JP4715903B2 - 3D shape model creation device for objects - Google Patents

Description

  The present invention uses image data obtained by a camera to generate three-dimensional shape data of a target object such as an industrial part that exists in a range that can be photographed by the camera, and thereby the object used for object recognition processing or the like. The present invention relates to an apparatus for producing a three-dimensional shape model.

  We have already made several proposals as a method for creating a three-dimensional shape model. Among them, in Japanese Patent Application No. 11-323864 and Japanese Patent Application No. 11-323865, a point (this is referred to as a grid measurement) within a rectangular range set on the screen (referred to as “model measurement range”). Measure the 3D position data with a stereometer for "model measurement points", and collect a set of point data (called "model constituent points") with 3D position data (this is called "3D shape data") A three-dimensional shape model of the object was constructed. These are called “advance proposals”.

  In the previous proposal, the 3D shape model of the object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron but also composed of a smooth curved surface such as a cylinder or a sphere. However, the three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created. In addition, since the input image from the camera is used as the data input means, any object that is within the range that can be photographed by the camera can be used. Even for objects other than industrial parts, such as objects, mountains, cliffs, or natural terrain, a three-dimensional shape model of an object can be created.

  However, when setting the model composing point based on the three-dimensional position data by stereo measurement, it is visible on the reference screen for setting the model measuring point, but on the reference screen for searching for the corresponding point, the projection on the target object due to the parallax. There is a case where there is a portion that cannot be seen due to a slope, or there is a case where a corresponding point cannot be found because it is a smooth portion that is visible on both the reference screen and the reference screen but has no features. In such a case, since it is difficult to measure the three-dimensional position by stereo measurement, the model composing point cannot be set, and the data is lost on the three-dimensional shape data (this is referred to as “data missing part”). If the data missing part is as small as about 1 or 2 points, it can be interpolated by a smoothing filter or the like. However, in a data missing part where data is largely missing like a hole, it is necessary to interpolate that part by some method.

  An apparatus for creating a three-dimensional shape model of an object according to claim 1 of the present invention that solves the above-described problem is a three-dimensional model measurement point that is set in advance in a lattice shape in a model measurement range that surrounds the target object on the screen in the input image. A model composing point generator that generates model composing points on an object by measuring position data by stereo measurement; a model composing point three-dimensional shape data generating unit that generates three-dimensional shape data as a set of the model composing points; In addition to checking whether there is a model constituent point in the left-right direction of the data missing point, the data missing point is a point where the model constituent point is not obtained in the model measurement range. Inspect whether there is a model constituent point in the vertical direction, and if more than a preset number of model constituent points are detected in the vertical direction, the data missing point A cross direction inspection interpolation target point detection unit as the interpolation target point, and a straight line passing through the set of model constituent points for the one where a set of upper and lower or left and right model constituent points is found by the inspection, and the straight line and the interpolation It consists of a linear interpolation model component point setting unit that sets the model component point by calculating the three-dimensional position of the intersection of the model measurement point of the target point and the straight line passing through the lens focal point as the position data of the interpolation target point. It is characterized in that three-dimensional shape data having no missing part is generated and a three-dimensional shape model is constructed.

  The object three-dimensional shape model creation apparatus according to claim 2 of the present invention that solves the above-described problem is replaced with the linear interpolation model composing point setting unit according to claim 1, and the model structure for both the upper and lower sides and the left and right by the inspection. When a set of points is found, a straight line is calculated for the set for which priority has been set in advance, and the three-dimensional intersection of the straight line, the model measurement point of the interpolation target point, and the straight line passing through the lens focus A linear interpolation model constituent point setting unit that sets a model constituent point by calculating a position as position data of the interpolation target point is used.

  An apparatus for producing a three-dimensional shape model of an object according to a third aspect of the present invention that solves the above-described problem is a model configuration for both the upper and lower sides and the left and right sides by the above inspection instead of the linear interpolation model constituent point setting unit according to the first aspect. When a set of points is found, straight lines are calculated for all sets, and the three-dimensional position of the intersection of each straight line calculated for all sets, the model measurement point of the interpolation target point, and the straight line passing through the lens focus is calculated. A linear interpolation model constituent point setting unit that sets a model constituent point by calculating an average as the position data of the interpolation target point is used.

