JP4828195B2 - Color-coded sign - Google Patents

Description

  The present invention relates to a sign with a color code. Specifically, the present invention relates to a sign with a color code that includes a position detection pattern for indicating a measurement position and a color code pattern for identifying a sign, and is used for three-dimensional shape measurement and surveying.

  Conventionally, in order to accurately measure the three-dimensional shape of an object or measure an object to be measured in a wide area, it can be divided into many small areas using a non-contact three-dimensional measuring instrument and targeted to feature points, etc. 3D measurement is performed by pasting the target, and the target pasted in each small area is photographed with a camera using a photogrammetry method, and the 3D of the target in the small area measured by the camera coordinate system and each three-dimensional measuring instrument. The coordinate system was integrated into the entire area. In addition, a target means the label | marker stuck on a measuring object in order to pinpoint the position and shape of a measuring object with high precision.

In this case, a retro target (see FIG. 4), a template (see FIG. 18), or the like has been used as the target. (See Patent Document 1)
JP 2003-284098 A (paragraphs 0018 to 0073, FIGS. 1 to 11)

  However, since these conventional signs employ the same pattern, it is difficult to distinguish between these signs, and there is a problem that it is not easy to identify corresponding points in stereo images and corresponding points between different images. It was. For this reason, there is a problem that it is difficult to fully automate the processes from imaging to three-dimensional measurement. In addition, when correcting the color of an image, it is necessary to prepare a correction sign other than the target.

  An object of the present invention is to make it possible to identify a sign used for three-dimensional measurement, and to easily identify corresponding points in a stereo image and specify corresponding points between different images. Moreover, it aims at contributing to fully automation of the process from imaging to three-dimensional measurement by this. It is another object of the present invention to make it possible to correct the color of an image using the sign itself.

As shown in FIG. 1, for example, a sign with a color code according to the first aspect of the present invention has a predetermined position detection pattern P1 for indicating a measurement position and a predetermined position detection pattern P1 in a plane. A color code pattern P3 arranged in a positional relationship and provided with a plurality of colors for identifying the marker CT (including CT1 to CT12).

  Here, there are color code patterns P3 having unit patterns of various shapes, and patterns including combinations of codes such as barcodes and colors are also included. With such a configuration, the use of the color code makes it possible to easily identify the sign at a glance, and it is possible to easily identify the corresponding points in the stereo image and the corresponding points between different images. This makes it possible to promote full automation of processes from imaging to three-dimensional measurement. In addition, a large number of identification numbers can be realized in a small area.

According to a second aspect of the present invention, in the sign with a color code according to the first aspect, for example, as shown in FIG. 1, a reference color pattern P2 in which a plurality of colors used as a reference for the color is applied in the plane is provided. Prepare. If comprised in this way, the color correction of an image or a label | marker will be attained based on the reference | standard color pattern P2, and discrimination | determination of a color code will be made easy.

According to a third aspect of the present invention, in the sign with color code according to the first or second aspect , the position detection patterns P1 are arranged at three corners of a quadrangle. With this configuration, it is easy to extract a sign and easily detect the direction (inclination direction) of the sign, and it is convenient for setting an orientation area and a stereo matching area and connecting adjacent images, and is useful for automation of these. It is.

According to a fourth aspect of the present invention, in the sign with color code according to the third aspect , the position detection pattern P1 has the same shape and dimensions. If comprised in this way, extraction of the position detection pattern will become easy and reliable by normalization.

According to a fifth aspect of the present invention, in the sign with color code according to the fourth aspect , the position detection pattern P1 has a circular pattern in the center. If comprised in this way, the gravity center position of the pattern for position detection can be detected with high precision.

A sixth aspect of the present invention is a color-coded target according to any of the aspects of the third to sixth, and different patterns P4 position detecting pattern P1 in 1 corner position detection pattern P1 not arranged Has been placed. Such a configuration is useful for confirming the position detection pattern.

According to a seventh aspect of the present invention, in the sign with a color code according to any one of the third to sixth aspects, the colors of the three position detection patterns P1 are different. With this configuration, the position detection pattern itself can be used as a reference color pattern or a color code pattern.

According to an eighth aspect of the present invention, in the sign with a color code according to any one of the first to seventh aspects , the color code pattern P3 is composed of a plurality of unit patterns having the same shape and size but different colors. Here, the pattern having the same shape includes a rotation pattern and a reverse pattern. If comprised in this way, extraction of a color code pattern will become easy and reliable by normalization. In addition, the color code can be easily identified.

According to a ninth aspect of the present invention, in the marker with a color code according to any one of the second to eighth aspects , the reference color pattern P2 is composed of a plurality of unit patterns having the same shape and size but different colors. If comprised in this way, extraction of a reference color pattern will become easy and reliable by normalization.

According to a tenth aspect of the present invention, in the sign with color code according to the ninth aspect , the reference color pattern P2 is arranged around one of the position detection patterns P1, and the color code pattern is placed around the other two. Has been placed. If comprised in this way, extraction of a reference color pattern will become easy.

