pre-processing matching A05 by the first stereo matching method (for example, OCM method) that can be performed simply and quickly is defined by being surrounded by a convex hull line based on a predetermined threshold value, for example. It is possible to perform the second detailed matching process A08 with higher accuracy, for example, by the LSM method or the like only within the detailed matching range 21a. For this reason, the information processing time of the detailed matching process A08 can be suppressed, and quick and efficient three-dimensional measurement can be performed.

  The matching points determined by the preprocessing matching A05 may include erroneous detection points (mismatching points). Here, a new detection processing limited space 21 that is narrower than the detection processing limited space 21 previously set A02 by using the detection processing limited space setting unit 14a may be set A07 again. In this case, the detection process limited space 21 is set by the detection process limited space setting unit 14a twice before and after the preprocessing matching A05 (A02 and A07). In this case, the detection processing limited space 21 of the former A02 has an effect of preventing the occurrence of mismatching in the preprocessing matching A05 prior to the preprocessing matching A05. In addition, the setting of the detection processing limited space 21 of the latter A07 has an effect of removing the mismatching points detected in the preprocessing matching A05. As described above, the detection processing limited space 21 may be set a plurality of times.

  With reference to FIG. 12, a method for three-dimensionally measuring a measurement object according to the fifth embodiment of the present invention will be described. In the method for three-dimensional measurement of the measurement object 1 according to the present embodiment, the three-dimensional measurement of the plurality of reference marks 4 in the three-dimensional measurement space R that constitutes a part of the reference body 2 that covers the entire measurement object 1 Step of providing a sub-reference body 3 having a plurality of reference marks 4 in which the coordinate values g and / or the distances s between the plurality of reference marks 4 are known in advance in the three-dimensional measurement space R (S01). For this reason, it is easy to handle in the three-dimensional measurement space R, and the small sub-reference body 3 can be carried in and installed.

  Further, the method includes a step (S02) of obtaining the stereo images 20a and 20b by stereo shooting the sub-reference body 3 from a plurality of directions in the three-dimensional measurement space R. For this reason, the stereo images 20a and 20b used for performing the external orientation of stereo photography can be obtained. The step of obtaining the stereo images 20a and 20b by stereo shooting of the sub-reference body 3 (S02) is a step of stacking a plurality of sub-reference bodies 3 so as to cover the entire measurement object 1 (S02a) (not shown), A step (S02b) (not shown) for placing the sub reference body 3 on the gantry 7a, 7b, a step (S02c) (not shown) for moving the sub reference body 3 and the virtual sub reference body model 103i in the three-dimensional calculation space V One or more steps selected from the group of steps (S02d) (not shown) of adding may be included.

  Note that the step of stacking a plurality of sub-reference bodies 3 (S02a) (not shown) may be configured to cover the entire measurement object 1 with the stacked sub-reference bodies 3. The step (S02b) (not shown) of placing the sub-reference body 3 on the gantry 7a, 7b includes placing one or more of the sub-reference body 3 on the gantry 7a, 7b. The sub reference body 3 may be configured to cover the entire measurement object 1. The step (S02c) (not shown) of moving the sub reference body 3 moves the sub reference body 3 so that the entire measurement object 1 is moved by one or more sub reference bodies 3 arranged at a plurality of positions. It is good to comprise so that it may cover. The step (S02d) (not shown) of adding the virtual sub reference body model 103i to the three-dimensional calculation space V is added to one or more sub reference bodies 3 in the three-dimensional measurement space R and the three-dimensional calculation space V. The entire measurement object 1 may be covered with one or more virtual sub-reference bodies 3i in the three-dimensional measurement space R corresponding to one or more virtual sub-reference body models 103i.

  In addition, the captured measurement values f of the three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 included in the sub-reference body 3 based on the stereo image 20 obtained by stereo shooting and / or the plurality of reference marks 4 are mutually connected. The photographing measurement value m of the inter-distance (reference measurement value) s, the three-dimensional coordinate values (reference measurement values) g of the plurality of reference marks 4 held by the sub-reference body 3 and / or the plurality of reference marks 4 A step (S03) of defining a reference body model 102, which is a three-dimensional numerical analysis model of the reference body 2, including the mutual distance (reference measurement value) s, in the three-dimensional calculation space V as a unit. For this reason, the reference body model 102 including information on the reference measurement values g and s and the photographing measurement values f and m can be integrally defined in the three-dimensional calculation space V.