  An apparatus for producing a three-dimensional shape model of an object according to a fourth aspect of the present invention that solves the above-described problem is the model configuration in the model measurement range, instead of the cross direction inspection interpolation target point detecting unit according to the first aspect. In addition to checking whether there is a model constituent point in the left-right direction of the data missing point for the data missing point that is a point where the point was not obtained, the model constituent point is also in the vertical direction and the diagonal direction of the data missing point If there are more than the preset number of model constituent points in the eight directions that are diagonally up, down, left, and right, the eight-way inspection and the interpolation target inspection are performed using the data missing point as the interpolation target point. In addition, in place of the linear interpolation model component point setting unit according to claim 1, when one set of diagonal model component points of the interpolation target point is found by the inspection, the output unit is found. One model Model by calculating a three-dimensional position of the intersection of the straight line, the model measurement point of the interpolation target point, and the straight line passing through the lens focus as position data of the interpolation target point. A linear interpolation constituent point setting unit for setting the constituent points is used.

  The object three-dimensional shape model manufacturing apparatus according to claim 5 of the present invention that solves the above-described problem is a diagonal of the interpolation target point by the inspection instead of the linear interpolation model component point setting unit according to claim 4. When a plurality of pairs of model constituent points are found, a straight line is calculated for the pair whose priority is set in advance, and the straight line, the model measurement point of the interpolation target point, and the straight line passing through the lens focal point are calculated. A linear interpolation composing point setting unit that sets a model composing point by calculating a three-dimensional position of the intersection as position data of the interpolation target point is used.

  An apparatus for producing a three-dimensional shape model of an object according to a sixth aspect of the present invention that solves the above-described problem replaces the linear interpolation model constituent point setting unit according to the fourth aspect with a diagonal of the interpolation target point by the inspection. When a plurality of pairs of model constituent points are found, straight lines are calculated for all the pairs, and the intersection of each straight line calculated for all the pairs, the model measurement point of the interpolation target point, and the straight line passing through the lens focus is calculated. A linear interpolation composing point setting unit that sets a model composing point by calculating an average of three-dimensional positions as position data of the interpolation target point is used.

The present invention relates to processing for creating a three-dimensional shape model of an object.
(1) Since an input image from a camera is used as a data input means, any object that is within a range that can be photographed by the camera can be used regardless of the size of the target object. A three-dimensional shape model of an object can be created even for objects other than industrial parts such as buildings or natural terrain such as mountains and cliffs.
(2) Since a camera input image is used as data input means, a three-dimensional shape model of an object can be produced without touching the object.
(3) Since a set of model constituent points with 3D position data is used as data constituting 3D shape data, a 3D shape model is created even for objects with smooth curved surfaces such as cylinders and spheres. can do.
(4) Since the model composing points are uniformly set on the target object in a grid pattern, if there is a foreign object on the target object, it can be easily detected.
(5) When setting a model constituent point by stereo measurement, it is visible on the reference screen for setting the model measurement point, but on the reference screen for searching for the corresponding point, it is visible by a protrusion or a slope on the target object due to the parallax. Even if there is a large data missing part in the 3D shape data on the target object because there is no part, 3D shape without data missing part is set by interpolation by setting the model constituent point of the data missing part Data can be generated.
(6) When setting the model constituent points by stereo measurement, the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen but has no features. Even when a large data missing portion is created in the data, three-dimensional shape data without the data missing portion can be generated by setting the model composing point of the data missing portion by interpolation.
(7) Since 3D shape data without a data missing part can be generated, it is possible to obtain a 3D shape model having 3D position data of all points on the target object visible from the camera.

  The best mode for carrying out the present invention is as described in the following examples.

(1) Basic concept An object of the present invention is to generate three-dimensional shape data of an object existing in a range that can be photographed by a camera, and thereby to create a three-dimensional shape model of the object.
In the prior proposal, as shown in FIG. 2, the three-dimensional position data of the camera 1 for inputting an image and the model measurement points set in a lattice shape in the model measurement range surrounding the target object in the input image are obtained by stereo measurement. A tertiary comprising a model component point generator 2 to be measured, a model component point three-dimensional shape data generation unit 3 that generates three-dimensional shape data as a set of model component points, and a model memory 4 that stores the three-dimensional shape data An original shape model production device was proposed.
Therefore, 3D position data is measured by stereo measurement for model measurement points set in a grid pattern in the model measurement range set on the reference screen, and 3D shape data, which is a set of model constituent points with 3D position data, is obtained. It was able to generate and construct a 3D shape model of the object.

