JP4877105B2  Vehicle 3D shape model data creation method  Google Patents
Vehicle 3D shape model data creation method Download PDFInfo
 Publication number
 JP4877105B2 JP4877105B2 JP2007176439A JP2007176439A JP4877105B2 JP 4877105 B2 JP4877105 B2 JP 4877105B2 JP 2007176439 A JP2007176439 A JP 2007176439A JP 2007176439 A JP2007176439 A JP 2007176439A JP 4877105 B2 JP4877105 B2 JP 4877105B2
 Authority
 JP
 Japan
 Prior art keywords
 coordinate value
 value data
 dimensional
 vehicle
 outer surface
 Prior art date
 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
 Active
Links
Images
Description
The present invention relates to a method for creating threedimensional shape model data of a vehicle composed of a plurality of parts.
In order to perform various examinations of a product, there is a demand for efficiently obtaining 3D shape model data of the entire product including parts constituting the product.
For example, in order to perform vehicle CAE analysis (collision, NVH, vehicle strength, rigidity, unit, aerodynamics, etc.) and shape benchmarks, not only the threedimensional shape model data of the vehicle exterior but also the parts that make up the vehicle are included. Therefore, establishment of a method for efficiently obtaining the threedimensional shape model data is required.
As a method of creating threedimensional shape model data of a vehicle, a target mark is pasted on a measurement object, photographed from multiple directions with a noncontact optical threedimensional digitizer, and the target mark 3 is obtained from images obtained from each direction. A method of calculating threedimensional coordinate value data and creating threedimensional shape model data from the threedimensional coordinate value data is known. A technique for obtaining a threedimensional coordinate value data of a target mark by assigning a target mark to an object to be measured is described in Patent Document 1, for example.
According to the conventional method, it is possible to create threedimensional shape model data individually in units such as only the outside of the vehicle or a single component part. However, these threedimensional shape model data are independent of each other, and from such threedimensional shape model data, the relevance of each part to the whole vehicle such as where each part is located in the whole vehicle is determined. And I couldn't get the relationship between parts. Even if the 3D shape model data of the vehicle exterior only and the 3D shape model data of individual parts are created separately, if there is nothing to correlate those data, a highly reliable analysis is possible. Can not.
It is an object of the present invention to provide a method for creating threedimensional shape model data in which a vehicle outer shape and each component are associated with each other at high speed and with high accuracy.
A method for creating threedimensional shape model data of a vehicle according to one aspect of the present invention includes the following steps.
(A1) A plurality of target marks are provided on the outer surface of the vehicle.
(A2) The outer surface of the vehicle provided with the plurality of target marks in step A1 is imaged from a plurality of positions by the first imaging means, and the whole threedimensional coordinate value data of the plurality of target marks is acquired by image processing.
(A3) The outer surface shape of the vehicle is imaged from a plurality of positions by the second imaging means, and the entire threedimensional shape model data including the threedimensional coordinate values of the outer surface of the vehicle associated with the entire threedimensional coordinate value data is created by image processing. To do.
(B1) Remove the vehicle lid and apply a plurality of target marks to the outer surface of the exposed part.
(B2) The range including the outer surface of the part to which the plurality of target marks are assigned in step B1 and the outer surface of the vehicle around the part is imaged by the first imaging means, and the plurality of target mark portions 3 are processed by image processing. Get the dimension coordinate value data.
(B3) The coordinate values in the partial threedimensional coordinate value data of at least three target marks given to the outer surface of the vehicle around the part in step A1 are used as the at least three target marks in the whole threedimensional coordinate value data. The coordinate values of the partial threedimensional coordinate value data are converted to data in the same coordinate system as the whole threedimensional coordinate value data.
(B4) A part 3 composed of the threedimensional coordinate values of the part outer surface associated with the partial threedimensional coordinate value data obtained by imaging the outer shape of the part with the second imaging unit and coordinateconverted in step B3 by image processing. Create dimensional shape model data.
