JP5007863B2 - 3D object position measuring device - Google Patents

Description

  The present invention relates to a three-dimensional object position measuring apparatus capable of acquiring a plurality of temporally continuous image data and measuring the position of a three-dimensional object of a monitoring target without contact.

  Conventionally, as a method of measuring the distance of a three-dimensional object, there is typically a method of measuring a three-dimensional position of an object by performing stereo photography using two cameras. For example, as proposed in Patent Document 1, using the well-known principle of two-point surveying, two cameras are used to measure the distance to the subject from the position and angle of the camera that shoots from two points. is there. In the invention of the stereoscopic camera pan / tilt head device described in Patent Document 1, the positions and angles of the two cameras are controlled in order to measure an accurate distance by inputting an image from the camera for a certain period of time.

In addition, the invention of the interface method described in Patent Document 2 assumes that voxel voting processing is used to determine the position of an object in a three-dimensional space from data of images taken by a plurality of cameras. is there. In the present invention, the object information of the three-dimensional position in the voxel space obtained by dividing the three-dimensional space of the real space into voxels using voxel voting processing is determined.
JP 2005-24629 A JP 2005-321966 A

  In order to determine the three-dimensional position of a three-dimensional object using a conventional distance measurement method, as described in Patent Document 1, a complicated apparatus configuration is required, and the entire apparatus configuration becomes large and complicated. There were issues such as

  Moreover, in the invention of the interface method described in Patent Document 2, the object information of the three-dimensional position in the voxel space obtained by dividing the three-dimensional space in the real space into voxels using the voxel voting process is described. In this case, from a plurality of input images photographed by a plurality of cameras fixed in the target three-dimensional space, the three-dimensional start and end points of the body part of the operator related to the direction indicated by the operator Complicated processing such as processing for calculating coordinates and obtaining three-dimensional pointing direction information in the real space indicated by the operator is required, and there is a problem that calculation cost is high.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to acquire a plurality of temporally continuous image data and to perform a non-contact three-dimensional object to be monitored. An object of the present invention is to provide a three-dimensional object position measuring apparatus capable of measuring the position of the object.

  In order to achieve the above object, a three-dimensional object position measurement apparatus according to the present invention includes a photographing unit that photographs a target object and acquires temporally continuous image data of a plurality of images having parallax with respect to the target object. A plurality of feature quantity extraction means for extracting feature quantities including distance information from the object based on the image data acquired by the photographing means; and distance information of the feature quantities extracted by the feature quantity extraction means Based on the above, in the voxel space obtained by dividing the target three-dimensional space into voxels, a straight line connecting the object whose feature value is extracted and the lens center of the photographing means is drawn in the voxel space, and one vote is obtained for the voxel where the straight lines intersect. Voxel voting processing means for performing voting processing one by one, voxel voting history holding means for holding history data of voting results by the voxel voting processing means, and the voxel voting history A movement amount correcting means for correcting based on the movement vector moved by the shadow means; a three-dimensional position measurement processing means for specifying the position of the object in the voxel space based on the voxel voting result and the corrected voxel voting history; It is characterized by having.

  In addition, according to one aspect of the three-dimensional object position measurement apparatus of the present invention, the photographing unit controls the camera to photograph the object, and a plurality of images having parallax with respect to the object are temporally continuous. While acquiring image data, the voxel voting processing means is configured to change the size of the target three-dimensional space and the size of the voxel according to the moving speed of the camera.

  In another aspect of the three-dimensional object position measuring apparatus of the present invention, the photographing unit photographs a target with a single moving camera, and temporally displays a plurality of images having parallax with respect to the target. It is configured to acquire continuous image data.

  In the three-dimensional object position measurement apparatus of the present invention, the distance measurement is further performed to measure the position of the object specified by the three-dimensional position measurement processing means, and the distance between the own three-dimensional model and the object in the voxel space. It has the means.

  Further, in the three-dimensional object position measuring apparatus of the present invention, the interval between the measured self three-dimensional model and the object in the voxel space and the interval measurement history obtained by measuring a plurality of intervals from the present are further used. The apparatus further comprises interval change amount measuring means for measuring the change amount of the interval between the self three-dimensional model and the object in the voxel space.

  In the three-dimensional object position measuring apparatus of the present invention, the three-dimensional model is a moving body, and the target is a three-dimensional object fixed in space.

  Further, the three-dimensional object position measuring device of the present invention further includes a contact risk determining device that determines a time until contact between the object and the self model based on an output from the interval change amount measuring means. It is characterized by this.

