JP2018041169A5 - - Google Patents
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- JP2018041169A5 JP2018041169A5 JP2016173122A JP2016173122A JP2018041169A5 JP 2018041169 A5 JP2018041169 A5 JP 2018041169A5 JP 2016173122 A JP2016173122 A JP 2016173122A JP 2016173122 A JP2016173122 A JP 2016173122A JP 2018041169 A5 JP2018041169 A5 JP 2018041169A5
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- 230000000875 corresponding Effects 0.000 claims description 24
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Description
上記目的を達成するための本発明の一態様による情報処理装置は、以下の構成を備える。すなわち、
既知の幾何形状を少なくとも一つ以上有する第1のパターン画像の投影を含む撮像画像において、前記第1のパターン画像における前記幾何形状に対応する領域の、前記幾何形状からの幾何学的な歪みを表す写像を算出する算出手段と、
第2のパターン画像における注目領域と、前記第2のパターン画像の投影を含む撮像画像における領域を前記写像に基づいて変換することにより得られた対応領域と、の対比により、前記第2のパターン画像と前記撮像画像との対応点を探索する探索手段と、を備える。
In order to achieve the above object, an information processing apparatus according to an aspect of the present invention includes the following arrangement. That is,
In a captured image including projection of a first pattern image having at least one known geometric shape, a geometric distortion of the region corresponding to the geometric shape in the first pattern image from the geometric shape is reduced. A calculating means for calculating a mapping to represent;
A region of interest in the second pattern image, wherein the corresponding area obtained by the area definitive the captured image including a projection of the second pattern image is converted on the basis of the mapping, by the comparison, the second Search means for searching for corresponding points between the pattern image and the captured image .
[装置の構成]
図10は、第2の実施形態の情報処理装置100を備える三次元計測装置1000の構成例を示すブロック図である。第1の実施形態とは、撮像装置が1台追加され、第1の撮像装置2と第2の撮像装置3を有している点が異なる。第1の撮像装置2と第2の撮像装置3は、投影装置1によりパターン画像が投影された状態で、異なる位置から撮像を行う。なお、投影装置1、第1の撮像装置2、第2の撮像装置3は各々の座標系を一致させるための校正が予め行われており、校正データが情報処理装置100内に保存されている。なお、情報処理装置100のハードウエア構成は第1の実施形態(図12)と同様である。
[Device configuration]
FIG. 10 is a block diagram illustrating a configuration example of a three-dimensional measurement apparatus 1000 including the information processing apparatus 100 according to the second embodiment. This embodiment is different from the first embodiment in that one imaging device is added and the first imaging device 2 and the second imaging device 3 are provided. The first imaging device 2 and the second imaging device 3 perform imaging from different positions in a state where the pattern image is projected by the projection device 1. Note that the projection device 1, the first imaging device 2, and the second imaging device 3 have been calibrated in advance to match the coordinate systems, and calibration data is stored in the information processing apparatus 100. . Note that the hardware configuration of the information processing apparatus 100 is the same as that of the first embodiment (FIG. 12).
Claims (16)
第2のパターン画像における注目領域と、前記第2のパターン画像の投影を含む撮像画像における領域を前記写像に基づいて変換することにより得られた対応領域と、の対比により、前記第2のパターン画像と前記撮像画像との対応点を探索する探索手段と、を備えることを特徴とする情報処理装置。 In a captured image including projection of a first pattern image having at least one known geometric shape, a geometric distortion of the region corresponding to the geometric shape in the first pattern image from the geometric shape is reduced. A calculating means for calculating a mapping to represent;
A region of interest in the second pattern image, wherein the corresponding area obtained by the area definitive the captured image including a projection of the second pattern image is converted on the basis of the mapping, by the comparison, the second An information processing apparatus comprising: search means for searching for corresponding points between a pattern image and the captured image .