(C1) The component is removed from the vehicle, and a plurality of target marks are additionally provided on the outer surface other than the outer surface to which the target mark is provided in Step B1.
(C2) All the outer surfaces of the part to which a plurality of target marks are assigned on the entire outer surface in the step C1 are imaged from a plurality of positions by the first imaging means, and the component threedimensional coordinate value data of the plurality of target marks by image processing To get.
(C3) At least three points in the partial threedimensional coordinate value data obtained by coordinatetransforming the coordinate values in the component threedimensional coordinate value data of at least three target marks given to the outer surface of the component in step B1 in step B3 By matching the coordinate value of the target mark, the component threedimensional coordinate value data is coordinateconverted into data having the same coordinate system as the coordinateconverted partial threedimensional coordinate value data.
(C4) The entire outer shape of the part is imaged from a plurality of positions by the second imaging means, and 3 of all the outer surfaces of the part associated with the component threedimensional coordinate value data transformed in step C3 by image processing. The part 3D shape model data composed of the dimension coordinate values is created.
According to the above series of steps, the threedimensional shape model data in which the outer shape of the vehicle and each component are associated with each other can be efficiently created.
According to the present invention, threedimensional shape model data in which the outer shape of a vehicle and each part are associated with each other can be created at high speed and with high accuracy.
DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.
<System configuration>
FIG. 1 is a diagram illustrating a configuration of a system that serves as a platform for a method of creating threedimensional shape model data according to the present embodiment.
Reference numeral 10 denotes a vehicle to be measured in the present embodiment. Reference numerals 20 and 30 denote measuring means. Specifically, reference numeral 20 denotes a coordinate measuring camera as a first imaging means. This coordinate measuring camera is a socalled threedimensional digitizer, for example, Optigo 11 of CogniTens is suitable, but a general digital single lens reflex camera can also be used. Reference numeral 30 denotes a threedimensional measurement camera as a second imaging unit. Compared with the coordinate measuring camera 20 described above, the threedimensional measuring camera 30 is equipped with three CCD cameras 31, 32, and 33 and can obtain three pieces of twodimensional image data in one shot, The feature is that highspeed photography is possible. As such a threedimensional measurement camera, for example, Optigo 200 manufactured by CogniTens is suitable. Both the coordinate measurement camera 20 and the threedimensional measurement camera 30 are portable, and the vehicle 10 that is the measurement target can be photographed by hand from all angles. However, the threedimensional measurement camera 30 may be supported by a carriage 34 with an articulated arm as illustrated.
Each of the coordinate measurement camera 20 and the threedimensional measurement camera 30 is connected to a personal computer 40 as image processing means, and image data obtained by photographing can be transferred to the personal computer 40.
FIG. 2 is a block diagram showing a hardware configuration of the personal computer 40.
As shown in the figure, the personal computer 40 has the following configuration including a CPU 41 that controls the operation, a RAM 42 that provides a work area for the CPU 41 and functions as a main storage device, and a ROM 43 that stores a boot program and the like.
The VRAM 44 is a memory for developing image data to be displayed, and the image can be displayed on the monitor 45 by developing the image data or the like here.
The HDD 46 is a hard disk device, in which an operating system (OS) and image processing software for generating laterdescribed threedimensional coordinate value data and threedimensional shape model data are installed. The HDD 46 also has an area for storing the generated 3D coordinate value data and 3D shape model data.
Reference numerals 47 and 48 denote a keyboard and a mouse as input devices, respectively. Reference numeral 49 denotes an interface (I / F) for connecting to the coordinate measuring camera 20 and the threedimensional measuring camera 30.