  The three-dimensional object position measuring apparatus of the present invention further includes a contact warning device that outputs warning information based on an output from the contact risk determination device.

  Further, the three-dimensional object position measuring apparatus of the present invention further includes a safety control device that operates the safety device based on an output from the contact warning device.

  According to the three-dimensional object position measuring apparatus of the present invention having such a feature, a target three-dimensional space is voxeled based on information of temporally continuous image data acquired by a single or a plurality of cameras. In the voxel space divided into two, it is possible to determine the distance between the three-dimensional object of its own three-dimensional model and the target object, for example, the surrounding three-dimensional object, and the three-dimensional object of its own three-dimensional model can be determined. The possibility of a collision with a moving object can be predicted.

  A conventional distance measuring device for a three-dimensional position measures the distance of an object based on input image data from a plurality of cameras. In the three-dimensional object position measuring device of the present invention, temporally continuous image data The position of the three-dimensional object is measured based on the accumulated voxel vote result. As a result, a larger amount of information can be used as compared with a conventional distance measuring device for a three-dimensional position, so that the processing amount for an input image for a certain time can be reduced, and the device configuration can be simplified.

  Further, in the conventional three-dimensional position distance measuring method, it is necessary to use a plurality of cameras such as a stereo camera. However, in the three-dimensional object position measuring apparatus according to the present invention, an imaging apparatus that acquires image data is used. In order to move, for example, because a three-dimensional object position measuring device on which an imaging device is mounted moves, image data that is temporally continuous is acquired by a single camera, and this is used as a pseudo stereo image. A function similar to that of a plurality of cameras can be realized in a pseudo manner using temporally generated parallax of the camera.

  In addition, the conventional method for measuring the distance of a three-dimensional position requires high-speed processing as the moving speed of the object increases. In the three-dimensional object position measuring apparatus of the present invention, a three-dimensional object that acquires image data is used. Necessary to increase the amount of processing even if the moving speed increases by changing the range of the 3D space to be measured and the size of the voxel that divides it according to the moving speed of the position measuring device Can be measured.

  In the three-dimensional object position measuring apparatus according to the present invention, the distance between the self-model on which the three-dimensional object position measuring apparatus is mounted and the three-dimensional object around the target object and the amount of change in the distance are measured. Predicts the possibility of contact between a moving object and a three-dimensional object in the surrounding three-dimensional space, and controls the movement of a warning or self-model moving object when it is predicted that the object will contact within a certain period of time Thus, contact can be avoided.

  Hereinafter, one embodiment of the present invention will be specifically described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a three-dimensional object position measuring apparatus according to an embodiment of the present invention. FIG. 2 is an explanatory diagram illustrating a voxel voting process in the three-dimensional object position measuring apparatus of the present invention. is there. FIG. 2 shows the relationship between a voxel, which is a cubic unit three-dimensional space, and a voxel space, which is a target three-dimensional space whose distance is measured.

  In FIG. 1, 101 is a first camera image input unit, 102 is a second camera image input unit, 103 is a first feature amount extraction processing unit, 104 is a second feature amount extraction processing unit, 105 is a voxel voting processing unit, 106 Is a three-dimensional position measurement processing unit, 107 is a voxel voting history data payment unit, 108 is a movement amount correction processing unit, and 109 is a moving amount of the photographing apparatus. 2, 201 is a voxel space of a target three-dimensional space, 202 is a voxel that is a cubic unit three-dimensional space, 203 is a camera of an imaging device of a first camera image input unit, and 204 is a second camera image input unit. Cameras 205 of the image pickup apparatus 205 respectively show the feature amount extraction results of the object.

  This will be described with reference to FIGS. The first camera image input unit 101 shoots a three-dimensional object as a target with a plurality of cameras (imaging devices), and has a parallax with respect to the target according to the camera viewing direction (lens central axis direction) of the plurality of cameras. Acquire temporally continuous image data of a plurality of images. The second camera image input unit 102 shoots a three-dimensional object as a target with a plurality of cameras (photographing devices), and has a parallax with respect to the target according to the camera line-of-sight direction (lens center axis direction) of the plurality of cameras. Acquire temporally continuous image data of a plurality of images. Note that in the first camera image input unit 101 and the second camera image input unit 102, when the camera is mounted on the moving body and the temporally continuous image data is acquired by the camera, the acquired continuous image Since there is a camera parallax that occurs temporally in the data, this image data can also be used. In such a case, the camera may be a single camera.