According to an eleventh aspect of the present invention, in the sign with color code according to the tenth aspect, the number of reference color patterns arranged around one of the position detection patterns P1 and the colors arranged around the other two The number of code patterns is different. With this configuration, the position detection pattern to be measured can be easily extracted by scanning around the position detection pattern.

According to a twelfth aspect of the present invention, in the sign with a color code according to any one of the ninth to eleventh aspects, all the colors of the unit pattern in the reference color pattern P2 are included in the colors of the unit pattern in the color code pattern P3. . With this configuration, it becomes easy to determine the color of the color code pattern and correct the color of the image.

The label sticker with a color code according to the thirteenth aspect of the present invention is obtained by drawing the mark CT with a color code according to any one of the first to twelfth aspects . If comprised in this way, a label | marker with a color code will be affixed on a measurement object, and a label | marker can be easily identified at a glance, and efficiency and automation of three-dimensional measurement can be promoted.

A sign sticker set with a color code according to a fourteenth aspect of the present invention is a set of sign stickers with a color code configured by combining a plurality of sign stickers with a color code according to the thirteenth aspect, and each color The sign sticker with code has the same shape and size of the color code pattern P3, and all the color schemes are different. Here, “all the color schemes are different” means that when any two signs in the seal set are compared, the colors are different in at least one unit pattern corresponding to the same position in the color code pattern. If comprised in this way, by using the label sticker set with a color code | cord | chord, even if it uses many label | marker CT with a color code | cord | chord, a label | marker can be easily identified at a glance, and it is useful for automation of three-dimensional measurement.

According to a fifteenth aspect of the present invention, a color code-added sign extraction apparatus extracts a color-coded sign CT from an image of a surveying object including the color-coded sign CT according to any one of the first to twelfth aspects. Extraction unit 41, identification code discrimination unit 46 for discriminating the identification number of the color-coded marker CT from the color code pattern P3 of the extracted color-coded marker CT, and position detection of the extracted color-coded marker CT A label information storage unit 150 is provided that stores the position coordinates of the pattern P1 and the identification number determined by the identification code determination unit 46 in association with each other. If comprised in this way, the label extraction apparatus with a color code which can discriminate | determine the code | cord | chord of the label CT with a color code can be provided.

The three-dimensional measurement apparatus according to the sixteenth aspect of the present invention is imaged by the imaging unit 10 that images the measurement object including the marker with the color code according to any one of the first to twelfth aspects, and the imaging unit 10. An extraction unit 41 for extracting the color-coded label CT from the measured object image, and the identification code of the color-coded label CT from the extracted position detection pattern P1 and color code pattern P3 of the color-coded label CT. An identification code determination unit 46 for determination, a label information storage unit 150 for storing the extracted position coordinates of the position detection pattern P1 of the label CT with color code and the identification code determined by the previous code determination unit 48 in association with each other. And the three-dimensional coordinates or three-dimensional coordinates of the object to be measured based on the positions of the color-coded labels CT measured using a number of color-coded labels CT. And a three-dimensional measuring unit 50 for measuring the original shape. If comprised in this way, the code | cord | chord of the label | marker with a color code can be discriminate | determined and utilized, and the three-dimensional measuring apparatus advantageous to efficiency and automation can be provided.

  According to the present invention, a sign used for three-dimensional measurement can be identified, and it becomes easy to specify corresponding points in a stereo image and corresponding points between different images. In addition, this can contribute to full automation of processes from imaging to three-dimensional measurement. Further, according to a preferred aspect of the present invention, it is possible to correct the color of the image using the sign itself.

[First Embodiment]
The present invention provides a label (target) with a color code for improving the efficiency and automation of non-contact three-dimensional measurement. Embodiments of the present invention will be described below with reference to the drawings.

[Target with color code]
FIG. 1 shows an example of a target with a color code. FIG. 1 shows a target with a color code having three color code unit patterns. 1 includes a position detection pattern (retro target portion) P1, a reference color pattern (reference color portion) P2, a color code pattern (color code portion) P3, and a sky pattern (white portion) P4. Has been. These position detection pattern P1, reference color pattern P2, color code pattern P3, and sky pattern P4 are arranged at predetermined positions in the target CT1 with color code. That is, the reference color pattern P2, the color code pattern P3, and the sky pattern P4 are arranged in a predetermined positional relationship with respect to the position detection pattern P1.

  The retro target portion P1 is used for detecting the target itself, detecting its center of gravity, detecting the target direction (inclination direction), and detecting the target area. In FIG. 1, a retro target is used as the position detection pattern P1.

  The reference color portion P2 is used for reference at the time of relative comparison and for color calibration for correcting the color misregistration in order to cope with color misregistration due to photographing conditions such as illumination and a camera. Furthermore, the reference color portion P2 can be used for color correction of the target CT with a color code created by a simple method. For example, when using a target CT with a color code printed by a color printer (inkjet, laser, sublimation type printer, etc.) that has not been color-controlled, individual differences may occur in the color of the printer used. By comparing and correcting the colors of the part P2 and the color code part P3, the influence of individual differences can be suppressed.