  Further, the step of calculating the external orientation elements (x, y, z) (ω, φ, κ) for stereo shooting by the external orientation method using the reference body model 102 defined in the defining step (S03) ( S04). For this reason, external orientation for stereo photography can be performed based on information included in the reference body model 102.

  In addition, the method includes a step (S05) of photographing the measurement object 1 by stereo photography in which the external orientation elements (x, y, z) (ω, φ, κ) are calculated and measuring the measurement object 1 three-dimensionally. The three-dimensional measurement space R is a real space R in which the sub-reference body 3 and the measurement object 1 are actually installed to perform three-dimensional measurement, and the three-dimensional calculation space V corresponds to the three-dimensional measurement space R. This is a virtual space V for calculating the external orientation elements (x, y, z) (ω, φ, κ) of stereo photography by the external orientation method. For this reason, the measurement object 1 can be three-dimensionally measured with high accuracy by stereo shooting with external orientation.

  For this reason, the method for three-dimensional measurement of the measurement object according to the present embodiment is a stereo that forms part of the reference body 2, that is, a stereo image obtained by taking a sub-reference body 3 smaller than the reference body 2. External orientation can be performed based on the reference measurement values g and s obtained by performing the reference measurement on the image 20 and the sub-reference body 3 in advance. In addition, the photographing measurement value f of the sub-reference body 3 corresponding to the reference body 2 covering the entire measurement object 1 in the three-dimensional measurement space R and following the coplanar condition of the spatial forward intersection method in the three-dimensional calculation space V, A reference body model 102 that is one numerical analysis model including information on m and information on reference measurement values g and s can be integrally defined in the three-dimensional calculation space V. In addition, stereo imaging can be accurately externally determined using the reference body model 102, and the three-dimensional measurement of the measurement object 1 can be performed with high accuracy. For this reason, the three-dimensional measurement system 10 including the small sub-reference body 3 that is easy to handle can be provided in a small size.

  With reference to FIG. 13, details of a method for setting up three-dimensional measurement in the method for three-dimensionally measuring a measurement object according to the fifth embodiment will be described. The method for setting up the three-dimensional measurement includes a step U01 of photographing the sub reference body 3 corresponding to step S02 in which the above-mentioned sub reference body 3 is photographed in stereo to obtain the stereo image 20. For this reason, the stereo image 20 used for performing the external orientation of stereo imaging | photography can be obtained.

  Further, the method for setting up the three-dimensional measurement includes a step U02 for defining the reference body model 102 as a unit, corresponding to step S03 for defining the reference body model 102 as a unit in the three-dimensional calculation space V. . For this reason, the reference body model 102 including information on the reference measurement values g and s and the photographing measurement values f and m can be integrally defined in the three-dimensional calculation space V.

  The method for setting up three-dimensional measurement is external orientation corresponding to step S04 in which the external orientation elements (x, y, z) (ω, φ, κ) of stereo photography described above are calculated by the external orientation method. Step U03a (not shown) is provided. In addition, a method for setting up three-dimensional measurement is performed by bundle adjustment (light flux adjustment) of external orientation elements (x, y, z) (ω, φ, κ) to reduce external orientation elements (x, y, z). ) Step U03b (not shown) for obtaining (ω, φ, κ) may be provided. In this case, the bundle adjustment for stereo shooting is accurately performed based on the information of the reference measurement values g and s and the shooting measurement values f and m of the reference body model 102 and the constraint condition information based on the geometric condition. be able to.

  Further, a method for setting up three-dimensional measurement is performed by stereo-photographing the floor reference mark 16b provided on the floor 16 on which the sub-reference body 3 and / or the measurement object 1 is installed in the three-dimensional measurement space R. Step U04 for adding floor surface information (measurement reference surface) 106 (see FIG. 1) to the reference body model 102 defined in the dimensional calculation space V may be provided. In this case, the reference body model 102 can have information on the reference plane 106 used as a measurement reference plane for three-dimensional measurement of the measurement object 1.