  As will be described later, the first camera image input unit 101 and the second camera image input unit 102 are configured so that the first camera image input unit 101 and the second camera image input unit 102 have a first camera image input as shown in FIG. The camera line-of-sight direction of the camera 203 in the input unit 101 and the camera line-of-sight direction of the camera 204 in the second camera image input unit 102 are set in different directions.

  The first feature amount extraction processing unit 103 performs image processing by the stereo method on the temporally continuous image data output from the first camera image input unit 101, using the parallax in the plurality of image data, and the target object A feature amount including distance information from is extracted. Here, as the feature amount extracted from the image data, for example, distance information between the imaging device and the target object is used together with shape data, color data, and the like, which are feature quantities for identifying the target object. Similarly, the second feature quantity extraction processing unit 104 performs image processing by the stereo method on temporally continuous image data output from the second camera image input unit 102 by using parallax in a plurality of image data, Extract features including distance information from objects.

  The voxel voting processing unit 105 performs voxel voting processing based on the distance information of the feature amounts extracted by the first feature amount extraction processing unit 103 and the second feature amount extraction processing unit 104. In the voxel voting process, as shown in FIG. 2, a straight line that connects the object 205 from which the feature amount is extracted in the voxel space 201 obtained by dividing the target three-dimensional space into voxels 202 and the lens center of the camera (203, 204). In the voxel space 201, a process of voting one vote at a time on each voxel where the straight lines intersect, and outputting the resulting voxel voting result data. Then, as will be described later, based on the voxel voting result data, the position of the object is specified based on the voting result data of each voxel 202 in the voxel space 201, and the three-dimensional model of the object and its own three-dimensional model The distance of the relationship with the solid is measured in voxel units.

  The voxel voting history data storage unit 107 stores the voxel voting result data history data output from the voxel voting processing unit 105 in association with time-series data in order to hold the voxel voting result history. The time-series data is held in correspondence with the movement amount data of the three-dimensional object position measuring device.

  The movement amount correction processing unit 108 performs processing for correcting the voxel voting history data based on a movement vector in which the camera position of the imaging apparatus moves. The three-dimensional position measurement processing unit 106 performs processing for specifying the position of the object in the voxel space based on the voxel voting result and the corrected voxel voting history.

  FIG. 3 is a diagram illustrating the relationship between the size of the target three-dimensional space and the voxel division size. FIG. 3A is a diagram illustrating the size of a voxel that divides a three-dimensional space into a voxel space when the moving speed is high, and FIG. 3B is a diagram illustrating that the three-dimensional space when the moving speed is low is converted into a voxel space. It is a figure explaining the size of the voxel to divide. Reference numeral 301 denotes a three-dimensional space when the moving speed is high, 302 denotes a voxel when the moving speed is high, 311 denotes a three-dimensional space when the moving speed is low, and 312 denotes a voxel when the moving speed is low.

  The three-dimensional object position measurement apparatus of the present invention is mounted on a moving body, and as described above, the camera of the imaging apparatus for inputting a camera image moves and has a plurality of images having parallax with respect to the object. To obtain continuous image data. In that case, in the voxel voting process of the voxel voting processing unit 105 according to the moving speed of the moving body, that is, the moving speed of the camera, the voxel size is changed, and the target three-dimensional space is determined by the changed voxel size. Divide the voxel space. As a result, the size of the target three-dimensional space is also changed. Thereby, even if the moving speed increases, the necessary measurement can be performed without increasing the processing amount much.

  As shown in FIG. 3A, when the moving speed of the moving body is high, the size of the voxel is increased. As a result, the processing is performed with the voxel space of the three-dimensional space to be divided by the voxel being enlarged. Also, when the moving speed of the moving object is low, as shown in FIG. 3B, the processing is performed by reducing the size of the voxel and the voxel space of the three-dimensional space to be divided by the voxel. I do. In this way, even if the moving speed increases and decreases, the necessary measurement can be performed based on the data processing amount without increasing the processing amount.

  Next, modified examples and application examples of the three-dimensional object position measuring apparatus of the present invention will be described. FIG. 4 is a block diagram illustrating a configuration of a three-dimensional object position measurement apparatus configured to capture an object with a single camera. In this case, the object is photographed by a single moving camera, and temporally continuous image data of a plurality of images having parallax with respect to the object is acquired. The operation is the same as that of the three-dimensional object position measuring apparatus described with reference to FIG.

  A three-dimensional object position measuring apparatus configured to capture an object with a single camera shown in FIG. 4 will be described. 401 is a camera image input unit, 402 is a feature amount extraction processing unit, 403 is a voxel voting processing unit, 404 is a three-dimensional position measurement processing unit, 405 is a voxel voting history data payment unit, 406 is a movement amount correction processing unit, and 407 is This is the moving amount of the photographing apparatus.

  The camera image input unit 401 shoots a three-dimensional object as a target with a single camera, and acquires temporally continuous image data of a plurality of images having parallax with respect to the target with a time difference depending on the amount of camera movement. To do. The feature amount extraction processing unit 402 performs image processing by a stereo method on temporally continuous image data output from the camera image input unit 401 by using parallax in a plurality of image data, and information on distance from the object The feature quantity including is extracted. The feature amount extracted by the feature amount extraction processing unit 402 is input to the voxel voting processing unit 403. The voxel voting processing unit 403 performs voxel voting processing based on the distance information of the feature amount. The voxel voting process draws a straight line connecting the object from which the feature amount is extracted in the voxel space obtained by dividing the target three-dimensional space into voxels in the voxel space, and gives one vote to the voxel where the straight lines intersect. The process of voting one by one is performed, and the voxel voting result data as a result is output.

  The voxel voting history data storage unit 405 stores the history data of the voxel voting result data output from the voxel voting processing unit 403 in association with time series data. The time-series data is held in correspondence with the movement amount data of the three-dimensional object position measuring device.

  The movement amount correction processing unit 406 performs processing for correcting the voxel voting history data based on a movement vector in which the camera position of the imaging apparatus moves. The three-dimensional position measurement processing unit 404 performs processing for specifying the position of the object in the voxel space based on the voxel voting result and the corrected voxel voting history. Thereby, based on the voxel voting result data, based on the voting result data of each voxel in the voxel space, the position of the object is specified, and the distance between the solid of the target and the solid of the own three-dimensional model Is measured in voxel units.

  FIG. 5 is a block diagram showing a configuration of an application example in the case of measuring the interval of a three-dimensional object using the three-dimensional object position measuring device, and FIG. 6 is created in the three-dimensional object position measuring device. It is a figure explaining an example of the process which performs the space | interval measurement of a three-dimensional object using the voxel space of three-dimensional space. 6A shows a view of the voxel space viewed from above, and FIG. 6B shows a view of the voxel space viewed from the front, FIG. 6C. Shows a view of the voxel space as viewed from the side, and corresponds to a plan view, a front view, and a side view of a three-dimensional figure.

  5 and 6, 501 is a three-dimensional object position measuring device, 502 is data of its own three-dimensional model whose interval is to be measured, 503 is an interval measuring device, 600 is a voxel space, and 601 is its own three-dimensional. The model, 602 is the first solid of the measured object, and 603 is the first solid of the measured object.

  The processing for measuring the interval between the three-dimensional objects will be described with reference to FIGS. 5 and 6. In the interval measurement of the three-dimensional object, the object measured in the voxel space by the three-dimensional object position measuring device 501 is used. The self three-dimensional model whose interval is to be measured is introduced into the same voxel space. And the space | interval with the solid of a target object and its own three-dimensional model is measured in the said voxel space.

  In the interval measuring device 503, the position of the object measured by the three-dimensional object position measuring device 501 is expressed in the voxel space. 502 is introduced into the same voxel space. The voxel space 600 in this state is shown in FIG. And the space | interval measuring apparatus 503 measures the space | interval with the solid of a target object and its own three-dimensional model in the said voxel space. As shown in FIG. 6, a self three-dimensional model 601 is introduced into the voxel space 600, and the position data of the object measured by the three-dimensional object position measuring device 501 is stored in the voxel space 600. The positions of the first solid 602 and the second solid 603 are represented. The positional relationship between these three-dimensional objects is measured in the voxel space 600 using the size of each voxel as a reference unit. In FIG. 6, the measured intervals are indicated by arrows.

  As described above, the interval measuring device 503 can measure the interval between the own three-dimensional model (moving body) and the three-dimensional object, and thus the amount of change during a predetermined time can be obtained by continuously performing the interval measurement. Can be measured. If the amount of change can be measured, it can be determined whether the own three-dimensional model (moving body) and the three-dimensional object are approaching or moving away. FIG. 7 is a block diagram illustrating a configuration of an application example in which a three-dimensional object position measurement apparatus is used to measure the interval change amount of a three-dimensional object.

  FIG. 7 shows an example of a configuration in the case where the three-dimensional object position measuring device is used for the interval change amount measuring device. In FIG. 7, reference numeral 501 denotes a three-dimensional object position measuring device, 502 denotes data of its own three-dimensional model whose interval is to be measured, 503 denotes an interval measuring device, and 701 denotes interval measurement history data for storing interval measurement data history. A storage device 702 is an interval variation measuring device.

  As described above, the interval measuring device 503 uses the three-dimensional position data of the target object measured from the three-dimensional position measuring device 501 and the self three-dimensional model data 502 to determine its own three-dimensional model (moving body) and the target object. The interval between the three-dimensional object is measured, the interval measurement is continuously performed, and the measurement result data is continuously accumulated as history data in the interval measurement history data storage device 701. In the interval change amount measuring device 702, the interval change amount data is measured by the interval measurement history data for a predetermined number of times stored in the interval measurement history data storage device 701 and the interval measurement data output from the interval measuring device 503. Is output. This interval change amount data is further used as data for contact / danger determination processing.

  As an application example, if the three-dimensional model here is a moving object such as an automobile, and the object for determining the three-dimensional position is a three-dimensional object fixed in the surrounding space, the interval By measuring the amount of change, the time until the moving body and the three-dimensional object come into contact can be determined. Depending on the determined time, a warning of the possibility of contact and safety control for avoiding danger can be performed.

  An application example of such a three-dimensional object position measuring apparatus will be further described. FIG. 8 is a block diagram showing a configuration of an application example in which a three-dimensional object position measurement device is used to measure a distance between three-dimensional objects, a contact risk is determined, a contact warning is output, and further safety control is performed. Is shown.

  As described above, when measuring the distance between three-dimensional objects using the three-dimensional object position measuring device of the present invention, determining contact danger, outputting a contact warning, and further performing safety control The apparatus configuration is shown as a block diagram in FIG. In FIG. 8, 501 is a three-dimensional object position measuring device, 502 is data of its own three-dimensional model whose interval is to be measured, 503 is an interval measuring device, and 701 is interval measurement history data for storing interval measurement data history. A storage device, 702 is an interval change amount measuring device, 703 is a contact / danger determination processing device, 704 is a contact warning device, and 705 is a safety control device.

  As described with reference to FIG. 7, also in the apparatus configuration of FIG. 8, the distance measurement device 503 is configured to measure the position of the three-dimensional object and the self three-dimensional model data 502 measured by the three-dimensional position measurement device 501. Thus, the interval between the self three-dimensional model (moving body) and the solid of the object is measured, the interval measurement is continuously performed, and the measurement result data is continuously stored as history data in the interval measurement history data storage device 701. And accumulate. In the interval change amount measuring device 702, the interval change amount data is measured by the interval measurement history data for a predetermined number of times stored in the interval measurement history data storage device 701 and the interval measurement data output from the interval measuring device 503. Is output. The output from the interval change amount measuring device 702 is input to the contact / danger determination processing device 703. In the contact / danger determination processing device 703, in order to determine the danger, a time until contact is set in advance, and the time until contact between the object and the self model is determined based on the data of the interval change amount. The contact / danger is determined based on the set time.

  The contact / risk determination processing device 703 determines the time until contact between the object and the self-model based on the output from the interval change amount measuring device 702. When the risk is determined, the contact warning device 704 Warning information is output by monitor display, buzzer sound, etc. Further, a safety control device 705 is provided, and the safety control device 705 performs safety control by applying a brake or the like based on an output from the contact warning device 704 and operates the safety device.

  Thus, based on the position of the object in the voxel space measured by the three-dimensional object position measuring device of the present invention, in the present invention, the distance between the own model equipped with the measuring device and the surrounding three-dimensional space and By measuring the amount of change in the interval, estimating the possibility of contact between the model and the surrounding three-dimensional space, and controlling the warning or self movement when predicted to contact within a certain period of time, Contact can be avoided.

It is a block diagram explaining the system configuration | structure of the three-dimensional object position measuring apparatus of one Example of this invention. It is explanatory drawing explaining the voxel vote process in the three-dimensional object position measuring apparatus of this invention. It is a figure explaining the relationship between the magnitude | size of the target three-dimensional space, and the division | segmentation size of a voxel. It is a block diagram which shows the structure of the three-dimensional object position measuring apparatus which image | photographs a target object with a single camera. It is a block diagram which shows the structure of the application example in the case of measuring the space | interval of a three-dimensional object using a three-dimensional object position measuring apparatus. It is a figure explaining an example of the process which measures the space | interval of a three-dimensional object using the voxel space of the three-dimensional space created in the three-dimensional object position measuring apparatus. It is a block diagram which shows the structure of the application example which measures the space | interval variation | change_quantity of a three-dimensional object using a three-dimensional object position measuring apparatus. It is a block diagram which shows the structure of the application example which measures the space | interval of a three-dimensional object using a three-dimensional object position measuring apparatus, determines a contact danger, outputs a contact warning, and also performs safety control.

Explanation of symbols

101 First camera image input unit 102 Second camera image input unit 103 First feature quantity extraction processing unit 104 Second feature quantity extraction processing unit 105 Voxel voting processing unit 106 Three-dimensional position measurement processing unit 107 Voxel voting history data payment unit 108 Movement amount correction processing unit 109 Imaging device movement amount 201 Voxel space 202 Voxel,
203 camera,
204 cameras,
205 Object Feature Extraction Result 301 Three-Dimensional Space 302 When Movement Speed is High Voxel 311 When Movement Speed is High Three-Dimensional Space 312 When Movement Speed is Low Voxel 401 When Movement Speed is Low Camera Image Input Unit 402 Feature amount extraction processing unit 403 Voxel voting processing unit 404 3D position measurement processing unit 405 Voxel voting history data payment unit 406 Movement amount correction processing unit 407 Imaging device movement amount 501 3D object position measurement device 502 3D model data,
503 interval measurement device 701 interval measurement history data storage device,
702 Interval change amount measuring device 703 Contact / danger determination processing device 704 Contact warning device,
705 Safety control device

Claims (9)

Photographing means for photographing an object and acquiring temporally continuous image data of a plurality of images having parallax with respect to the object;
A plurality of feature quantity extraction means for extracting feature quantities including distance information from the object based on the image data acquired by the imaging means;
Based on the distance information of the feature quantity extracted by the feature quantity extraction means, a straight line connecting the object from which the feature quantity is extracted in the voxel space obtained by dividing the target three-dimensional space into voxels and the lens center of the photographing means is voxel. Voxel voting processing means for performing a process of voting one by one on the voxels where the straight lines intersect with each other,
Voxel voting history holding means for holding history data of voting results by the voxel voting processing means;
A moving amount correcting means for correcting the voxel voting history based on a moving vector moved by the photographing means;
Three-dimensional position measurement processing means for specifying the position of the object in the voxel space based on the voxel voting result and the corrected voxel voting history;
A three-dimensional object position measuring apparatus comprising: The three-dimensional object position measuring apparatus according to claim 1,
The imaging means controls the camera to image an object, acquires temporally continuous image data of a plurality of images having parallax with respect to the object,
The voxel voting processing means changes the size of a target three-dimensional space and the size of a voxel according to the moving speed of the camera. The three-dimensional object position measuring apparatus according to claim 1,
The three-dimensional object position is characterized in that the photographing unit photographs a target object with a single moving camera and acquires temporally continuous image data of a plurality of images having parallax with respect to the target object. Measuring device. The three-dimensional object position measuring apparatus according to any one of claims 1 to 3, further comprising:
3. A three-dimensional object position measuring apparatus comprising interval measuring means for measuring an interval between a self three-dimensional model and an object in a voxel space based on the position of the object specified by the three-dimensional position measurement processing means. The three-dimensional object position measuring apparatus according to claim 4, further comprising:
Using the measured interval between the 3D model of the measured self and the object in the voxel space, and the interval measurement history that measured multiple intervals from the present,
A three-dimensional object position measuring device comprising interval change amount measuring means for measuring a change amount of an interval between a self three-dimensional model and an object in a voxel space. The three-dimensional object position measuring apparatus according to claim 4 or 5,
The three-dimensional model is a moving object,
The three-dimensional object position measuring apparatus according to claim 1, wherein the object is a three-dimensional object fixed in space. The three-dimensional object position measuring apparatus according to claim 5, further comprising:
A three-dimensional object position measuring device comprising a contact risk determining device for determining a time until contact between an object and a self model based on an output from the interval change amount measuring means. The three-dimensional object position measuring apparatus according to claim 7, further comprising:
A three-dimensional object position measuring device comprising a contact warning device that outputs warning information based on an output from the contact risk determination device. The three-dimensional object position measuring device according to claim 8, further comprising a safety control device that operates the safety device based on an output from the contact warning device.

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