  The color code part P3 expresses a code by a combination of colors for each unit pattern. The number of codes that can be expressed varies depending on the number of code colors used for the code. For example, when the number of code colors is n, the color code target CT1 of FIG. 1 has three unit patterns of the color code part P3, and therefore can express n × n × n codes. In order to increase the reliability, even when the condition that the colors used in other unit patterns are not used redundantly, n × (n−1) × (n−2) codes can be expressed. If the number of code colors is increased, the number of codes can be increased. Furthermore, if the condition that the number of unit patterns of the color code part P3 is equal to the number of color codes is imposed, all code colors are used for the color code part P3. Therefore, not only the comparison with the reference color part P2, By relatively comparing the colors between the unit patterns of the color code portion P3, the identification code can be determined by checking the color of each unit pattern, and the reliability can be improved. Furthermore, if a condition for making the area of each unit pattern all the same is added, the target CT with a color code can also be used when detected from an image. This is because the area occupied by each color is the same even between the target CTs with color codes having different identification codes, so that almost the same dispersion value is obtained from the detection light from the entire color code part. In addition, since the boundary between unit patterns is repeated at equal intervals and a clear color difference is detected, it is possible to detect the target CT from the image from such a repeated pattern of detection light.

  The white portion P4 is used for detecting the direction of the color-coded target CT and for correcting color misregistration. Among the four corners of the target CT, there is a place where no retro target is arranged, and this can be used for detecting the direction of the target CT. Thus, the white part P4 should just be a pattern different from a retro target. Therefore, a character string such as a number for visually confirming the code may be printed on the white portion, and it may be used as a code area such as a barcode. Furthermore, in order to increase the detection accuracy, it can be used as a template pattern for template matching.

[Color code extraction means]
FIG. 2 shows a configuration example of the color code extracting means. The color code extraction unit 100 includes an extraction unit 41 that extracts a target with a color code and an identification code determination unit 46 that determines the color code. The extraction unit 41 includes a search processing unit 110, a retro target grouping processing unit 120, a target detection processing unit with color code 130, and an image / color pattern storage unit 140. Also, the identification code determination unit 46 determines the color code detected by the color code-added target detection processing unit 130 and assigns a code number.

  Reference numeral 10 denotes an imaging unit that photographs a measurement object including a target with a color coat, and a stereo camera or the like is used. Reference numeral 13 denotes an image data storage unit that stores a stereo image taken by the imaging unit 10. Reference numeral 150 denotes a sign information storage unit that associates and stores the position coordinates of the position detection pattern P1 of the sign CT with the color code extracted by the extraction unit 41 and the identification code determined by the identification code determination unit 46. The data stored in the sign information storage unit 150 is used for the orientation by the orientation unit 44, or is used for the measurement of the 3D coordinates or the 3D shape of the measurement object by the 3D position measurement unit 50.

  The search processing unit 110 detects a position detection pattern P1 such as a retro target pattern from a color image (captured image) captured by the imaging unit 10 or stored in the image data storage unit 13. When a template pattern is used as the position detection target instead of the retro target pattern, the template pattern is detected.

  The retro target grouping processing unit 120 is one in which the retro target detected by the search processing unit 110 is determined to belong to the same color coded target CT (for example, the one in the region of the color coded target CT having the same position coordinates). Are grouped as candidates belonging to the same group.

  The color code target detection processing unit 130 detects the color code target region direction detection from the retrotarget group (candidate) determined to belong to the same color code target. See processing unit 131, reference color portion P2 of target CT with color code, color arrangement in color code portion P3, color detection processing portion 311 for detecting the color of measurement object 1 in the image, and reference color pattern P2. The color code part P3, the color correction part 312 for correcting the color of the measuring object 1 in the image, and the confirmation processing part 313 for confirming whether or not the grouping is properly performed.

  The image / color pattern storage unit 140 indicates the type of the color-coded target CT with respect to the read image storage unit 141 that stores the image read into the extraction unit 41 and a plurality of types of color-coded target CTs that are scheduled to be used. A type code number is recorded, and further, a color code target correspondence table 142 is recorded which records the correspondence between pattern arrangement and code number for various color code target CTs.

  The identification code discriminating unit 46 discriminates an identification code from the color arrangement in the color code unit P3 and converts it into an identification code. The color code-added target CT detected by the color code target detection processing unit 130 Based on the direction data, the coordinate conversion processing unit 321 for converting the coordinates of the color-coded target CT and the color code in the color code portion P3 of the coordinate-converted target CT with the color code discriminates the identification code. The code conversion processing unit 322 converts the code into a code.

[Color code extraction flow]
FIG. 3 shows a flow example of extraction of a target with a color code.
First, a color image (photographed image) to be processed is read from the imaging unit 10 or the image data storage unit 13 into the read image storage unit 141 of the extraction unit 41 (S500). Next, a retro target is detected from each read image (S510).

