JP2018041169A5

JP2018041169A5 -

Info

Publication number: JP2018041169A5
Application number: JP2016173122A
Authority: JP
Filing date: 2016-09-05
Publication date: 2019-10-10
Anticipated expiration: 2036-09-05

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

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 .

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.

The information processing apparatus according to claim 1, wherein the search unit searches for the attention area along an epipolar line corresponding to a point of the corresponding area.

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.

The information processing apparatus according to claim 4, wherein the search unit updates the map according to the update of the corresponding pixel, with the map calculated by the calculation unit as an initial value.

6. The image processing apparatus according to claim 1 , further comprising an acquisition unit configured to acquire a captured image including the projection of the first pattern image and a captured image including the projection of the second pattern image as separate captured images. The information processing apparatus according to any one of the above.

The acquisition unit according to claim 1 , further comprising an acquisition unit that acquires a captured image including a projection of a pattern image obtained by mixing the first pattern image and the second pattern image. Information processing device.

The information processing apparatus according to claim 1, wherein the second pattern image has an aperiodic pattern.

The information processing apparatus according to claim 1, wherein the first pattern image is an image in which known geometric shapes are arranged in different gradations or color tones.

The information processing apparatus according to claim 1, wherein the first pattern image is a pattern image in which the geometric shapes are regularly arranged.

The information according to any one of claims 1 to 10, further comprising coordinate calculation means for calculating a three-dimensional coordinate of the surface of the target object based on the corresponding points searched by the search means. Processing equipment.

The information processing apparatus according to claim 1, further comprising a projecting unit.

The information processing apparatus according to claim 1, further comprising an imaging unit.

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 .

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.

A program for causing a computer to execute each step of a control method for an information processing apparatus according to claim 14 or 15.