  In addition, the method for setting up three-dimensional measurement includes a reference plane (measurement reference plane) added in step U04 in which a floor coordinate (measurement reference plane) 106 is added to the above-described reference body model 102 as a measurement coordinate system for three-dimensional measurement. ) A step (U05) having an origin on 106 and converting it to a measurement coordinate system having the floor 16 (measurement reference plane 106) as a reference plane may be provided. In this case, since the three-dimensional measurement can be performed by the normalized three-dimensional measurement coordinate system having the origin on the reference plane 106 corresponding to the floor 16 in the three-dimensional measurement space R, the three-dimensional measurement information Information value can be further increased.

  Further, a method for setting up three-dimensional measurement is performed by using a position variation detection target mark 17a (see FIG. 5) and / or a floor reference mark 16b (see FIG. 5) provided in the three-dimensional measurement space R as an external orientation element (x , Y, z) (ω, φ, κ) calculation step S04 and position change detection time U06, a step U06a (not shown) for stereo shooting, and a position change detection target mark 17a stereo-shot in step U06a for stereo shooting, Step U06b (not shown) for detecting the position fluctuation 29 of the stereo shooting by detecting the position fluctuation 29 of the floor reference mark 16b on the stereo images 20a and 20b may be provided. Note that the step U06 for detecting the position change 29 in stereo shooting may include the step U06b1 (not shown) for performing external orientation for stereo shooting based on the position change detection target mark 17a and / or the floor reference mark 16b. Good. In this case, it is confirmed that the position variation 29 does not occur in the stereo shooting that is subjected to the external orientation S04 at the time of calculating the external orientation elements (x, y, z) (ω, φ, κ) S04 and the position variation detection time U06. Can be confirmed.

  With reference to FIG. 14, the details of the method for three-dimensionally measuring the measurement object of the fifth embodiment will be described. The three-dimensional measurement method may include a step M01 of detecting the stereo photographing position fluctuation 29 corresponding to the step U06 of detecting the stereo photographing position fluctuation 29 in the above-described method of setting up the three-dimensional measurement. . In this case, when the position change 29 in stereo shooting is detected, the setup may be performed again by the above-described method for setting up three-dimensional measurement (see FIG. 13). When the position change 29 of the stereo shooting is not detected, it is preferable to perform Step M02 for measuring the subsequent measurement object 1 three-dimensionally.

  The three-dimensional measurement method includes a step M02 of measuring the measurement object 1 three-dimensionally, which corresponds to step S05 (see FIG. 12) of measuring the measurement object 1 three-dimensionally. For this reason, the measurement object 1 can be three-dimensionally measured with high accuracy by stereo shooting with external orientation. After the three-dimensional measurement M02, a step M03 for determining whether or not continuous measurement (continuous shooting) is necessary may be provided. If it is determined that continuous measurement is necessary, it is preferable to return to step M02 for three-dimensional measurement and repeat the three-dimensional measurement. For example, when it is determined that the three-dimensional measurement has failed for some reason, or when many people's body shapes are continuously three-dimensionally measured, it may be determined that continuous measurement is to be performed. When it is determined that continuous measurement is not necessary, the three-dimensional measurement is preferably terminated.

  With reference to FIG. 15, the details of the stereo matching processing (corresponding point detection processing) method in the method for three-dimensionally measuring the measurement object of the fifth embodiment will be described. The stereo matching processing method may include step A01 for obtaining stereo images 20a and 20b obtained in step S05 (see FIG. 12) for three-dimensional measurement of the measurement object 1. For example, when stereo photographing is performed by four (4 units) stereo photographing units 11, a total of four sets of eight stereo images 20a and 20b can be obtained.