前記第1と第2の撮像手段から取得された、第2のパターン画像の投影を含む第3と第4の撮像画像のうち、前記第3の撮像画像における注目領域と、前記第4の撮像画像における対応領域との対比により、前記第3の撮像画像と前記第4の撮像画像との対応点を探索する探索手段と、を備え、
前記対応領域は前記第1の撮像画像について算出された写像と、前記第2の撮像画像について算出された写像とに基づいて前記第3の撮像画像における注目領域を変換することにより設定されることを特徴とする情報処理装置。 For each of the first and second captured images including projections of the first pattern image having at least one known geometric shape acquired from the first and second imaging means at different positions, the area corresponding to the geometry definitive one of the pattern image, calculating means for calculating a mapping representing the geometric distortions from the geometry,
Of the third and fourth captured images including the projection of the second pattern image acquired from the first and second imaging means, the attention area in the third captured image, and the fourth captured image Search means for searching for corresponding points between the third captured image and the fourth captured image by comparison with a corresponding region in the image ,
The corresponding region is set by converting a region of interest in the third captured image based on a map calculated for the first captured image and a map calculated for the second captured image. An information processing apparatus characterized by the above.
前記注目領域は、前記第2のパターン画像における注目画素とその周囲の近傍画素により形成され、
前記対応領域は、前記第2のパターン画像の投影を含む撮像画像における対応画素の周囲に、当該対応画素について算出された前記写像に基づいて前記周囲の近傍画素の位置が変換されて配置された領域であることを特徴とする請求項1乃至3のいずれか1項に記載の情報処理装置。 The calculating means calculates the mapping for each pixel of the captured image including a projection of the first pattern image,
The region of interest is formed by a pixel of interest in the second pattern image and neighboring pixels around it,
The corresponding region is around the corresponding pixel in the captured image including a projection of the second pattern image, the position of the neighboring pixels of the surrounding based on the mapping calculated for the corresponding pixels are arranged are converted The information processing apparatus according to claim 1, wherein the information processing apparatus is an area.
既知の幾何形状を少なくとも一つ以上有する第1のパターン画像の投影を含む撮像画像において、前記第1のパターン画像における前記幾何形状に対応する領域の、前記幾何形状からの幾何学的な歪みを表す写像を算出する工程と、
第2のパターン画像における注目領域と、前記第2のパターン画像の投影を含む撮像画像における領域を前記写像に基づいて変換することにより得られた対応領域と、の対比により、前記第2のパターン画像と前記撮像画像との対応点を探索する探索工程と、を有することを特徴とする情報処理装置の制御方法。 A method for controlling an information processing apparatus,
In a captured image including a projection of a first pattern image having at least one known geometric shape, a geometric distortion of the region corresponding to the geometric shape in the first pattern image from the geometric shape is reduced. Calculating a mapping to represent;
A region of interest in the second pattern image, wherein the corresponding area obtained by the area definitive the captured image including a projection of the second pattern image is converted on the basis of the mapping, by the comparison, the second And a search step of searching for corresponding points between the pattern image and the captured image .
異なる位置にある第1と第2の撮像手段から取得された、既知の幾何形状を少なくとも一つ以上有する第1のパターン画像の投影を含む第1と第2の撮像画像のそれぞれについて、前記第1のパターン画像における前記幾何形状に対応する領域の、前記幾何形状からの幾何学的な歪みを表す写像を算出する算出工程と、
前記第1と第2の撮像手段から取得された、第2のパターン画像の投影を含む第3と第4の撮像画像のうち、前記第3の撮像画像における注目領域と、前記第4の撮像画像における対応領域との対比により、前記第3の撮像画像と前記第4の撮像画像との対応点を探索する探索工程と、を有し、
前記対応領域は前記第1の撮像画像について算出された写像と、前記第2の撮像画像について算出された写像とに基づいて前記第3の撮像画像における領域を変換することにより設定されることを特徴とする情報処理装置の制御方法。 A method for controlling an information processing apparatus,
For each of the first and second captured images including projections of the first pattern image having at least one known geometric shape acquired from the first and second imaging means at different positions, A calculation step of calculating a mapping representing a geometric distortion from the geometric shape of a region corresponding to the geometric shape in one pattern image;
Of the third and fourth captured images including the projection of the second pattern image acquired from the first and second imaging means, the attention area in the third captured image, and the fourth captured image A search step of searching for a corresponding point between the third captured image and the fourth captured image by comparison with a corresponding region in the image ,
The corresponding area is set by converting the area in the third captured image based on the map calculated for the first captured image and the map calculated for the second captured image. A control method for an information processing apparatus.
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