The search method includes (1) a method for searching for a position detection pattern (retro target) P1 in the color-coded target CT, (2) a method for detecting chromatic dispersion of the color code portion P3, or (4) a coloration. There are various methods such as a method using a position detection pattern.
Here, (1), (2) and an example (3) combining these will be described. (4) will be described in the eleventh embodiment.

  (1) When a retro-target is included in the color-coded target CT, a pattern with a clear brightness difference is used. The retro target can be easily detected by binarizing this image.

  FIG. 4 is an explanatory diagram of the center-of-gravity position detection using a retro target. (A1) is a retro target with lightness of the inner circle portion 204 and lightness of the outer circle portion 206, and (A2) is a retro target of (A1). (B1) is a retro target in which the brightness of the inner circle portion 204 is dark and the brightness of the outer circle portion 206 is bright, and (B2) is a brightness distribution diagram in the diameter direction of the retro target of (B1). Show. When the lightness of the inner circle portion 204 is bright as shown in FIG. 4A1, the retro target has a bright portion with a large amount of reflected light at the center of gravity in the photographed image of the measurement target 1, and thus the light amount distribution of the image. As shown in FIG. 4A2, it is possible to obtain the inner circle portion 204 and the center position of the retro target from the threshold value To of the light amount distribution.

When the target existence range is determined, the barycentric position is calculated by, for example, the moment method. For example, the plane coordinates of the retro target 200 shown in FIG. 4 (A1) are (x, y). Then, (Expression 1) and (Expression 2) are calculated for points in the x and y directions where the brightness of the retro target 200 is greater than or equal to the threshold value To (* is a multiplication operator).
xg = {Σx * f (x, y)} / Σf (x, y) ---- (Equation 1)
yg = {Σy * f (x, y)} / Σf (x, y) ---- (Formula 2)
(Xg, yg): coordinates of the center of gravity position, f (x, y): density value on (x, y) coordinates In the case of the retro target 200 shown in FIG. 4 (B1), the brightness is the threshold. (Expression 1) and (Expression 2) are calculated for points in the x and y directions that are less than or equal to the value To.
Thereby, the position of the center of gravity of the retro target 200 is obtained.

(2) Usually, the color code portion of the color-coded target CT uses a large number of code colors and has a feature that the color dispersion value is large. For this reason, the target CT with a color code can be detected by finding a portion having a large dispersion value from the image.
(3) In the case where a retro-target is included in the color-coded target CT, first, a portion with high brightness (possibly having a retro-target portion P1) is scanned and detected over the entire image, and then detected. It can be efficiently detected by finding a portion (a color code portion P3 can be present) having a high color dispersion value around a portion having high brightness.

In the present embodiment, an example of (1) will be described. Returning to FIG. 3, the retro target detection processing unit 111 stores the coordinates of a plurality of retro targets detected from the color image in the read image storage unit 141.
Next, the retro target grouping processing unit 120 detects a retro target group candidate belonging to the same color-coded target CT from the retro target coordinates stored in the read image storage unit 141 (for example, the coordinates are color). The detected combination CT is detected), and the combination is stored in the read image storage unit 141 as a group (S520). The confirmation can be performed, for example, by measuring the distance between the three retro targets in the detected color-coded target CT and the apex angle of the triangle connecting the three retro targets (see S530).
Further, by comparing the detected pattern of the target with color code with the target table 142 with color code, it is confirmed which type of target with the color code.

  Next, the target detection processing unit with color code 130 stores the region of the target CT with color code from the center of gravity position of the retro target in units of retro targets stored in the read image storage unit 141 in the region direction detection processing unit 131. A direction is obtained (S530). Before or after obtaining the area and direction, the color detection processing unit 311 detects the color of the reference color part P2, the color code part P3, and the measurement object in the image. If necessary, the color correction unit 312 corrects the color of the color code portion P3 and the measurement object 1 in the image based on the color of the reference color portion P2. In addition, when a target with a color code of a print color that is not a reference is used, the reference color portion is corrected together. Then, the confirmation processing unit 313 confirms whether the grouping is performed properly, that is, whether the center of gravity of the retro targets once grouped belongs to the same color code target CT. If it is determined that they belong to the same group, the process proceeds to the next identification code identification process (S535). If it is determined that they do not belong to the same group, the process returns to the grouping process (S520).

FIG. 5 and FIG. 6 show a processing flow example of the target area direction detection processing unit 131 with a color code. In addition, the code reading of the retro target will be described with reference to FIGS. Here, a procedure for reading a code from the color-coded target CT1 of FIG. 1 will be described.
In order to read the code from the color-coded target CT1, it is necessary to know the area and direction of the color-coded target CT1, and therefore, the center points of the three position detection retro targets are labeled R1, R2, and R3 (FIG. 7). (See (a)).

The labeling method creates a triangle that passes through the center-of-gravity points R1 to R3 of the three retro targets of interest (S600). Appropriately select one of the centroid points R1 to R3 of the three retro targets and temporarily label it with T1 (S610), and temporarily label the remaining two centroid points with T2 and T3 (S612, (Refer FIG.7 (b)).
Next, the sides passing through the barycentric points are labeled. The side passing through T1 and T2 is L12, the side passing through T2 and T3 is L23, and the side passing through T3 and T1 is L31 (S614, see FIG. 8A).