The model measurement range is set so that the operator can enter the necessary part as the model of the target object while viewing the screen on which the target object is reflected, and the interval between the model measurement points required for setting the model measurement point is set in advance. Set as a parameter.
Furthermore, in this invention, as shown in FIG. 2, the horizontal direction inspection interpolation target point detection part 5 and the average interpolation model component point setting part 6 are added.
As shown in FIG. 1, the horizontal inspection interpolation target point detection unit 5 performs a model in the left-right direction for a point where a model constituent point is not obtained in the model measurement range (referred to as “data missing point”). If there is a model composing point in both the left and right directions, the data missing point is identified as a point that needs to be interpolated in the data missing unit 10 (this is referred to as “interpolation target point”). 20).
The average interpolation model composing point setting unit 6 obtains the height data of the interpolation target point 20 by averaging the height data of the left and right model composing points previously detected, and interpolates from the height data and the position of the model measurement point. The model constituent point is set by calculating the three-dimensional position of the point 20.

  Therefore, in the present invention, as shown in FIG. 1, the model constituent point generator 2 generates the three-dimensional shape data of the objects constituting the three-dimensional shape model, and then the horizontal inspection interpolation target point detection unit 5 Check whether there is a model constituent point in the left-right direction for the data missing point for which no model constituent point was obtained in the measurement range, and if there is a model constituent point in both the left-right direction, this data missing point Is the interpolation target point 20 that needs to be interpolated in the data missing part 10, and the height data of the left and right model constituent points that the height data of the interpolation target point 20 was previously detected by the average interpolation model constituent point setting part 6. The three-dimensional shape data without the data missing portion 10 is obtained by calculating the three-dimensional position of the interpolation target point 20 from the height data and the position of the model measurement point and setting the model constituent point. Generated by the model configuration point three-dimensional shape data generating unit 3, constituting the three-dimensional shape model. In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

  In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax There is a case where there is an invisible part, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen, but the data missing part 10 is interpolated. It is possible to generate three-dimensional shape data of the target object without missing. Further, the horizontal direction inspection interpolation target point detection unit 5 uses a simple method for checking the presence / absence of model constituent points in the left / right direction as a data missing point inspection method, and the average interpolation model constituent point setting unit 6 uses a model configuration. Since the method based on the simple average of the position data of the model constituent points found on the left and right is used for the calculation of the position data of the points, data processing is simple and high-speed processing can be realized.

(2) Other Embodiments (2.1) Three-dimensional shape model creation device with lateral inspection linear interpolation processing This device is the position of the interpolation target point 20 in the processing of the device described in the basic concept. As shown in FIG. 3, a straight line passing through the left and right model constituent points is calculated in place of the average interpolation model constituent point setting unit 6 that is obtained based on the average of the height data of the left and right model constituent points that have been detected first. By using the linear interpolation model component point setting unit 16 that calculates the three-dimensional position of the intersection of the straight line, the model measurement point of the interpolation target point 20 and the straight line passing through the lens focal point as the position data of the interpolation target point 20. A model composing point is set, three-dimensional shape data without the data missing part 10 is generated, and a three-dimensional shape model is constructed.
In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax There is a case where there is an invisible part, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen, but the data missing part 10 is interpolated. It is possible to generate three-dimensional shape data of the target object without missing.
Furthermore, since a simple method for checking the presence / absence of model constituent points in the left / right direction is used as the inspection method for the interpolation target point 20, the configuration of the inspection process is simple, and the linear interpolation model constituent point setting unit 16 Since linear interpolation is used for interpolation, no gap is generated at the boundary between the interpolated portion and the portion where the model constituent point originally exists.