  In addition, the stereo matching processing method of the present embodiment limits the space to be processed as an information processing target within the predetermined detection processing limited space 21 and removes the portion 22 other than the detection processing limited space 21. It is good to have step A02 which performs. In this case, the processing time of the stereo matching process can be shortened by removing the background information of the portion 22 other than the detection process limited space 21. In step A02 for performing background removal by space limitation, step A02a (not shown) for back-projecting the detection processing limited space 21 onto the two-dimensional plane of the stereo images 20a and 20b and a portion 22 other than the detection processing limited space 21 are performed. Step A02b (not shown) for painting with a single color.

  In addition, the stereo matching processing method of the present embodiment performs measurement by subtracting another stereo image 28 in which the background 9 not including the measurement object 1 is captured from one stereo image 27 in which the measurement object 1 is captured. A step of removing the background 9 of the object 1 may be provided (A03). The background (noise) 9 is removed, as will be described in detail below, by back-projecting the background (noise) 9 onto the two-dimensional plane of the stereo image 20 and the stereo of the back-projected A04 two-dimensional plane. On the image 20, the background (noise) 9 may be filled with a single color.

  Further, in the stereo matching processing method of the present embodiment, the information in the three-dimensional calculation space V including the information of the measurement object 1 measured three-dimensionally is back-projected onto the two-dimensional plane on the stereo images 20a and 20b. It is good to have. In this case, three-dimensional information including the three-dimensional measurement result of the measurement object 1 can be back-projected onto a two-dimensional plane on the stereo images 20a and 20b to efficiently perform information processing.

  In addition, the stereo matching processing method of the present embodiment may include step A05 for performing pre-matching by performing stereo matching processing by the first matching processing. The first matching processing may be a stereo matching processing method that can perform matching processing relatively easily and quickly, such as an OCM method.

  In addition, the stereo matching processing method of the present embodiment may include step A06 that designates the range determined by the preprocessing matching A05 as the detailed matching processing range (detailed detection processing limited space) 21a. In this case, the range in which the detailed matching processing A08 described in detail below is performed can be limited to the detailed matching processing range (detailed detection processing limited space) 21a.

  In addition, the stereo matching processing method of the present embodiment may include a step A07 that sets the detection processing limited space 21 and removes miscorresponding points (mismatching points) erroneously detected in the preprocessing matching A05. . The setting of the detection process limited space 21 in step A07 for removing mismatching points is typically performed in a narrower space than the detection process limited space 21 set in step A02 for performing background removal by the above-described space limitation. By resetting the limited space 21, the detection process limited space 21 is reset within a range narrower than the detailed matching processing range 21a including the mismatching points. By providing in this way, it is possible to remove a mismatching point erroneously detected in the preprocessing matching A05.

  Note that step A07 for removing mismatching points by space limitation projects back the detection processing limited space 21 onto the two-dimensional planes of the stereo images 20a and 20b, similarly to step A02 for removing the background due to space limitation. Step A07a (not shown) and step A07b (not shown) for painting the portion 22 other than the detection processing limited space 21 with a single color may be further included. In another embodiment, the stereo matching processing method may include only one of the above-described step A02 for removing the background by space limitation or step A07 for removing the mismatching point by space limitation. Or it is good also as what removes the mismatching point after detailed matching processing A08 by performing the step which removes mismatching point by space limitation after detailed matching processing A08.

  In addition, the stereo matching processing method of the present embodiment performs the second matching process using the detailed matching processing range (detailed detection processing limited space) 21a designated as the matching range A06 as the information processing target in the first matching process. It is good to have step A08 to perform. The second matching process may be a stereo matching processing method that can perform the matching process with relatively high accuracy, such as an LSM method (least square matching method). In this case, the stereo matching processing method of the present embodiment can perform stereo matching processing quickly and with high accuracy.