Next, the inside of the triangle is scanned in an arc shape for pixel values that are separated from each vertex (center of gravity) by a radius R, and the color changes within the scanned range (see FIG. 8B).
At the center of gravity T1, L12 to L31 are scanned clockwise, at the center of gravity T2, L23 to L12 are scanned clockwise, and at the center of gravity T3, L31 to L23 are scanned clockwise (S620 to S625).
The method of determining the radius is determined by multiplying the size of the retro target on the image according to the scanning angle. When the retro target is photographed from an oblique direction, it becomes an ellipse, so the scan range is also an ellipse. The magnification is determined by the size of the retro target and the distance between the retro target center of gravity position and the reference color portion P2.

In order to further reduce the influence of noise and the like, a method of determining a representative value such as an average value between the radius R-Δr and R + Δr by giving a width to the scanning range is also conceivable.
In this example, the scan is performed in an arc shape, but a method of scanning on a straight line perpendicular to the side of the triangle formed by the center of gravity is also conceivable (see FIG. 8C).

  In the example of the target with the color code in FIG. 1, there is a change in color in the result of scanning around the center of gravity T2, and a change is seen in the values of R (red), G (green), and B (blue). Peaks appear in the order of R, G, and B. As a result of scanning around T1 and T3, there is no color change, and the values of R, G, and B are almost constant and no peak appears (see FIG. 8B). Thus, the color change is seen around one centroid point T2, and the direction of the color-coded target CT1 is changed due to the feature that there is no color change around the remaining two centroid points T1 and T3. I can judge.

The confirmation processing for labeling is performed by the confirmation processing unit 313. The barycentric point having the color change in the scan result is set as R1, and the remaining two barycentric points are labeled R2 and R3 by clockwise labeling from the barycentric point having the color change (S630 to S632). In this example, the center of gravity T2 is R1, the center of gravity T3 is R2, and the center of gravity T1 is R3. If one centroid point with a color change and two centroid points with no color change are not detected, a retro target combination error occurs (S633), and three new retro targets are selected. (S634), the process returns to S600. Thus, it can be confirmed from the processing results whether the three selected retro targets belong to the same color-coded target CT1. In this way, the retro target grouping is determined.
The above-described labeling method has been described using the color-coded target CT1 of FIG. 1 as an example, but the same processing can be performed by changing part of the processing for various color-coded targets CT described later.

[Identification of code]
Returning to FIG. 3, the identification code determination unit 46 selects the color-coded target CT1 based on the center-of-gravity positions of the retro targets grouped in the coordinate conversion processing unit 321 for the color-coded target CT1 extracted by the extraction unit 41. Then, the code conversion processing unit 322 identifies the color code (S535), performs code conversion to obtain the identification code of the target CT1 with color code (S540), and reads the read image. The data is stored in the storage unit 141 (S545).

  This processing flow will be described with reference to FIG. The photographed image of the target with the color code that is distorted in shape, such as affixed to the curved surface or photographed from an oblique direction, is converted into a front view without distortion using the labels R1, R2, and R3 (S640). ). By converting the coordinates, the retro target portion P1, the reference color portion P2, the color code portion P3, and the white portion P4 can be easily identified with reference to the design value of the target with the color code, and subsequent processing can be facilitated.

  Next, it is checked whether or not there is a white portion P4 as designed on the coordinate-converted target CT1 with color code (S650). If it is not as designed, a detection error occurs (S633). If the white portion P4 is present as designed, it is determined that the color-coded target CT1 has been detected (S655).

Next, the color code of the color-coded target CT1 whose color and color correction have been performed and whose region and direction are known is determined.
The color code part P3 expresses a code by a combination of colors for each unit pattern. For example, when the number of code colors is n and the number of unit patterns is 3, when a condition that an n × n × n code can be expressed and colors used in other unit patterns are not used redundantly is imposed, A code of n × (n−1) × (n−2) can be expressed. When the number of code colors is n, the number of unit patterns is n, and the condition that the colors are not used redundantly is imposed, the code corresponding to the factorial of n can be expressed.
In the code conversion processing unit 322, the identification code determination unit 46 compares and collates the color combination of the unit pattern in the color code unit P3 with the color combination of the target correspondence table 142 with color code to determine the identification code ( S535 in FIG.

  Color discrimination methods include (1) a relative comparison method in which the color of the reference color portion P2 and the color of the color code portion P3 are compared, and (2) the color of the reference color portion P2 and the color of the white portion P4. There are two methods: an absolute comparison method in which color correction of the color-coded target CT1 is performed and the code of the color code portion P3 is discriminated with the corrected color. For example, when the number of colors used for the color code portion P3 is small, the reference color is used as a comparative color for relative comparison, and when the number of colors used for the color code portion P3 is large, calibration is performed to correct the colors. Used as a comparative color for absolute comparison. As described above, color detection is performed by the color detection processing unit 311, and color correction is performed by the color correction unit 312. In three-dimensional measurement using images, a plurality of images are taken, and in most cases, color misregistration occurs between the images due to shooting conditions and the like. By using a target with a color code, it is possible to correct a color difference between a plurality of images.