(2.2) Three-dimensional shape model creation device with cross direction inspection average interpolation processing This device determines whether or not the data missing point is the interpolation target point 20 in the processing of the device described in the basic concept. As shown in FIG. 4, in addition to checking whether there is a model constituent point in the left-right direction, as shown in FIG. If there are more than a predetermined number of model constituent points in the vertical and horizontal directions, the cross direction inspection interpolation target point detection unit 15 using the data missing point as the interpolation target point 20 is provided. Used as shown in FIG. Further, instead of the average interpolation model component point setting unit 6 for calculating the position data of the interpolation target point 20, the average value of the model component point height data detected by the vertical and horizontal inspections and the position of the model measurement point are used. As shown in FIG. 5, an average interpolation model constituent point setting unit 26 that obtains position data of the interpolation target point 20 and sets model constituent points is used. In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

  In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax There is a case where there is an invisible part, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen, but the data missing part 10 is interpolated. It is possible to generate three-dimensional shape data of the target object without missing. Further, the cross direction inspection interpolation target point detection unit 15 uses a method of checking the existence of model formation points in the vertical and horizontal directions as an inspection method of the interpolation target point 20, and the hole shape in which the model constituent points exist in the horizontal direction. In addition, it is possible to deal with not only the data missing portion 10 with the vertical cutout shape but also the data missing portion 10 with the horizontal cutout shape. Further, since the average interpolation model component point setting unit 26 uses a method based on a simple average of the detected position data of the model component points for calculating the position data of the model component points, the data processing is simple and high-speed processing is realized. it can.

(2.3) Three-dimensional shape model creation device to which cross direction inspection linear interpolation processing has been added. This device has previously detected the position data of the interpolation target point 20 in the processing of the device described in (2.2). In place of the average interpolated model constituent point setting unit 26 obtained based on the average of the height data of the model constituent points, as shown in FIG. (If a set of model constituent points is found for both the top, bottom, left, and right, calculate a straight line for the pair that has been set in advance, or straight lines for all parents. And the three-dimensional position of the intersection of the straight line, the model measurement point of the interpolation target point 20 and the straight line passing through the lens focus is calculated as the position data of the interpolation target point 20 (when straight lines are calculated for all sets) Straight The average of the three-dimensional position of the intersection calculated from the line is calculated as the position data of the interpolation target point 20). By using the linear interpolation model component point setting unit 36, the model component point is set and the data missing unit 10 is not present. 3D shape data is generated and a 3D shape model is constructed.
In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

  In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax There is a case where there is an invisible part, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen, but the data missing part 10 is interpolated. It is possible to generate three-dimensional shape data of the target object without missing. Further, the cross direction inspection interpolation target point detection unit 15 uses a method for checking the existence of model constituent points in the vertical and horizontal directions as an inspection method of the interpolation target point 20. Not only the data missing portion 10 with the vertical cutout shape but also the data missing portion 10 with the horizontal cutout shape can be handled. In addition, since the linear interpolation model component point setting unit 36 uses linear interpolation for interpolation of the data missing unit 10, no gap is generated at the boundary between the interpolated portion and the portion where the model component point originally exists.

(2.4) Cross-direction inspection distance three-dimensional shape model creation device to which weighted average interpolation processing has been added This device uses the position data of the interpolation target point 20 in the processing of the device described in (2.2). The model configuration detected from the position of the interpolation target point 20 on the screen, as shown in FIG. 7, instead of the average interpolation model configuration point setting unit 26 obtained based on the average of the height data of the model configuration points detected in FIG. Calculate the distance to the point (referred to as the "interpolation point distance"), and use the value obtained by dividing the interpolation point distance by the total interpolation point distance as the weight. A weighted average interpolation model constituent point setting unit that obtains an average value by assigning the calculated weight, obtains position data of the interpolation target point 20 from the weighted average height data and the position of the model measurement point, and sets a model constituent point 46, Three-dimensional shape data without the data missing portion 10 is generated, and a three-dimensional shape model is constructed. In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

  In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax There is a case where there is an invisible part, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen, but the data missing part 10 is interpolated. It is possible to generate three-dimensional shape data of the target object without missing. Further, the cross direction inspection interpolation target point detection unit 15 uses a method for checking the existence of model constituent points in the vertical and horizontal directions as an inspection method of the interpolation target point 20. Not only the data missing portion 10 with the vertical cutout shape but also the data missing portion 10 with the horizontal cutout shape can be handled. Further, the weighted average interpolation model composing point setting unit 46 uses the distance weighted average interpolation for the interpolation of the data missing unit 10, so that the model composing point interpolated by the position data of the model composing point closer to the interpolation target point 20 is used. This greatly affects the position data, and as a result, the entire data missing part 10 can be smoothly connected to the original model shape data.