DESCRIPTION OF SYMBOLS 1 Measurement object 2 Reference body 2i Virtual reference body 3 Sub reference body 3a First sub reference body 3b Second sub reference body 3c Third sub reference body 3i Virtual sub reference body 4 Reference mark (color code target)
4i virtual reference mark 7 frame 7a first frame 7b second frame 8 guide part (guide post / bush)
9 Background 10 Three-dimensional measurement system 11 Stereo shooting unit 11a First stereo shooting unit 11b Second stereo shooting unit 11c Third stereo shooting unit 11d Fourth stereo shooting unit 11e Shooting synchronization unit 12 Reference body information defining unit 13 Orientation element calculation unit 14 3D measurement unit 14a Detection processing limited space setting unit 14a1 Back projection unit 14a2 Fill processing unit 14b Background removal unit 14b1 Subtraction operation unit 14c Stereo matching processing unit 14c1 Preprocessing unit 14c2 Detailed processing unit 15 Shooting position variation Detector 16 Floor 16a Floor sheet 16b Floor reference mark 17 Support 17a Position variation detection target mark 17b Branch (protrusion)
18 Control unit (central processing unit CPU)
20 Stereo image 20a First stereo image 20b Second stereo image 21 Detection processing limited space 21a Detailed matching processing range (Detailed detection processing limited space)
22 Parts outside the detection process limited space (removed parts)
27 One stereo image (continuous shooting)
28 Other stereo images (continuous shooting)
29 Position variation 102 Reference body model 102i Virtual reference body model 103 Sub reference body model 103a First sub reference body model 103b Second sub reference body model 103c Third sub reference body model 103i Virtual sub reference body model 104 Ground control point 105 vertex
106 Reference plane 110 Reference value (reference measurement value)
200 Conventional reference body 204 Reference mark (conventional reference body)
c Focal length E Orientation error (at the time of external orientation)
E '''Orientation error (1st bundle adjustment)
E '' Orientation error (second bundle adjustment)
E 'Orientation error (first bundle adjustment)
f Measurement value (three-dimensional coordinate value of the reference mark)
fi Virtual addition value (three-dimensional coordinate value of virtual reference mark)
f '''Three-dimensional coordinate value of the ground control point (first bundle adjustment)
f '' Three-dimensional coordinate value of the orientation point (second bundle adjustment)
f 'Three-dimensional coordinate value of the control point (bundle adjustment third time)
g Three-dimensional coordinate value of the reference mark (reference measurement value)
gi Three-dimensional coordinate value of virtual reference mark (virtual definition value)
l Baseline length m Photographed measurement value (distance between reference marks)
mi Virtually assigned value (distance between virtual reference marks)
m ″ ′ Distance between ground control points (first bundle adjustment)
m '' Distance between ground control points (second bundle adjustment)
m 'Distance between ground control points (3rd bundle adjustment)
O ₁ first rear principal point (image side principal point)
O ₂ second rear principal point (image side principal point)
P 3D coordinate value of the measurement target point (forward intersection)
p ₁ coordinate value on the first stereo image p ₂ coordinate value R on the second stereo image R three-dimensional measurement space (real space)
s Distance between reference marks (reference measurement value)
si Distance between virtual reference marks (virtual definition value)
V 3D calculation space (virtual space)

Claims (16)