In the code conversion processing unit 322, the identification code determination unit 46 detects the reference color part P2 and the color code part P3 using either the method (1) or (2) (S660, S670), and the color code. Each color of the part P3 is discriminated, the color is converted into a code, and the identification code of the target CT1 with the color code is obtained (S680, S540 in FIG. 3).
For each image, the number of the color-coded target CT1 included in the image is registered in the read image storage unit 141 (S545 in FIG. 3). The data registered in the read image storage unit 141 is used for orientation by the orientation unit 44 based on the detection position coordinates of a large number of color-coded markers CT, or the three-dimensional position measurement unit 50 uses the tertiary of the measurement object. Used to measure original coordinates and 3D shapes.

[Association between images]
FIG. 9 shows an example of a target with a color code photographed with a plurality of images. FIG. 9A shows how the stereo images overlap. The basic range to be measured is an overlap range of two (a pair of) stereo shot images. At this time, it is preferable to perform imaging so that the four color-coded target CTs fall within the overlapping range. In this way, three-dimensional measurement is possible using a stereo image. FIG. 9B shows an example of how to overlap adjacent stereo images. In this way, it is preferable to take a series of images so as to overlap, including two color-coded targets CT in the vertical and horizontal directions. In this way, non-contact three-dimensional measurement over a wide area can be automated. The break line is a line indicating the effective area of the image, and the inside of the line connecting the outermost retro targets of the four color-coded targets CT is the effective area.

  FIG. 9C is a diagram for explaining stereo matching area setting. FIG. 9C shows an example in which the color-coded target CT has three retro targets for position detection. The stereo matching area is automatically determined by locating the color-coded target CT near the four corners of the screen and always using the area connecting the outermost retro targets of the color-coded target CT as the matching area. At the same time, the overlap between the model images can be ensured. In this way, by determining the matching region, as shown in FIG. 9B, the overlap between the model images can be reliably obtained. If at least two or more position detection patterns (retro target portions) P1 are arranged on each color code target CT (in the case of two points, they are arranged diagonally), matching area automatic setting processing can be performed.

[Second Embodiment]
FIG. 10 shows an example of the color-coded target CT2 in the second embodiment. FIG. 10 shows a color-coded target CT2 having six color code portions P3. Since the three unit patterns of the color code pattern P3 of the target CT1 with color code in FIG. 1 are separated by diagonal lines so that there are six unit patterns, the method for detecting the region and direction of the target CT with color code is shown in FIG. As in the case of, retro target labeling can be performed by changing the color when the inside of a triangle formed by each barycentric point is scanned. That is, two color changes occur around R1, and no color change occurs around R2 and R3. In addition, the reading process of the color code part P3 is increased to six places. If the colors used for the color code are six colors, the number of codes can express 6 × 5 × 4 × 3 × 2 × 1 = 720 codes. The last color code part (the last x1 part) does not affect the number of codes, but is necessary for relative comparison, and can also be used for checking misrecognition when the color code part is recognized.

[Third Embodiment]
FIG. 11 shows an example of the color-coded target CT3 in the third embodiment. The color-coded target CT3 in FIG. 11 is obtained by eliminating the reference color portion P2 of the color-coded target CT2 in FIG. 10 and enlarging one of the retro target portions P1.
In the color-coded target CT3 in FIG. 11, since the retro target corresponding to R1 is large, the labeling process corresponding to R1, R2, and R3 of each retro target portion can be performed by detecting the size of the retro target. However, since the reference color portion P2 does not exist because the retro target corresponding to R1 is large, it is difficult to determine the color code.

  As a countermeasure in this case, for example, if the color used for the color code is set to six colors and the same color is not used repeatedly, all code colors appear in the color code portion P3. As a result, it is only necessary to make the colors of the color code portions P3 correspond to the six code colors, and the colors of the color code portions P3 can be compared by relative comparison. The number of codes can represent 720 codes in the same manner as the color-coded target CT2 in FIG.

[Fourth Embodiment]
FIG. 12 shows an example of a color-coded target CT4 in the fourth embodiment. A color-coded target CT4 in FIG. 12 is a pattern in which a black region P5 is added to the outside of the color-coded target CT1 in FIG. The black region P5 can suppress the influence of the color and pattern of the measurement object.
The color-coded target CT4 in FIG. 12 is the same as the color-coded target CT1 in FIG. 1 because the black region P5 is only formed outside the color-coded target CT1 in FIG. The black region P5 can be formed on a target with a color code other than that shown in FIG.

[Fifth Embodiment]
FIG. 13 shows an example of a color-coded target CT5 in the fifth embodiment. The target CT5 with color code in FIG. 13 is obtained by reducing the unit pattern of the color code part P3 and setting the unit pattern of the color code part P3 to nine places.
For this reason, when detecting the region and direction of the color-coded target CT5, two color changes appear around R1, and one color change appears around R2 and R3. Moreover, R1, R2, and R3 can be confirmed by detecting the positional relationship with the white part P4. In addition, the reading process of the color code part P3 is increased to nine places. If nine colors are used for the color code, the number of codes can be expressed as a factorial of 9 = 362880 code. Otherwise, processing can be performed in the same manner as in FIG.

