JP4988155B2 - 対象を3次元に検出する方法および装置ならびに装置及び方法の使用 - Google Patents
対象を3次元に検出する方法および装置ならびに装置及び方法の使用 Download PDFInfo
- Publication number
- JP4988155B2 JP4988155B2 JP2004522130A JP2004522130A JP4988155B2 JP 4988155 B2 JP4988155 B2 JP 4988155B2 JP 2004522130 A JP2004522130 A JP 2004522130A JP 2004522130 A JP2004522130 A JP 2004522130A JP 4988155 B2 JP4988155 B2 JP 4988155B2
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- color
- pattern
- image
- evaluation unit
- detecting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Artificial Intelligence (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
- Spectrometry And Color Measurement (AREA)
- Image Processing (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Description
−検出すべき対象に既知の投影データを有する色パターンを投影し、
−検出すべき対象に投影された色パターンをカメラを用いて検出し、
−カメラによって形成された画像を評価ユニットにおいて3次元の対象座標に処理する。
図1は対象データを3次元に検出するための装置の俯瞰図である。
図2aから2cはデータ処理を具体的に説明するグラフである。
図3aおよび3bは検出された対象の再構成されたプロファイル線を表す。
−各色チャネルにおいては2つの色値しか使用されない。殊に各色チャネルにおいてはそれぞれ最小値と最大値が使用され、その結果RGBモデルでは全部で8つの色が使用される。
−1つの符号語において各色チャネルは少なくとも1つの色変化を示す。この条件は個々の符号語の復号を可能にする。
−隣接する色要素は少なくとも2つの色チャネルで異なる。この条件は例えば、殊にくぼみに対するエラー許容差を保証するために使用される。
−色パターン5の個々の符号語は非自明なハミング距離を有する。この条件も、投影平面gの復号の際のエラー許容差を高めるために使用される。
−色変化も非自明なハミング距離を有する符号語に統合される。
黒 0
青 1
緑 2
シアン 3
赤 4
マゼンタ 5
黄 6
白 7
1243070561217414270342127216534171614361605306352717072416305250747147065035603634743506172524253607
Claims (10)
- 対象(3)を3次元に検出する方法であって、
−検出すべき前記対象(3)に既知の投影データを有する色パターン(5)を投影し、該色パターン(5)は複数の混合色から構成されており、該混合色は複数の色チャネルにおける色値の組み合わせによって表され、
−前記対象(3)に投影された前記色パターン(5)をカメラを用いて検出し、
−前記カメラ(6)によって形成された画像(7)を評価ユニット(9)において前記対象(3)の3次元座標に処理する、対象(3)を3次元に検出する方法において、
前記色パターン(5)における前記投影データを、該投影データが冗長符号を有するように符号化し、
前記色値は少なくとも2つのチャネルにおいて共に変化し、前記評価ユニット(9)における評価の間に、少なくとも2つの色チャネルにおいて一緒に生じた色変化を有効な色変化として認めることを特徴とする、対象(3)を3次元に検出する方法。 - 前記色チャネルにおける色値を冗長符号の符号語を用いて構造化し、前記画像(7)の点(P)の投影データを、前記評価ユニット(9)によって実施される、前記色値を符号化した符号語の検索でもって識別する、請求項1記載の方法。
- 前記色チャネルの色変化を冗長符号の符号語を用いて構造化し、前記評価ユニット(9)における評価の間に、色変化を符号語に応じて有効な色変化として認める、請求項1または2記載の方法。
- 隣接する符号語はそれぞれ3つの色ストライプと重畳するよう設けられている、請求項2または3記載の方法。
- 各色チャネルにおける前記色値は2つの値で変化する、請求項1から4までのいずれか1項記載の方法。
- 各色チャネルにおける前記色値は最小値と最大値の間で変化する、請求項5記載の方法。
- 前記符号語それぞれの各色チャネルにおいて少なくとも1つの色変化を実施する、請求項2から6までのいずれか1項記載の方法。
- 前記評価ユニット(9)において、各色チャネルにおける色変化の位置を測定信号(11)の一次導関数(12)の極大値を用いて決定する、請求項1から7までのいずれか1項記載の方法。
- 前記対象(3)の表面(2)の3次元座標を決定するために前記画像(7)の撮影を1回実施する、請求項1から8までのいずれか1項記載の方法。
- 検出すべき対象(3)の表面(2)に色パターン(5)を投影するプロジェクタ(4)と、前記表面(2)に投影された色パターン(5)の画像(7)を撮影するカメラ(6)と、前記画像(7)を評価する評価ユニット(9)とを用いて、対象を3次元に検出する装置において、
前記プロジェクタ(4)から投影される色パターン(5)および前記評価ユニット(9)は請求項1から9までのいずれか1項記載の方法を実施するために設けられていることを特徴とする、対象を3次元に検出する装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10232690.8 | 2002-07-18 | ||
DE10232690A DE10232690A1 (de) | 2002-07-18 | 2002-07-18 | Verfahren und Vorrichtung zur dreidimensionalen Erfassung von Objekten sowie Verwendung der Vorrichtung und des Verfahrens |
PCT/DE2003/002410 WO2004010076A1 (de) | 2002-07-18 | 2003-07-17 | Verfahren und vorrichtung zur dreidimensionalen erfassung von objekten sowie verwendung der vorrichtung und des verfahrens |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005538347A JP2005538347A (ja) | 2005-12-15 |
