JP2601607B2 - 3D surface data input system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional surface data input system for measuring the shape of the surface of an object in a non-contact manner.

[0002]

2. Description of the Related Art Conventionally, this type of system is configured to measure the shape of an object surface by irradiating a laser beam or the like to the surface of the object to be measured and capturing the irradiation position of the laser beam. That is, in order to measure the shape of the surface of an object without contact, light having various wavelengths (exclusively visible light) such as laser light or white light is usually used, and these artificial or natural light is applied to the surface of the object. The reflection is detected by an optical sensor, and the shape of the object surface is calculated from the reflection.

As an example of such a conventional measuring system, a rotary scanner equipped with a red laser light source for shape measurement and a TV camera (reference: Suenaga, Watanabe, "Simultaneous measurement of 3D shape and luminance (color) Possible Scanner and Its Application to Facial Image Measurement ", Information Processing Society of Japan, Computer Vision Workshop, 67-5, July 19, 1990). This system has the ability to measure shape and color simultaneously.

[0004]

However, the three-dimensional shape measuring system according to the above-mentioned conventional technique is configured to irradiate a laser beam or the like to the surface of a measurement object and to capture an irradiation position of the laser beam or the like. Therefore, there is a drawback that the position of the laser beam cannot be detected depending on the reflection characteristics of the measurement object, and the shape measurement data cannot be obtained. According to the system of the above-mentioned reference, when measuring the reflection position of the red laser light by the shape measurement unit, shape measurement data cannot be obtained in a case where the measurement object is black or in a region where the laser light is irregularly reflected.
Hereinafter, this point will be described in more detail.

Originally, three-dimensional shape measurement measures the surface shape of an object, but when visible light to be used is applied to the surface of the object, diffuse reflection, specular reflection or transmission is performed according to the reflection characteristics of the surface. Therefore, the irradiation position of the visible light is T
In some cases, it cannot be detected by the V camera, and it is difficult to accurately measure the original surface shape of the object.
As described above, in the conventional method, it is extremely difficult to accurately measure the surface shape of an object having various reflection characteristics as actually exist.

For example, when measuring the head of a human using the system of the above reference, the face (eg, forehead, eyes,
The area of the nose, mouth, skin such as cheeks and ears) can measure almost appropriate three-dimensional shape, but like the hair (especially black hair),
In an area where the visible light is small and diffusely reflected, the TV camera cannot detect the irradiation position of the laser light, and there is a drawback that accurate three-dimensional shape measurement cannot be performed.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to use a light source and imaging means in a non-contact manner without being affected by various reflection characteristics of a measurement object. An object of the present invention is to provide a three-dimensional surface data input system capable of correctly measuring a three-dimensional shape of a measurement object.

[0008]

In order to achieve the above object, the present invention provides a three-dimensional surface data comprising a light source for measuring the shape of the surface of an object and an imaging means for capturing a light irradiation position of the light source. An input system for irradiating an object with light from a light source, capturing an irradiation position of the object by an imaging unit, measuring a surface of the object to obtain shape data of the surface of the object, and an image of the entire object. Is captured by the imaging means, the shape data of the object is obtained from the boundary position between the object and the background, and the second measuring means for recording the luminance of the boundary position is provided. In the area, the shape data of the first measuring means that can be measured from the light irradiation position is selected, and in the area where the recorded boundary position has low brightness, the second data that can be measured from the boundary position is selected. It has a configuration comprising a selection means for selecting the shape data of the measuring means.

[0009]

According to the three-dimensional surface data input system of the present invention,
In addition to performing three-dimensional shape measurement by capturing the light irradiation position on the object to be measured by the imaging means, and performing three-dimensional shape measurement by capturing the boundary between the object to be measured and the background by the imaging means, the brightness of the boundary Is recorded, and the shape data measured by the light irradiation position and the shape data measured by the boundary are selected based on the brightness of the boundary, and the reflection characteristics that the measurement by the light irradiation position cannot be performed because the brightness of the boundary is small. In the region, the shape data measured by the boundary is used, so that the shape of the object can be accurately measured regardless of the reflection characteristics of the surface of the measurement object even when the light source and the imaging unit are used.

[0010]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram showing one embodiment of the present invention. In the figure, reference numeral 99 denotes a measurement object mounting table, 100 denotes a measurement object, 101 denotes a laser light source as an example of a light source, 102 denotes a laser dispersion lens, and 103 denotes a TV as an example of an imaging unit.
104, a laser irradiation position; 105, a boundary between the measurement object and the background; 106, a boundary detection image; 107, a laser irradiation position detection image; 108, a boundary detection unit;
Is the boundary between the measurement object and the background in the boundary detection image 106,
109 is a laser irradiation position detection unit, 109 ′ is a laser irradiation position in the laser irradiation position detection image 107,
Reference numeral 110 denotes a boundary three-dimensional shape memory, 111 denotes a surface luminance memory, 112 denotes a laser three-dimensional shape memory, and 113 denotes a shape data selection unit.

In the present embodiment, the measuring object 100 is
9 as an example, and a case in which a three-dimensional shape is measured by rotating the installation table 99. The measurement object 100 rotated on the mounting table 99 is irradiated with laser light from the laser light source 101 via the laser dispersion lens 102, and the laser light is irradiated as illustrated at the laser irradiation position 104. It is applied to the surface. Here, it is assumed that the measurement object 100 has surface characteristics such that the upper half hardly reflects laser light, and the lower half has surface characteristics that indicate the position irradiated with the laser light. TV camera 10
Numeral 3 is located at a position that captures a surface image of the measurement object 100 including the laser irradiation position 104.