(2.5) Three-dimensional shape model production apparatus to which 8-direction inspection average interpolation processing is added This apparatus determines whether or not the data missing point is the interpolation target point 20 among the processes of the apparatus described in the basic concept. In place of the inspection of the interpolation target point detection unit 5 for inspecting in the left-right direction, whether or not there is a model constituent point in the left-right direction, as shown in FIG. Check whether there is a model composing point, and if there are more than the preset number of model composing points in eight directions, up, down, left, and right, 8-direction inspection with this data missing point as the interpolation target point 20 The interpolation target point detector 25 is used as shown in FIG. In the calculation of the position data of the interpolation target point 20, the position data of the interpolation target point 20 is obtained from the average value of the height data of the model constituent points detected by the eight-direction inspection and the position of the model measurement point. An average interpolation model constituent point setting unit 57 for setting constituent points is used as shown in FIG. In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

  In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax There is a case where there is an invisible part, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen, but the data missing part 10 is interpolated. It is possible to generate three-dimensional shape data of the target object without missing. Further, as a method of inspecting the interpolation target point 20, a method of checking the presence / absence of model constituent points in eight directions in the up / down / left / right directions is used. It is possible to accommodate not only 10 but also the data notch portion 10 having a notch in the horizontal direction, and even if the opening of the notch notch portion is slanted, the vicinity of the opening exit can be set as the interpolation target point 20. In addition, the 8-direction inspection interpolation target point detection unit 25 adjusts the number of model constituent points in the eight directions for inspecting the interpolation target point 20 so that the model constituent points exist in all eight directions. Data missing part to be interpolated such that only data missing points in the shape are to be interpolated, or data missing points in shallow notch shapes that only need to find model constituent points in about 3 out of 8 directions A degree of 10 can be set. The average interpolation model component point setting unit 57 uses a method based on a simple average of the detected position data of the model component points for calculation of the position data of the model component points, so that data processing is simple and high-speed processing is realized. it can.

(2.6) Three-dimensional shape model creation device to which 8-direction inspection linear interpolation processing is added This device detects the position data of the interpolation target point 20 in the processing of the device described in (2.5) first. Instead of the average interpolated model composing point setting unit 57 obtained based on the average of the height data of the model composing points, a straight line passing through the pair of model composing points where the pair of diagonal model composing points of the interpolation target point 20 is found. (If a set of multiple model component points is found, calculate a straight line for the pair that has been set in advance, or calculate a straight line for all sets) The three-dimensional position of the intersection of the model measurement point of the target point 20 and the straight line passing through the lens focus is calculated as position data of the interpolation target point 20 (if straight lines are calculated for all pairs, the intersection points calculated from each straight line are calculated. Interpolate the average of 3D positions The linear interpolation composing point setting unit 67 that sets the model composing point by calculating the position data of the target point 20) is used to generate 3D shape data without the data missing part 10 and configure the 3D shape model. .
In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax There is a case where there is an invisible part, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen, but the data missing part 10 is interpolated. The three-dimensional shape data of the target object without missing is generated.
Further, as a method of inspecting the interpolation target point 20, a method of checking the presence / absence of model constituent points in eight directions that are diagonally up / down / left / right is used. It is possible to deal with not only the portion 10 but also the data notch portion 10 having a notch in the horizontal direction, and even if the opening of the notch notch portion is slanted, the vicinity of the opening exit can be set as the interpolation target point 20.
In addition, the 8-direction inspection interpolation target point detection unit 25 adjusts the number of model constituent points in the eight directions for inspecting the interpolation target point 20 so that the model constituent points exist in all eight directions. Data missing part to be interpolated such that only data missing point of shape is to be interpolated, or data missing point of shallow notch shape that only needs to find model constituent points in about 3 out of 8 directions A degree of 10 can be set.
Further, since the linear interpolation composing point setting unit 67 uses linear interpolation for the interpolation of the data missing unit 10, no gap is generated at the boundary between the interpolated portion and the portion where the model composing point originally exists.