Hereinafter, an example of a method for creating the threedimensional shape model data of the vehicle 10 that is the measurement target in the abovedescribed system configuration will be described in detail.
<Step A1. Attaching the target mark to the outer surface of the vehicle>
First, as shown in FIG. 3, a plurality of target marks T having an optical reflection surface are attached to the entire outer surface of the vehicle 10. Until the series of steps described below is completed, the target mark T is fixed so as not to be displaced or peeled off. It is convenient to use a magnet target mark for a magnetic material such as a body. The target mark T is affixed almost uniformly on the entire outer surface of the vehicle 10. However, care must be taken not to form a straight line in order to recognize the position.
An auto bar and a scale bar are arranged around the vehicle 10 (not shown). The autobar is, for example, five targets arranged in a cross shape, and is used to determine the direction of the coordinate measuring camera 20 or the threedimensional measuring camera 30. The scale bar has a plurality of targets with known intervals and is used as a reference device of a threedimensional coordinate system.
<Step A2. Acquisition of overall 3D coordinate value data>
The outer surface of the vehicle 10 provided with the plurality of target marks T in step A <b> 1 is imaged from a plurality of positions by the coordinate measurement camera 20. The photographer photographs the surroundings of the vehicle 10 while changing the position. Thereby, twodimensional image data from at least two viewpoints is obtained for each target mark T.
A plurality of twodimensional image data obtained by photographing is transferred to the personal computer 40. The personal computer 40 performs image processing using a known digital photogrammetry algorithm by image processing software, and generates threedimensional coordinate value data (alignment data) of the target mark T. As shown in FIG. 4, the threedimensional coordinate value data is text data representing the XYZ coordinate values of the target mark T and relates to the entire outer surface of the vehicle 10. It is called “value data”.
<Step A3. Creation of overall 3D shape model data>
The entire threedimensional coordinate value data obtained in step A2 is imported into the threedimensional measurement camera 30, and then the outer shape of the vehicle 10 is imaged from a plurality of positions with the threedimensional measurement camera 30 (see FIG. 5). In this photographing, photographing is performed so that a plurality of target marks T always fall within the photographing range.
A plurality of twodimensional image data obtained by photographing is transferred to the personal computer 40. The personal computer 40 performs image processing using image processing software, and converts the captured twodimensional image data into threedimensional shape model data (point cloud data).
The personal computer 40 further arranges the threedimensional shape model data on the coordinate space of the whole threedimensional coordinate value data. Specifically, as shown in FIG. 6, a target mark is detected from the threedimensional shape model data per shot (61 in FIG. 6), and pattern matching is performed on the entire threedimensional coordinate value data. Then, coordinate conversion (positioning) of the threedimensional shape model data is performed according to this result.
Each time shooting is performed, the abovedescribed conversion into the threedimensional shape model data and the arrangement of the threedimensional shape model data on the coordinate space are performed. In this way, the threedimensional shape model data of the entire outer surface of the vehicle 10 including the threedimensional coordinate values of the outer surface of the vehicle associated with the entire threedimensional coordinate value data is created. Hereinafter, this threedimensional shape model data is referred to as “total threedimensional shape model data”.
<Step B1. Attaching target marks to the external surface of parts>
Next, as shown in FIG. 7, the bonnet 11 that is a lid of the vehicle 10 is removed. Then, a plurality of target marks T are affixed to the exposed parts, specifically, in the engine room 12 and the upper part of the engine body 13. Note that the front door, rear door, and trunk lid (lift gate), which are other lids of the vehicle 10, may also be removed in this step.
<Step B2. Acquisition of partial 3D coordinate value data>
The part to which the plurality of target marks T are given in step B1 is imaged from the plurality of positions by the coordinate measuring camera 20. At this time, not only the part to which the plurality of target marks T are provided in the process B1, but also the part 14 on the outer surface of the vehicle around the engine room 12 (target marks T1 to T4 are provided in the process A1) are photographed. .