A stereo photographing unit for photographing a measurement object from a plurality of directions in a three-dimensional measurement space to obtain a stereo image;
A part of a reference body that covers the entire measurement object is configured, and a three-dimensional coordinate value of a plurality of reference marks in the three-dimensional measurement space and / or a reference measurement value of a distance between the plurality of reference marks is provided. A sub-reference body having the plurality of reference marks previously grasped;
A three-dimensional coordinate value of the plurality of reference marks of the sub-reference body based on the stereo image obtained by photographing with the stereo photographing unit and / or a photographing measurement value of a distance between the plurality of reference marks; A reference that is a three-dimensional numerical analysis model of the reference body, including three-dimensional coordinate values of the plurality of reference marks of the sub-reference body and / or reference measurement values of distances between the plurality of reference marks, A reference body information defining unit that integrally defines a body model in a three-dimensional calculation space;
An orientation element calculating unit that calculates an external orientation element of the stereo photographing unit using the reference body model defined by the reference body information defining unit;
A three-dimensional measurement unit that performs three-dimensional measurement of the measurement object from a stereo image of the measurement object imaged by the stereo imaging unit localized by the external orientation element calculated by the orientation element calculation unit;
The three-dimensional measurement space is a real space in which the three-dimensional measurement is performed by actually setting the sub-reference body and the measurement object;
The three-dimensional calculation space is a virtual space corresponding to the three-dimensional measurement space for the orientation element calculation unit to calculate an external orientation element of the stereo imaging unit;
3D measurement system.   The stereo imaging unit is arranged in a plurality so as to surround the measurement object in the three-dimensional measurement space, and the plurality of stereo imaging units are configured to simultaneously image the measurement object. 3D measurement system. The reference body information defining unit is:
A three-dimensional coordinate value of the plurality of reference marks of the sub-reference body based on the stereo image obtained by photographing with the stereo photographing unit and / or a photographing measurement value of a distance between the plurality of reference marks; It is a three-dimensional numerical analysis model of the sub-reference body, including three-dimensional coordinate values of the plurality of reference marks of the sub-reference body and / or reference measurement values of the distances between the plurality of reference marks. Configured to define a sub-reference body model in the three-dimensional calculation space;
Three-dimensional coordinate values of a plurality of virtual reference marks defined as having a virtual sub-reference body assumed to cover a part of the measurement object in the three-dimensional measurement space and / or the plurality of virtual A virtual sub-reference body model, which is a three-dimensional numerical analysis model of the virtual sub-reference body, including a virtual assignment value of a distance between reference marks is defined in the three-dimensional calculation space;
The virtual corresponding to the virtual reference body that is the reference body assumed to cover the entire measurement object in the three-dimensional measurement space, including the sub-reference body model and the virtual sub-reference body model. A virtual reference body model, which is a three-dimensional numerical analysis model of a reference body, is configured to be integrally defined in the three-dimensional calculation space as the reference body model;
The three-dimensional measurement system according to claim 1 or 2.   The orientation element calculation unit includes a three-dimensional coordinate value of the plurality of reference marks included in the sub-reference body, which is grasped in advance, included in the integrated reference body model defined by the reference body information definition unit, and / or Alternatively, the three-dimensional coordinate values of the plurality of reference marks included in the sub-reference body based on the stereo image obtained by photographing with the stereo photographing unit using a reference measurement value of a distance between the plurality of reference marks as a reference value, and And / or a bundle adjustment is performed to adjust the photographing measurement value of the distance between the plurality of reference marks to calculate the external orientation element having a small error between the reference value and the photographing measurement value. The three-dimensional measurement system according to any one of claims 1 to 3.   The three-dimensional measurement system according to claim 4, wherein the constraint condition for bundle adjustment is configured such that a greater weighting value is given as the optical axis of the stereo photographing unit is approached.   The constraint condition of the bundle adjustment given to the reference body model including both the three-dimensional coordinate values of the plurality of reference marks included in the sub-reference body and the information on the distances between the plurality of reference marks is The three-dimensional measurement system according to claim 4 or 5, wherein a weighting value given to the three-dimensional coordinate value is larger than a weighting value given to the distance. The reference body information defining unit is:
For the sub-reference body model that is closest to the optical axis of the stereo imaging section, the measured measurement values of the three-dimensional coordinate values of the plurality of reference marks of the sub-reference body, and the sub-reference body Defining reference measurement values of three-dimensional coordinate values of the plurality of reference marks;
For sub-reference body models other than the sub-reference body model closest to the optical axis of the stereo imaging unit, the captured measurement values of the distances between the plurality of reference marks of the sub-reference body and the pre-understood Defining a reference measurement of a distance between the plurality of reference marks of the sub-reference body;