(2.7) Three-dimensional shape model creation device to which 8-direction inspection weighted average interpolation processing is added. This device is the first to process the position data of the interpolation target point 20 in the processing of the device described in (2.5). In place of the average interpolation model component point setting unit 57 obtained based on the average height data of the detected model component points, as shown in FIG. 11, the interpolation point distance is calculated from the interpolation target point 20 and the detected model component point. The weight is calculated by dividing the interpolated point distance by the total interpolated point distance, and the average value is obtained by adding the previously calculated weight to the height data of the detected model constituent points. The weighted average interpolation model constituent point setting unit 77 for obtaining the position data of the interpolation target point 20 from the position data and the position of the model measurement point and setting the model constituent point is used to obtain the three-dimensional shape data without the data missing part 10. Generate and three-dimensional Construct a shape model. In this device, a 3D shape model of an object is composed of a set of model constituent points, so the target object is not only squared like a polyhedron, but also composed of smooth curved surfaces such as cylinders and spheres. The three-dimensional shape data of the object can be generated, and thereby a three-dimensional shape model can be created.

  In addition, when setting model constituent points by stereo measurement, it is visible on the reference screen for setting model measurement points, but on the reference screen for searching for the corresponding points, due to projections and slopes on the target object due to parallax Even if there is a part that cannot be seen, or even if the corresponding point cannot be found because it is a smooth part that is visible on both the reference screen and the reference screen but has no features, It is possible to generate three-dimensional shape data of the target object without missing. Further, as a method for inspecting the interpolation target point 20, a method for checking the existence of model constituent points in eight directions in the up / down / left / right directions is used. It is possible to deal with not only the portion 10 but also the data missing portion 10 having both lateral cutout shapes, and even if the opening of the notched missing portion is slanted, the vicinity of the opening exit can be set as the interpolation target point 20. .

  In addition, by adjusting the number of model constituent points in eight directions for inspecting the interpolation target point 20, only the hole-shaped data missing points in which the model constituent points exist in all eight directions are targeted for interpolation. The degree of the data missing part 10 to be interpolated can be set such that the data missing point with a shallow notch shape that only needs to find the model composing point in about three of the eight directions is also targeted. In addition, the 8-direction inspection interpolation target point detection unit 25 uses the weighted average interpolation model constituent point setting unit 77 and uses the distance weighted average interpolation for the interpolation of the data missing unit 10, so that the model configuration at a position closer to the interpolation target point 20 is used. The position data of the point greatly affects the position data of the interpolated model constituent point, and as a result, the entire data missing part 10 can be smoothly connected to the original model shape data.

The present invention uses image data obtained by a camera to generate three-dimensional shape data of a target object such as an industrial part that exists in a range that can be photographed by the camera, and thereby the object used for object recognition processing or the like. It can be widely used industrially as an apparatus for producing a three-dimensional shape model.

It is explanatory drawing which shows the example of the detection of the interpolation object point by a horizontal direction test | inspection. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus by this invention. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus which added the horizontal direction test | inspection linear interpolation process by this invention. It is explanatory drawing which shows the example of the detection of the interpolation target point by a cross direction test | inspection. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus which added the cross direction test | inspection average interpolation process by this invention. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus which added the cross direction test | inspection linear interpolation process by this invention. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus which added the average interpolation process with the cross direction test | inspection weight by this invention. It is explanatory drawing which shows the example of the detection of the interpolation target point by 8 direction test | inspection. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus which added the 8-way test | inspection average interpolation process by this invention. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus which added the 8-direction test | inspection linear interpolation process by this invention. It is explanatory drawing which shows the example of the three-dimensional shape model production apparatus which added the 8-way test | inspection weighted average interpolation process by this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Camera 2 Model constituent point generator 3 Model constituent point three-dimensional shape data generation part 4 Model memory 5 Lateral direction inspection interpolation target point detection part 25 Cross direction inspection interpolation target point detection part 35 8 direction inspection interpolation target point detection part 6, 26, 56 Average interpolation model composing point setting unit 16, 36, 66 Linear interpolation model composing point setting unit 46, 76 Weighted average interpolation model composing point setting unit 10 Data missing point 20 Interpolation target point