A plurality of twodimensional image data obtained by photographing is transferred to the personal computer 40. As in step A2, the personal computer 40 performs image processing using image processing software, and generates threedimensional coordinate value data of the target mark T. This threedimensional coordinate value data is text data representing the XYZ coordinate values of the target mark. Since this threedimensional coordinate value data relates to the assembled parts group (part to which the target mark is given) that is exposed when the lid of the vehicle 10 is removed in step B1, here, "part 3 This is called “dimensional coordinate value data” or “part group threedimensional coordinate value data”.
<Step B3. Coordinate conversion of partial 3D coordinate value data>
As shown in FIG. 8, the coordinate system is different between the partial threedimensional coordinate value data obtained in step B2 and the entire threedimensional coordinate value data obtained in step A2. Therefore, processing for matching both coordinate systems is performed.
Specifically, the coordinate values in the partial threedimensional coordinate value data of at least three target marks (for example, target marks T1 to T3) given to the outer surface of the vehicle in the vicinity of the engine room 12 photographed in the process B2 are expressed as 3 By matching the coordinate values of at least three target marks in the threedimensional coordinate value data, the partial threedimensional coordinate value data is converted to data in the same coordinate system as the whole threedimensional coordinate value data. This process can be executed as a function of the image processing software of the personal computer 40. For example, the user selects coordinate value data of three target marks T1 to T3 from the partial threedimensional coordinate value data and the entire threedimensional coordinate value data on the personal computer 40, and instructs coordinate conversion processing. Then, the personal computer 40 matches the coordinate values of the three target marks T1 to T3 in the partial threedimensional coordinate value data with the coordinate values in the entire threedimensional coordinate value data, and accordingly, the partial threedimensional coordinate value data The other coordinate values of are also displaced.
By this coordinate conversion, the coordinate reference between the overall threedimensional coordinate value data of the outer shape of the vehicle 10 and the partial threedimensional coordinate value data in the engine room 12 is aligned.
<Step B4. Creation of partial 3D shape model data>
The partial threedimensional coordinate value data transformed in step B3 is imported into the threedimensional measurement camera 30, and then the threedimensional measurement camera 30 uses the threedimensional measurement camera 30 in the engine room 12 and the upper part of the engine main body 13 based on the imported coordinate value data. Is taken from a plurality of positions (see FIG. 9).
A plurality of twodimensional image data obtained by photographing is transferred to the personal computer 40. The personal computer 40 performs image processing using image processing software, and converts the captured twodimensional image data in the engine room 12 and the upper part of the engine body 13 into threedimensional shape model data. Since the 3D shape model data is the 3D shape model data of the assembled parts group that is exposed when the lid of the vehicle 10 is removed, “partial 3D shape model data” or “part group 3D It is called “shape model data”.
Since the partial threedimensional shape model data obtained here is based on the partial threedimensional coordinate value data coordinateconverted in step B3, it has the same coordinate system as the whole threedimensional shape model data.
<Step C1. Attaching target marks to other external surfaces of parts>
Next, the engine body 13 is removed from the vehicle 10 as shown in FIG. A target mark T is given to the upper part of the engine body 13 in step B1. Here, a plurality of target marks T are additionally affixed to the outer surface other than the outer surface to which the target marks have been assigned in step B1.
<Step C2. Acquisition of part 3D coordinate value data>
The coordinate measuring camera 20 images the entire outer surface of the engine main body 13 provided with a plurality of target marks T on the entire outer surface in step C1.
A plurality of twodimensional image data obtained by photographing is transferred to the personal computer 40. The personal computer 40 performs image processing using image processing software in the same manner as in steps A2 and B2, and generates threedimensional coordinate value data of the target mark. This threedimensional coordinate value data is text data representing the XYZ coordinate values of the target mark, and relates to the component (engine body 13) to which the target mark T has been assigned in step C1, and therefore, here, “part threedimensional This is called “coordinate value data”.