A video signal from the TV camera 103 is input to a boundary detection unit 108 on the one hand, and to a laser irradiation position detection unit 109 on the other hand. In the drawing, for the sake of explanation, the detection areas targeted by the respective units 108 and 109 are shown as a boundary detection image 106 and a laser irradiation position detection image 107. In the boundary detection image 106, the position in the image of the boundary between the measurement object and the background can be detected as indicated by 108 ', and is used by the boundary detection unit 108 to measure the three-dimensional shape of the object. The boundary detection unit 108 stores the three-dimensional shape detected from the boundary 108 'in the boundary three-dimensional shape memory 110,
The luminance of the measurement object at the boundary 108 'is stored in the surface luminance memory 111. In the laser irradiation position detection image 107, the position of the laser irradiation position on the measurement object in the image can be detected as indicated by 109 ', and the laser irradiation position detection unit 109 measures the three-dimensional shape of the measurement object. used. This laser irradiation position detection unit 109
The three-dimensional shape detected from the laser irradiation position 109 'is stored in the laser three-dimensional shape memory 112. The shape data selection unit 113 includes the above memories 110, 111,
112 so that the surface luminance memory 1
11, one of the shape data in the boundary three-dimensional shape memory 110 and the shape data in the laser three-dimensional shape memory 112 is selected based on the magnitude of the luminance at the boundary position, and output as measurement data.

The operation and operation of the embodiment configured as described above will be described below.

The three-dimensional shape of the surface of the measurement object 100 is changed by the rotation of the measurement object mounting table 99 so that the boundary detection unit 1
08 and the laser irradiation position detection unit 109 are measured in parallel, the respective three-dimensional shape data are stored in the boundary three-dimensional shape memory 110 and the laser three-dimensional shape memory 112, and the surface brightness is stored in the surface brightness memory. 111
Is accumulated in Here, the three-dimensional shape detected by the boundary detection unit 108 and the laser irradiation position detection unit 109
The alignment of the three-dimensional shape detected by the laser light source 1
01 and the installation position of the TV camera 103. The shape data selection unit 113 selects, based on the contents of the surface luminance memory 111, whether to use the shape data from the boundary three-dimensional shape memory 110 or the laser three-dimensional shape memory 112. More specifically, in the area where the luminance at the boundary position is large, the shape data of the laser three-dimensional shape memory 112 that can be measured from the irradiation position of the laser beam is used. The shape data of the shape memory 110 is used. That is, from the output of the shape data selection unit 113, even if the measurement object 100 has a reflection characteristic so that the laser irradiation position cannot be detected, the measurement object 100
Will be obtained.

As described above, it is possible to accurately measure three-dimensional surface data of an object having reflection characteristics such that the irradiation position of the laser cannot be detected. For example, in the case of a person's hair, that is, when the irradiation position of the laser beam cannot be detected by the TV camera in the shape measurement unit, the shape data obtained from the boundary region is
Since the brightness is small, the shape can be accurately measured by using the shape obtained from the boundary region. Similarly, when the surface of the object does not reflect at all or when there is a specular reflection surface on the object, the surface color can be accurately measured.

In the above embodiment, an example in which the mounting table 99 is rotated to measure the three-dimensional shape is shown.
Does not rotate, the laser light source 101, the laser dispersion lens 102, and the TV camera 103 rotate to measure the object 1
Naturally, the present invention can also be applied to a case where a three-dimensional shape is measured by rotating or moving around 00.
As described above, the present invention can be variously applied according to the gist and can take various embodiments.

[0018]

As described above, according to the three-dimensional surface data input system of the present invention, light is emitted from a light source,
When obtaining the shape data of the object surface by measuring the surface of the object by capturing the irradiation position by the imaging means, not only the irradiation position of the light but also the image of the entire object is captured by the imaging means, and the image of the object and the background are captured. The brightness of the boundary position is recorded while obtaining the shape data of the object also from the boundary position, and in the region where the brightness of the boundary position is large, the shape data that can be measured from the light irradiation position is used, and in the region where the brightness of the boundary position is small, the brightness is used. By using shape data that can be measured from the boundary position, it is possible to accurately measure three-dimensional surface data of an object having a reflection characteristic that makes it impossible to capture the light irradiation position.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of the present invention.

[Explanation of symbols]

99 ... Measurement object setting table 100 ... Measurement object 101 ... Laser light source 102 ... Laser dispersion lens 103 ... TV camera 104 ... Laser irradiation position 105 ... Boundary between measurement object and background 106 ... Boundary detection image 107 ... Laser irradiation position detection image 108 ... Boundary detection unit 108 'Boundary between measurement object and background in boundary detection image 109 Laser irradiation position detection unit 109' Laser irradiation position in laser irradiation position detection image 110 Boundary three-dimensional shape memory 111 Surface luminance memory 112 Laser three-dimensional shape memory 113 ... shape data selection unit

Claims (1)

(57) [Claims] 1. A three-dimensional surface data input system comprising a light source for measuring a shape of a surface of an object and an image pickup means for capturing an irradiation position of the light from the light source. Measuring the surface of the object by measuring the surface of the object to obtain shape data of the surface of the object, and capturing an image of the entire object by the imaging unit, and calculating the shape data of the object from the boundary position between the object and the background. A second measuring means for obtaining shape data of the object and recording the luminance at the boundary position; and a first measuring means capable of measuring from a light irradiation position in a region where the luminance at the recorded boundary position is large. And selecting means for selecting the shape data of the second measuring means which can be measured from the boundary position in an area where the luminance at the recorded boundary position is small. A three-dimensional surface data input system characterized in that: