JPH03148776A - Method for measuring stereo picture - Google Patents

Abstract

PURPOSE:To simplify processing and shorten picture processing time by remov ing the dead angle area of each other which exists in a measured picture, and executing the correspondence of a feature point. CONSTITUTION:By making each side receive the light of an object image from irradiating through projection deflectors 7, 12 from one side through projection deflectors 10, 5 which possess a through the projection deflector of the self which possesses a deflection angle which is different from the reception deflector of the self is evaded, and only the image by the projection from the other can be received. In such the case, when the projection intensity of each is sufficiently intense compared to natural light, by cutting a low signal point with a certain threshold, the area of the part which becomes the dead angle in the picture of each other can be discriminated. Thus, the dead angle area of the picture of each other can be removed collectively from the correspondence processing of the picture, and by preventing the appearance of an unnecessary feature point, the correspondence processing can be simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a stereo image measurement method, which is one of three-dimensional measurement methods.

Conventional technology Stereo image measurement methods that have been proposed in the past perform image measurement using natural light in the measurement atmosphere, and then associate feature points over the entire area of the two measured images. Three-dimensional measurement was carried out by
3585), the conventional method will be described below with reference to FIG.

Two television cameras 2 with parallax with respect to the object l
．． Place 3. The two images measured by these two television cameras 2.3 are stored in respective image memories 4.
5, and the processing unit 6 associates the feature points of each image with each other. Each feature point that has been matched is processed using various parameters (camera interval, viewing angle difference, etc.) depending on the arrangement of the two television cameras 2 and 3.
The three-dimensional coordinate calculation unit 7 converts the coordinate values into three-dimensional coordinate values using a method of triangulation. The three-dimensional data forming unit 8 forms three-dimensional image data by using the three-dimensional coordinate values of the feature points and interpolating between them.

Problems to be Solved by the Invention The conventional stereo image measurement method described above has a problem in that the image processing time is long. In this case, the key to shortening the total processing time is the process of associating the two images.

That is, since the details of the two images are individually compared and correlated, the processing takes a long time.

The present invention solves the above-mentioned problems, and aims to provide a matching teleo image measurement method.

Means for Solving the Problems In order to solve the above problems, in the present invention, two light projecting and receiving devices each consisting of a light source, a light projecting polarizing plate, a light receiving polarizing plate and an image receiving device are arranged, and these pair of light projecting and receiving devices are connected to each other. Blind spot areas are determined from each other's central images, and feature points in these blind spot areas are prevented from appearing.

action The operation in the above configuration is as follows.

In the present invention, - an image of an object by light irradiated through one of the projecting polarizing plates is received by the other receiving light through a receiving polarizing plate having the same polarization angle and the same polarization angle; By doing so, it is possible to avoid receiving an image due to the light irradiated through the own light emitting polarizer which has a different polarization angle from the own light receiving polarizer, and to receive only the image due to the light emitted from the other side. become. As a result, if the intensity of each projected light is strong enough compared to natural light, low signal points are cut off with a certain threshold, and images caused by randomly polarized natural light are deleted, creating blind spots in each other's images. Parts can be identified as areas. Therefore, when associating images, the blind spots of each image can be deleted all at once as an area.
By preventing the appearance of feature points unnecessary for three-dimensional measurement included in the two images, association processing can be simplified.

EXAMPLE Hereinafter, an example of the present invention will be described with reference to FIG. Two light emitting/receiving devices 2.3 are arranged with parallax relative to the object l. These two light transmitting/receiving devices 2.3 have similar configurations, and each has a light projecting section 8, 13, a light projecting polarizing plate 7, 12, a beam splitter 4, 9, a light receiving polarizing plate 5. l
6.0 and an image receiving unit, that is, a television camera 6.11. The light emitted from the light projecting section 8 of the light projecting/receiving device 2 passes through the light projecting polarizing plate 7 and becomes light with a polarized component in one direction.

The light is split by a beam splitter 4 into a component reflected onto the optical axis A and a transmitted component. The reflected component is irradiated onto the object 1, and the light reflected by the object 1 is directed toward the optical axis B.
The reflected light is separated into a transmitted component and a reflected component by a beam splitter 9, and the transmitted component passes through a light receiving polarizing plate 10 and is received by a television camera 11. The light emitted from the light projector 13 is also received by the television camera 6 in a similar manner.

At this time, the light emitting polarizing plate 10 of the light emitting/receiving device 2 and the one having the same phase as the light emitting polarizing plate 12 of the light emitting/receiving device 3 is the light emitting/receiving device 2.
This is the light receiving polarizing plate 5. Therefore, the irradiated light from the light emitting/receiving device 2 is blocked by its own light receiving polarizing plate 5 and does not reach its own television camera 6.

This means that only images of light from other light projectors 13 are received, and in other words, the blind spot from the light projector/receiver 3 is a different area on the image on the TV camera 6 of the light projector/receiver 2. This results in a dark area with almost no signal value compared to . This is the light emitter/receiver W
3 is also Ti4#IL.

(However, the light must be irradiated with light that is sufficiently stronger than the natural light in the measurement environment.) By focusing only on areas with signal levels above a certain threshold, it is possible to ensure that corresponding points appear on both stereo images. Correspondence can be processed under certain assumptions. A certain threshold here refers to the value of the reflection from the blind area due to the diffracted light of the other irradiation light when focusing on one light emitting/receiving device, or the reflection component due to natural light existing in the measurement environment.

The image output from the television camera 6.11 is applied to the blind spot area determination processing section 16. The blind spot area determination processing unit 1G performs a process of determining a low signal value area, that is, a blind spot area, by setting the above-mentioned threshold value, and uses the image signal of the area excluding the area determined to be dead power to the feature point extraction unit. In addition to step 17, feature extraction is performed, and the correspondence processing for the obtained feature points is performed by the processing unit 18.The subsequent processing is performed by the 3D coordinate calculation unit 19, as in the conventional example. Perform the formation, 3
A dimensional data forming section 20 forms three-dimensional data.

Effects of the Invention As described above, in the present invention, in three-dimensional measurement using stereo images, it is possible to easily determine the blind spot area from the other that exists in two images, and to delete this blind spot area part to determine the characteristics. Since point extraction and correspondence processing are performed, by simplifying the processing, it is possible to speed up the processing.

[Brief explanation of the drawing]

FIG. 1 is a conceptual diagram showing the overall configuration of an image measuring device for implementing the stereo image measuring method according to the present invention, and FIG. 2 is a conceptual diagram showing the configuration of a conventional image measuring device. 1...Target, 2.3...Light emitting/receiving device, 4.9...Beam splitter, 5.10-...
...... Light receiving polarizing plate, 6.11... Television camera, 7.12... Light emitting polarizing plate, 8.13--.
. . . Light projecting section, 16 . . . Blind spot area determination processing section,
1 Fu... Feature point extraction unit, 18... Correspondence processing unit, 19... Three-dimensional coordinate calculation unit, 20
...3D data formation section. Agent's name: Patent attorney Shigetaka Awano Haka 1 person 31 庺 to hi 1 孟 1 mi" Idiot! l;*womb 1 history] Ogikaguchi ■finger 1 5”Yu 1:j! Visit Mi” butterfly condyle 4 and field Io sword (ripus

Claims (1)

[Claims] A pair of light projecting and receiving devices consisting of a light source, a light projecting polarizing plate, a receiving polarizing plate, and an image receiving device measures the object, removes mutual blind spots that exist in the measured image, and associates feature points. A stereo image measurement method characterized by the following.