<Step C3. Coordinate transformation of part 3D coordinate value data>
The coordinate system of the component threedimensional coordinate value data obtained in step C2 and the coordinate system of the partial coordinate value data transformed in step B3 (that is, the coordinate system of the entire threedimensional coordinate value data obtained in step A2). Is different. Therefore, a process of converting the coordinate system of the component threedimensional coordinate value data obtained in step C2 into the coordinate system of the partial coordinate value data subjected to coordinate conversion in step B3 is performed.
Specifically, the coordinate values in the component threedimensional coordinate value data of at least three target marks T given to the upper part of the engine main body 13 in step B1 are converted into at least the partial coordinate value data in the coordinate values converted in step B3. By matching the coordinate values of the three target marks, the component threedimensional coordinate value data is converted to data in the same coordinate system as the partial threedimensional coordinate value data. This process can also be executed as a function of the image processing software of the personal computer 40, as in the process B3. For example, on the personal computer 40, the user selects coordinate value data of three target marks from the component threedimensional coordinate value data and the partial threedimensional coordinate value data after coordinate conversion, and instructs coordinate conversion processing. . Then, the personal computer 40 matches the coordinate values of the three target marks in the component threedimensional coordinate value data with the coordinate values in the partial threedimensional coordinate value data, and in response to this, the other threedimensional coordinate value data of the component threedimensional coordinate value data. The coordinate value is also displaced.
By this coordinate conversion, the component 3D coordinate value data of the engine body 13 is aligned with the partial 3D coordinate value data in the engine room 12 and the overall 3D coordinate value data of the outer shape of the vehicle 10. Become.
<Step C4. Creation of part 3D shape model data>
The part threedimensional coordinate value data coordinatetransformed in step C3 is imported into the threedimensional measurement camera 30, and then a plurality of outer surface shapes of the engine body 13 are pluralized by the threedimensional measurement camera 30 based on the imported coordinate value data. The image is taken from the position (see FIG. 12).
A plurality of twodimensional image data obtained by this photographing is transferred to the personal computer 40. The personal computer 40 performs image processing using image processing software, and converts the captured twodimensional image data relating to the entire outer surface of the engine body 13 into component threedimensional shape model data.
Since the part 3D shape model data obtained here is based on the part 3D coordinate value data of the engine body 13 coordinateconverted in step C3, the partial 3D shape model data and the entire 3D shape model are obtained. It has the same coordinate system as the data.
Through the series of steps described above, the entire threedimensional shape model data representing the outer surface of the vehicle 10, the partial threedimensional shape model data representing the inside of the engine room 12 with the hood 11 removed, and the component threedimensional representing the engine body 13 Shape model data can be acquired in the same coordinate system.
Then, by repeating the abovedescribed steps after B1 for each part constituting the vehicle, such as vehicle interior parts (instrument panels, seats, etc.), tires, undercovers, etc. exposed when the door is removed, Also for these parts, it is possible to obtain part threedimensional shape model data having a common coordinate system.
As described above, according to the method of creating the 3D shape model data of the present embodiment, by making the coordinate system of the whole 3D shape model data, the partial 3D shape model data, and the component 3D shape model data common, Each model data is associated. As a result, it is possible to easily grasp the positional relationship of each part in the entire vehicle, and work such as effective analysis becomes possible. For example, by using CAD software capable of processing these threedimensional shape model data, it becomes possible to perform vehicle CAE analysis (collision, NVH, vehicle strength, rigidity, unit, aerodynamics, etc.) and shape benchmark. .