[Sixth Embodiment]
FIG. 14 shows an example of the color-coded target CT6 in the sixth embodiment. The color-coded target CT6 in FIG. 14 has the reference color portion P2 disposed in the R2 and R3 portions of the retro target portion P1 and the white portion P4 of the color-coded target CT1 in FIG. It is also used for direction detection. The retro target portion P1 is one portion of R1. A color code pattern P3 can be arranged in the reference color portion P2 of the target CT1 with color code in FIG. 1, and the color code pattern can be increased by one.
When the reference color part P2 is used for detecting the area and direction, the center of gravity of the square pattern is obtained and the brightness difference is detected by the reference color light, but the accuracy is inferior to the retro target. A point can be detected.

[Seventh Embodiment]
FIG. 15 shows an example of a color-coded target CT7 in the seventh embodiment. The color-coded target CT7 in FIG. 15 reduces the area of the color code portion P3 of the color-coded target CT1 in FIG. 1, and further, the pattern of the retro target portion P1 is one portion of R1 and four color code patterns. It is a small type. Also in this color code-added target CT7, the reference color portion P2 is used for detecting the area and direction.

[Eighth Embodiment]
FIG. 16 shows an example of a color-coded target CT8 in the eighth embodiment. A target CT8 with a color code in FIG. 16 is a small type in which the white portion P4 of the target CT7 with a color code in FIG. 15 is replaced with a color code portion P3 so that there are five color code patterns.

[Ninth Embodiment]
FIG. 17 shows an example of the color-coded target CT9 in the ninth embodiment. A color-coded target CT9 in FIG. 17 is obtained by forming a black separation region portion P6 between unit patterns of the color-coded target CT1 in FIG. As a result, errors can be reduced when determining areas and colors.

[Tenth embodiment]
FIG. 18 shows an example of a color-coded target CT10 in the tenth embodiment. The color-coded target CT10 in FIG. 18 is obtained by replacing the retro-target P1 of the color-coded target CT1 in FIG. 1 with a template pattern P7 so as to support template matching detection. Like the retro target, the center of gravity can be detected with high accuracy.

[Eleventh embodiment]
FIG. 19 shows an example of a color-coded target CT11 in the eleventh embodiment. A color-coded target CT11 in FIG. 19 is obtained by replacing the retro target P1 of the color-coded target CT1 in FIG. 1 with a color retro target P8.
The present embodiment employs (4) a method using a colored position detection pattern as a search method for target position extraction.

  (4) Different colors are arranged on the three corner retro targets used in the color-coded target CT, and the colors reflected by the respective retro targets are made different. Since different colors are arranged on the retro targets at the three corners, it is easy to distinguish each retro target belonging to one color-coded target CT. In the retro target grouping process, even when a large number of retro targets are used, the process can be simplified by selecting the retro targets of different colors that are closest to each other as candidates for the same group.

When a large number of retro targets are used as the reference point RF, the retro target of the color code target CT and the single retro target are mixed. If the retro target is white, it is easy to distinguish.
For the detection of the position of the center of gravity, refer to the description in FIG.

In addition, it is also possible to use a single or a plurality of color retro targets as the position detection mark instead of the color-coded target CT. For example, in the case of a single unit, it becomes easy to search for a corresponding point and a stereo image pair with respect to a reference point by increasing the type of color arrangement or by randomizing the color arrangement.
It is also possible to use a plurality of color retro targets in combination. For example, as shown in FIG. 20, the three color retrotargets P8 are combined into one label (label CT 12 with a color code), and by changing the combination of the color schemes, the corresponding point with respect to the reference point, the stereo image It becomes easy to search a pair.

  In determining the direction of the target with the color code, the direction was determined by the difference in the number of colors of the inner corners of the triangle that can be created by the retro target. It is also conceivable to use different colors. For example, if the upper left retro target used for the color coded target is red, the upper right retro target is blue, and the lower left retro target returns green reflected light, the direction of the color coded target can be determined. It can be easily processed by judging the color of the reflected light.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made to the embodiments without departing from the spirit of the present invention. It is. For example, in the above embodiment, the example of the sign with a color code whose unit pattern is a square has been mainly described. However, other shapes such as a bar-shaped pattern and a circular pattern may be used, and a bar code or the like is combined with a color. It may be a color code.

  Further, instead of attaching the target CT with color code, or in combination with the application of the target CT with color code, the target CT with color code may be projected onto the object to be imaged by the projection device. Further, the configuration of the color code extracting means and the flow of extracting the target with the color code can be changed as appropriate.

  The present invention is used as a marker for three-dimensional measurement of an object without contact.