JP4988155B2 true JP4988155B2 (ja) | 2012-08-01 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004522130A Expired - Lifetime JP4988155B2 (ja) | 2002-07-18 | 2003-07-17 | 対象を3次元に検出する方法および装置ならびに装置及び方法の使用 |
Country Status (10)
Country | Link |
---|---|
US (1) | US7388678B2 (ja) |
EP (1) | EP1523654B1 (ja) |
JP (1) | JP4988155B2 (ja) |
CN (1) | CN1302258C (ja) |
AT (1) | ATE366404T1 (ja) |
AU (1) | AU2003250787B2 (ja) |
DE (2) | DE10232690A1 (ja) |
DK (1) | DK1523654T3 (ja) |
ES (1) | ES2286468T3 (ja) |
WO (1) | WO2004010076A1 (ja) |
Families Citing this family (29)
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DE10335829A1 (de) | 2003-08-05 | 2005-03-10 | Siemens Ag | Verfahren zur Bestimmung der Achsgeometrie und Sensor zu dessen Durchführung |
IL157877A0 (en) * | 2003-09-11 | 2004-03-28 | Imagine It S Happening Ltd | Color edge based 3d scanner |
DE102004008904A1 (de) * | 2004-02-24 | 2005-09-08 | Siemens Ag | Vorrichtung und Verfahren zur Bestimmung von Raumkoordinaten eines Objekts |
US8244025B2 (en) * | 2006-03-20 | 2012-08-14 | Siemens Energy, Inc. | Method of coalescing information about inspected objects |
US7689003B2 (en) * | 2006-03-20 | 2010-03-30 | Siemens Energy, Inc. | Combined 2D and 3D nondestructive examination |
US8477154B2 (en) * | 2006-03-20 | 2013-07-02 | Siemens Energy, Inc. | Method and system for interactive virtual inspection of modeled objects |
DE102006037778B4 (de) * | 2006-08-11 | 2011-02-10 | Siemens Ag | Anordnung und Verfahren zur Bewegungskompensation von Patienten während Eingriffen |
US8090194B2 (en) | 2006-11-21 | 2012-01-03 | Mantis Vision Ltd. | 3D geometric modeling and motion capture using both single and dual imaging |
EP2618102A2 (en) | 2006-11-21 | 2013-07-24 | Mantisvision Ltd. | 3d geometric modeling and 3d video content creation |
US20080156619A1 (en) | 2006-12-01 | 2008-07-03 | Mehul Patel | Range finder |
CN101349551B (zh) * | 2007-07-20 | 2012-08-29 | 通用电气公司 | 轮廓测定设备及操作方法 |
CN101609326B (zh) * | 2008-06-20 | 2012-09-19 | 鸿富锦精密工业(深圳)有限公司 | 加减速控制装置及加减速控制方法 |
EP2496910A4 (en) | 2009-11-04 | 2016-11-16 | Technologies Numetrix Inc | DEVICE AND METHOD FOR OBTAINING THREE-DIMENSIONAL OBJECT SURFACE DATA |
WO2012033109A1 (en) | 2010-09-08 | 2012-03-15 | Canon Kabushiki Kaisha | Method and apparatus for 3d-measurement by detecting a predetermined pattern |
EP2646769B1 (en) * | 2010-11-29 | 2020-01-01 | Hewlett-Packard Development Company, L.P. | System and method for creating a three-dimensional image file |
JP2014509730A (ja) * | 2011-04-01 | 2014-04-21 | 株式会社ニコン | 形状測定装置、形状測定方法、及び構造物の製造方法 |
DE102011077564B4 (de) | 2011-06-15 | 2016-08-25 | Sirona Dental Systems Gmbh | Verfahren zur optischen dreidimensionalen Vermessung eines dentalen Objekts |
DE102011123029B3 (de) | 2011-06-15 | 2021-09-02 | Sirona Dental Systems Gmbh | Verfahren zur optischen dreidimensionalen Vermessung eines dentalen Objekts |