In addition, the overall threedimensional shape model data, partial threedimensional shape model data, and component threedimensional shape model data in which the coordinate system is unified as described above are synthesized, and the combined threedimensional shape of the entire vehicle 10 including each component. It is also possible to create model data.
Although not described in detail, each lid such as a bonnet is also measured with the coordinate measuring camera 20 and the threedimensional measuring camera 30 with a target mark attached to the inside, and the threedimensional coordinate value data and 3 Get the dimensional shape model data.
The present invention is not limited to the types of vehicles described above, and can be applied to various types of vehicles.
10: Vehicle 20: Coordinate measuring camera 30: Threedimensional measuring camera 31, 32, 33: CCD camera 34: Cart 40: Personal computer
Claims (2)
 A method for creating threedimensional shape model data of a vehicle,
(A1) providing a plurality of target marks on the outer surface of the vehicle;
(A2) imaging the outer surface of the vehicle provided with a plurality of target marks in step A1 with a first imaging means from a plurality of positions, and acquiring overall threedimensional coordinate value data of the plurality of target marks by image processing; ,
(A3) The outer surface shape of the vehicle is imaged from a plurality of positions by the second imaging means, and the entire threedimensional shape model data including the threedimensional coordinate values of the outer surface of the vehicle associated with the entire threedimensional coordinate value data is created by image processing. And a process of
(B1) removing the vehicle lid and providing a plurality of target marks on the outer surface of the exposed part;
(B2) The range including the outer surface of the part to which the plurality of target marks are assigned in step B1 and the outer surface of the vehicle around the part is imaged by the first imaging means, and the plurality of target mark portions 3 are processed by image processing. A step of acquiring dimension coordinate value data;
(B3) The coordinate values in the partial threedimensional coordinate value data of at least three target marks given to the outer surface of the vehicle around the part in step A1 are used as the at least three target marks in the whole threedimensional coordinate value data. A coordinate conversion of the partial threedimensional coordinate value data into data of the same coordinate system as the whole threedimensional coordinate value data,
(B4) A part 3 composed of the threedimensional coordinate values of the part outer surface associated with the partial threedimensional coordinate value data obtained by imaging the outer shape of the part with the second imaging unit and coordinateconverted in step B3 by image processing. Creating a shape model data;
(C1) removing the component from the vehicle, and additionally providing a plurality of target marks on an outer surface other than the outer surface to which the target marks are provided in step B1;
(C2) All the outer surfaces of the part to which a plurality of target marks are assigned on the entire outer surface in the step C1 are imaged from a plurality of positions by the first imaging means, and the component threedimensional coordinate value data of the plurality of target marks by image processing A process of obtaining
(C3) At least three points in the partial threedimensional coordinate value data obtained by coordinatetransforming the coordinate values in the component threedimensional coordinate value data of at least three target marks given to the outer surface of the component in step B1 in step B3 A coordinate conversion of the component threedimensional coordinate value data into data of the same coordinate system as the coordinateconverted partial threedimensional coordinate value data by matching with the coordinate value of the target mark of
(C4) The entire outer shape of the part is imaged from a plurality of positions by the second imaging means, and 3 of all the outer surfaces of the part associated with the component threedimensional coordinate value data transformed in step C3 by image processing. Creating a part 3D shape model data composed of dimensional coordinate values;
A method characterized by comprising:  The vehicle lid is a door and a bonnet, and the parts are a part in a vehicle compartment that is exposed when the door is removed and a part in the engine room that is exposed when the bonnet is removed. The method according to 1.
Priority Applications (1)
Application Number  Priority Date  Filing Date  Title 