The three-dimensional measurement system according to any one of claims 1 to 6. A plurality of floor reference marks are provided on the floor on which the measurement object is arranged in the three-dimensional measurement space;
The stereo photographing unit is configured to photograph the plurality of floor reference marks in stereo;
The reference body information definition unit uses the reference body as information on a single plane in the three-dimensional calculation space, based on stereo images of the plurality of floor surface reference marks. Configured to be built and defined in the model;
The three-dimensional measurement system according to any one of claims 1 to 7.   The three-dimensional measurement unit includes a detection processing limited space setting unit that sets a detection processing limited space in which the measurement object is included in the three-dimensional calculation space, and the detection processing limited space setting unit includes a pair of stereo images. The three-dimensional measurement system according to any one of claims 1 to 8, wherein the three-dimensional measurement system is configured to limit a range in which the corresponding point detection process is performed within the detection process limited space.   The detection processing limited space setting unit is configured to limit a range in which the corresponding point detection processing is performed in a two-dimensional plane space on the stereo image of the measurement object captured by the stereo imaging unit, and the stereo image 10. The configuration according to claim 9, wherein a portion other than the range corresponding to the detection processing limited space above is painted with a single color to limit a range in which the corresponding point detection processing is performed within the detection processing limited space. Dimensional measurement system.   The three-dimensional measurement system includes a photographing position variation detection unit that detects a position variation of the stereo photographing unit in the three-dimensional measurement space from the time when the external orientation element is calculated. The stereo image obtained after calculating the external orientation element by the unit and the stereo image obtained by the stereo photographing unit at the time of calculating the external orientation element The three-dimensional measurement system according to any one of claims 1 to 10, wherein the three-dimensional measurement system is configured to detect presence or absence.   The stereo photographing unit is configured to be fixed and supported by a support unit to which a position variation detection target mark is attached, and is configured to photograph the position variation detection target mark in stereo, and the photographing position variation detection unit Compares the position of the position variation detection target mark on the stereo image photographed by the stereo photographing unit at the time of the external orientation element calculation and after the calculation of the external orientation element to determine the presence or absence of position variation of the stereo photographing unit. The three-dimensional measurement system according to claim 11, configured to detect.   The stereo photographing unit is configured to photograph a floor reference mark on a floor surface on which the measurement object is disposed, and the photographing position variation detection unit is configured to capture the stereo image on the stereo image photographed by the stereo photographing unit. The position of the floor reference mark is compared between when the external orientation element is calculated and after the external orientation element is calculated, so that presence / absence of a position change of the stereo imaging unit is detected. The three-dimensional measurement system described in 1. The three-dimensional measurement unit is a background removal unit that removes the background of the measurement object by subtracting another stereo image that does not include the measurement object from one stereo image obtained by photographing the measurement object. Having:
The three-dimensional measurement system according to any one of claims 1 to 13.   The three-dimensional measurement unit includes a stereo matching processing unit having a preprocessing unit and a detailed processing unit, and the stereo matching processing unit uses the detailed matching range determined by the preprocessing unit as a processing target. The three-dimensional measurement system according to any one of claims 1 to 14, wherein the detailed processing unit is configured to perform a detailed matching process. The three-dimensional coordinate values of a plurality of reference marks in a three-dimensional measurement space and / or the measurement reference values of the distances between the plurality of reference marks, which constitute a part of the reference body that covers the entire measurement object, are previously grasped. Providing a sub-reference body having the plurality of reference marks formed in the three-dimensional measurement space;
Obtaining a stereo image by stereo shooting the sub-reference body from a plurality of directions in the three-dimensional measurement space;
The three-dimensional coordinate values of the plurality of reference marks included in the sub-reference body based on the stereo image obtained by the stereo photographing and / or the photographing measurement values of the distances between the plurality of reference marks and the previously grasped values. A reference body model, which is a three-dimensional numerical analysis model of the reference body, including a three-dimensional coordinate value of the plurality of reference marks and / or a reference measurement value of a distance between the plurality of reference marks included in the sub-reference body. Defining as a unit in a three-dimensional computational space;
Calculating an external orientation element of the stereo photography by an external orientation method using the reference body model defined in the defining step;
Photographing the measurement object by stereo photography in which the external orientation element is calculated, and measuring the measurement object three-dimensionally;
The three-dimensional measurement space is a real space in which the three-dimensional measurement is performed by actually setting the sub-reference body and the measurement object;
The three-dimensional calculation space is a virtual space for calculating the stereo orientation external orientation element corresponding to the 3D measurement space by the external orientation method;
A method of measuring a measurement object in three dimensions.

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