Claims (6)

Model component point generation that generates model component points on an object by measuring three-dimensional position data of the model measurement points that are set in a grid pattern in advance in the model measurement range that surrounds the target object on the screen in the input image And
A model constituent point three-dimensional shape data generation unit for generating three-dimensional shape data as a set of model constituent points;
In addition to checking whether there is a model constituent point in the left-right direction of the data missing point, a data missing point that is a point where the model constituent point is not obtained in the model measurement range, Inspects whether there is a model constituent point in the direction, and if more than a preset number of model constituent points are detected in the up, down, left, and right directions, cross direction inspection with the data missing point as the interpolation target point An interpolation target point detector,
A straight line passing through the set of model constituent points is calculated for the one where a set of top and bottom or left and right model constituent points is found by the above inspection, and the intersection of the straight line and the model measurement point of the interpolation target point and the straight line passing through the lens focus Comprising a linear interpolation model constituent point setting unit that sets a model constituent point by calculating a three-dimensional position as position data of the interpolation target point,
An apparatus for producing a three-dimensional shape model of an object, which generates three-dimensional shape data having no data missing portion and constitutes a three-dimensional shape model. In place of the linear interpolation model component point setting unit according to claim 1,
If a set of model constituent points is found for both the top and bottom and left and right by the above inspection, a straight line is calculated for the pair whose priority is set in advance, and the model measurement point and lens of the straight line and the interpolation target point are calculated. A three-dimensional shape model of an object using a linear interpolation model constituent point setting unit that sets a model constituent point by calculating a three-dimensional position of an intersection with a straight line passing through a focal point as position data of the interpolation target point Production device. In place of the linear interpolation model component point setting unit according to claim 1,
When a set of model constituent points is found for both the top and bottom and the left and right by the above inspection, straight lines are calculated for all sets, and the straight line calculated for all sets, the model measurement point of the interpolation target point, and the lens focus are calculated. A three-dimensional shape model of an object using a linear interpolation model constituent point setting unit that sets a model constituent point by calculating an average of three-dimensional positions of intersections with a passing straight line as position data of the interpolation target point Production device. In place of the cross direction inspection interpolation target point detection unit according to claim 1,
In addition to checking whether there is a model constituent point in the left-right direction of the data missing point, a data missing point that is a point where the model constituent point is not obtained in the model measurement range, Whether or not there are model composing points in the direction and the diagonal direction is checked, and if the number of model composing points is detected in a predetermined number of eight directions up, down, left and right, the data missing point is interpolated. Using an 8-direction inspection interpolation target point detection unit as a point,
Further, instead of the linear interpolation model component point setting unit according to claim 1,
When one set of diagonal model constituent points of the interpolation target point is found by the above inspection, a straight line passing through the one set of model constituent points found is calculated, and model measurement of the straight line and the interpolation target point is performed. 3D of an object characterized by using a linear interpolation constituent point setting unit that sets a model constituent point by calculating a three-dimensional position of an intersection of a point and a straight line passing through a lens focus as position data of the interpolation target point Shape model production device. Instead of the linear interpolation model component point setting unit according to claim 4,
When a plurality of pairs of diagonal model constituent points of the interpolation target point are found by the above inspection, a straight line is calculated for the pair whose priority is set in advance, and the model of the straight line and the interpolation target point is calculated. An object tertiary using a linear interpolation composing point setting unit for setting a model composing point by calculating a three-dimensional position of an intersection of a measurement point and a straight line passing through a lens focus as position data of the interpolation target point Original shape model production device. Instead of the linear interpolation model component point setting unit according to claim 4,
When a plurality of pairs of diagonal model constituent points of the interpolation target point are found by the above inspection, straight lines are calculated for all sets, and each straight line calculated for all sets and the model measurement points of the interpolation target points are calculated. And a linear interpolation composing point setting unit that sets a model composing point by calculating an average of three-dimensional positions of intersections of the straight line passing through the lens focal point as position data of the interpolation target point. Original shape model production device.

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