JP2007176439A JP4877105B2 (en)  20070704  20070704  Vehicle 3D shape model data creation method 
Applications Claiming Priority (1)
Application Number  Priority Date  Filing Date  Title 

JP2007176439A JP4877105B2 (en)  20070704  20070704  Vehicle 3D shape model data creation method 
Publications (2)
Publication Number  Publication Date 

JP2009014500A JP2009014500A (en)  20090122 
JP4877105B2 true JP4877105B2 (en)  20120215 
Family
ID=40355588
Family Applications (1)
Application Number  Title  Priority Date  Filing Date 

JP2007176439A Active JP4877105B2 (en)  20070704  20070704  Vehicle 3D shape model data creation method 
Country Status (1)
Country  Link 

JP (1)  JP4877105B2 (en) 
Cited By (1)
Publication number  Priority date  Publication date  Assignee  Title 

CN108474640A (en) *  20160404  20180831  宝马股份公司  Mobile measuring system for three dimensional optical measuring vehicle and vehicle part 
Families Citing this family (1)
Publication number  Priority date  Publication date  Assignee  Title 

KR101679195B1 (en) *  20141020  20161124  안동대학교 산학협력단  Threedimensional shape modeling apparatus for using the 2D crosssectional accumulated and a method thereof 
Family Cites Families (4)
Publication number  Priority date  Publication date  Assignee  Title 

JPH04102178A (en) *  19900822  19920403  Hitachi Commun Syst Inc  Object model input device 
JP2002002566A (en) *  20000620  20020109  Daihatsu Motor Co Ltd  Method of measuring assembly accuracy of fitting member by threedimensional digitizer 
GB0022444D0 (en) *  20000913  20001101  Bae Systems Plc  Positioning system and method 
JP4599515B2 (en) *  20050527  20101215  コニカミノルタセンシング株式会社  Method and apparatus for aligning threedimensional shape data 

2007
 20070704 JP JP2007176439A patent/JP4877105B2/en active Active
Cited By (1)
Publication number  Priority date  Publication date  Assignee  Title 

CN108474640A (en) *  20160404  20180831  宝马股份公司  Mobile measuring system for three dimensional optical measuring vehicle and vehicle part 
Also Published As
Publication number  Publication date 

JP2009014500A (en)  20090122 
Similar Documents
Publication  Publication Date  Title 

Kasper et al.  The KIT object models database: An object model database for object recognition, localization and manipulation in service robotics  
US7092109B2 (en)  Position/orientation measurement method, and position/orientation measurement apparatus  
JP2010540933A (en)  Local positioning system and method  
EP2459959B1 (en)  Position and orientation calibration method and apparatus  
US20110074929A1 (en)  Autoreferenced sensing device for threedimensional scanning  
US8849636B2 (en)  Assembly and method for verifying a real model using a virtual model and use in aircraft construction  
Esquivel et al.  Calibration of a multicamera rig from nonoverlapping views  
JP2011141174A (en)  Threedimensional measurement apparatus and control method thereof  
US20080267454A1 (en)  Measurement apparatus and control method  
EP0782100B1 (en)  Threedimensional shape extraction apparatus and method  
EP1596330A2 (en)  Estimating position and orientation of markers in digital images  
JP2006214832A (en)  Method of measuring marker arrangement, method of assuming position/attitude, device for measuring marker arrangement, device for assuming position/attitude  
KR101212419B1 (en)  Calibration apparatus  
JP4677273B2 (en)  Information processing method and information processing apparatus  
JP2005215917A (en)  Working drawing creation support method and replacement model creation method  
EP2959315B1 (en)  Generation of 3d models of an environment  
JP2011175477A (en)  Threedimensional measurement apparatus, processing method and program  
JP5018980B2 (en)  Imaging apparatus, length measurement method, and program  
JP4886560B2 (en)  Information processing apparatus and information processing method  
JP5548482B2 (en)  Position / orientation measuring apparatus, position / orientation measuring method, program, and storage medium  
JP2004062758A (en)  Information processor and information processing method  
JP2006099188A (en)  Information processing method and apparatus  
CN101542520A (en)  Recognition processing method and image processing device using the same  
JP3426459B2 (en)  Photogrammetry system and photogrammetric method  
US8350897B2 (en)  Image processing method and image processing apparatus 
Legal Events
Date  Code  Title  Description 

A621  Written request for application examination 
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20100315 

RD03  Notification of appointment of power of attorney 
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20101001 

RD04  Notification of resignation of power of attorney 
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20101102 

TRDD  Decision of grant or rejection written  
A977  Report on retrieval 
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20111026 

A01  Written decision to grant a patent or to grant a registration (utility model) 
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20111101 

A01  Written decision to grant a patent or to grant a registration (utility model) 
Free format text: JAPANESE INTERMEDIATE CODE: A01 

A61  First payment of annual fees (during grant procedure) 
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20111114 

R150  Certificate of patent or registration of utility model 
Free format text: JAPANESE INTERMEDIATE CODE: R150 

FPAY  Renewal fee payment (event date is renewal date of database) 
Free format text: PAYMENT UNTIL: 20141209 Year of fee payment: 3 