US9188433B2 (en) | 2012-05-24 | 2015-11-17 | Qualcomm Incorporated | Code in affine-invariant spatial mask |
DE102013200898A1 (de) | 2013-01-21 | 2014-07-24 | Siemens Aktiengesellschaft | Endoskop, insbesondere für die minimal-invasive Chirurgie |
US9860520B2 (en) | 2013-07-23 | 2018-01-02 | Sirona Dental Systems Gmbh | Method, system, apparatus, and computer program for 3D acquisition and caries detection |
US10068338B2 (en) * | 2015-03-12 | 2018-09-04 | Qualcomm Incorporated | Active sensing spatial resolution improvement through multiple receivers and code reuse |
DE102015205187A1 (de) * | 2015-03-23 | 2016-09-29 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zur Projektion von Linienmustersequenzen |
US9846943B2 (en) | 2015-08-31 | 2017-12-19 | Qualcomm Incorporated | Code domain power control for structured light |
US10012496B2 (en) * | 2015-10-29 | 2018-07-03 | Canon Kabushiki Kaisha | Multispectral binary coded projection using multiple projectors |
DE102018100439A1 (de) | 2018-01-10 | 2019-07-11 | Kulzer Gmbh | Virtuelle 3D-Darstellung des Mundraums |
CN110763150B (zh) * | 2018-07-26 | 2021-05-25 | 王东 | 一种面部轮廓测量方法 |
DK3599411T3 (da) * | 2018-07-27 | 2023-02-20 | Fraunhofer Ges Forschung | Indretning og fremgangsmåde til generering og overvågning af et sikkerhedsområde i et arbejdsrum |
CN112930468B (zh) * | 2018-11-08 | 2022-11-18 | 成都频泰鼎丰企业管理中心(有限合伙) | 三维测量设备 |
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DE10335829A1 (de) * | 2003-08-05 | 2005-03-10 | Siemens Ag | Verfahren zur Bestimmung der Achsgeometrie und Sensor zu dessen Durchführung |
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-
2002
- 2002-07-18 DE DE10232690A patent/DE10232690A1/de not_active Ceased
-
2003
- 2003-07-17 AT AT03764905T patent/ATE366404T1/de not_active IP Right Cessation
- 2003-07-17 US US10/521,605 patent/US7388678B2/en not_active Expired - Lifetime
- 2003-07-17 DE DE50307617T patent/DE50307617D1/de not_active Expired - Lifetime
- 2003-07-17 DK DK03764905T patent/DK1523654T3/da active
- 2003-07-17 JP JP2004522130A patent/JP4988155B2/ja not_active Expired - Lifetime
- 2003-07-17 AU AU2003250787A patent/AU2003250787B2/en not_active Expired
- 2003-07-17 CN CNB038168723A patent/CN1302258C/zh not_active Expired - Lifetime
- 2003-07-17 WO PCT/DE2003/002410 patent/WO2004010076A1/de active IP Right Grant
- 2003-07-17 ES ES03764905T patent/ES2286468T3/es not_active Expired - Lifetime
- 2003-07-17 EP EP03764905A patent/EP1523654B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
AU2003250787B2 (en) | 2008-10-02 |
DE50307617D1 (de) | 2007-08-16 |
ES2286468T3 (es) | 2007-12-01 |
CN1668890A (zh) | 2005-09-14 |
AU2003250787A1 (en) | 2004-02-09 |
DK1523654T3 (da) | 2007-10-29 |
US7388678B2 (en) | 2008-06-17 |
WO2004010076A1 (de) | 2004-01-29 |
US20060098212A1 (en) | 2006-05-11 |
DE10232690A1 (de) | 2004-02-12 |
CN1302258C (zh) | 2007-02-28 |
JP2005538347A (ja) | 2005-12-15 |
ATE366404T1 (de) | 2007-07-15 |
EP1523654B1 (de) | 2007-07-04 |
EP1523654A1 (de) | 2005-04-20 |
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