It is a figure which shows the example of the target with a color code in 1st Embodiment. It is a figure which shows the structural example of a color code extraction means. It is a figure which shows the example of a flow of extraction of the target with a color code. It is explanatory drawing of the gravity center position detection using a retro target. It is a figure which shows the example of a processing flow of the target area direction detection process part with a color code. It is a figure which shows the process flow example (continuation) of the target area | region direction detection process part with a color code. It is FIG. (1) for demonstrating the code reading of a retro target. It is FIG. (2) for demonstrating the code reading of a retro target. It is a figure which shows the example of the target with a color code image | photographed with a some image. It is a figure which shows the example of the target with a color code in 2nd Embodiment. It is a figure which shows the example of the target with a color code in 3rd Embodiment. It is a figure which shows the example of the target with a color code in 4th Embodiment. It is a figure which shows the example of the target with a color code in 5th Embodiment. It is a figure which shows the example of the target with a color code in 6th Embodiment. It is a figure which shows the example of the target with a color code in 7th Embodiment. It is a figure which shows the example of the target with a color code in 8th Embodiment. It is a figure which shows the example of the target with a color code in 9th Embodiment. It is a figure which shows the example of the target with a color code in 10th Embodiment. It is a figure which shows the example of the target with a color code in 11th Embodiment. It is a figure which shows the example of the target with a color code which combined the some color retro target.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Image pick-up part 13 Image data storage part 41 Extraction part 44 Orientation part 46 Identification code discrimination | determination part 50 Three-dimensional measurement part 100 Color code extraction means 110 Search processing part 111 Retro target detection processing part 120 Retro target grouping process part 130 With color code Target detection processing unit 131 Color code target area direction detection processing unit 140 Image / color pattern storage unit 141 Read image storage unit 142 Color code target correspondence table 150 Sign information storage unit 200 Retro target 204 Inner circle 206 Outer circle 311 Color detection Processing unit 312 Color correction unit 313 Confirmation processing unit 321 Coordinate conversion processing unit 322 Code conversion processing unit CT, CT1 to CT12 Color code targets L12, L23, L31 Side P1 Position detection pattern (retro target Door portion)
P2 standard color pattern (standard color part)
P3 Color code pattern (color code part)
P4 empty pattern (white part)
P5 Black region portion P6 Separation region portion P7 Template pattern P8 Color retro target R1 to R3 Centroid point To Threshold value T1 to T3 Temporary label

Claims (15)

In the plane of the sign, a position detection pattern for indicating the measurement position of the sign, and a color code pattern having a plurality of colors for identifying the sign ,
A reference color pattern having a plurality of colors used as a color reference;
Sign with color code. The position detection patterns are arranged at three corners of a rectangle;
The sign with a color code according to claim 1 . The position detection patterns have the same shape and dimensions;
The sign with a color code according to claim 2 . The position detecting pattern has a circular pattern in the center;
The sign with a color code according to claim 3 . A pattern different from the position detection pattern is disposed at one corner where the position detection pattern is not disposed;
The sign with a color code according to any one of claims 2 to 4 . The color of the three position detection patterns is different;
The sign with a color code according to any one of claims 2 to 5 . The color code pattern includes a plurality of unit patterns having the same shape and size but different colors;
The sign with a color code according to any one of claims 1 to 6 . The reference color pattern is composed of a plurality of unit patterns having the same shape and dimensions but different colors;
Color-coded target according to any one of claims 1 to 7. The reference color pattern is arranged around one of the position detection patterns, and the color code pattern is arranged around the other two;
The sign with a color code according to claim 8 . The number of reference color patterns arranged around one of the position detection patterns is different from the number of color code patterns arranged around the other two;
The sign with a color code according to claim 9 . All the unit pattern colors in the reference color pattern are included in the unit pattern colors in the color code pattern;
The sign with a color code according to any one of claims 8 to 10 . A marker with a color code according to any one of claims 1 to 11 is drawn;
Label sticker with color code. 13. A set of color-coded sign stickers configured by combining a plurality of color-coded sign sticks according to claim 12 ;
Each color-coded sign sticker has the same color code pattern shape and dimensions, and all different color schemes;
Sign sticker set with color code. An extraction unit that extracts the color-coded label from an image of the measurement object including the color-coded label according to any one of claims 1 to 11 ;
An identification code discriminating unit for discriminating an identification code of the sign with color code from the color code pattern of the sign with color code extracted;
A marker information storage unit that stores the position coordinates of the position detection pattern of the extracted marker with a color code in association with the identification code determined by the identification code determination unit;
Label extractor with color code. An imaging unit that images a measurement object including the label with the color code according to any one of claims 1 to 11 ;
An extraction unit for extracting the label with the color code from the image of the measurement object imaged by the imaging unit;
An identification code discriminating unit for discriminating an identification code of the sign with color code from the color code pattern of the sign with color code extracted;
A sign information storage unit for storing the extracted position coordinates of the position detection pattern of the sign with a color code in association with the identification code determined by the identification code determination unit;
A three-dimensional measuring unit that measures three-dimensional coordinates or a three-dimensional shape of the measurement object based on the positions of the color-coded signs measured using a number of the color-coded signs;
Three-dimensional measuring device.