JPH06221825A - Measuring apparatus of three-dimensional shape - Google Patents

Abstract

PURPOSE:To make it possible to detect a flat face and to enable execution of interpolation in measurement of a three-dimensional shape, regarding a three- dimensional shape measuring apparatus which recognizes the shape of a three- dimensional structure. CONSTITUTION:A pattern light which brings forth patterns on an object X of measurement and a background object Y is applied by a pattern light applying part 10. Thereby an edge feature point is brougth forth for a flat face, and by using a plurality of images inputted from an image input part 20 and movement information inputted from a movement information input part 40, three-dimensional information on a subject is extracted by a three-dimensional information extracting part 50. Based on the result of this extraction, the existence of a three-dimensional face is determined, information on the face is accumulated and thereby information on the three-dimensional face is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional shape measuring apparatus for acquiring the shape of a three-dimensional structure such as a building, a terrain, an artificial structure object, an animal or a plant, and more particularly to a smooth surface having no characteristic points in the three-dimensional object. The present invention relates to a three-dimensional shape measuring device capable of measuring even a surface.

The device of the present invention can be used, for example, for automatic driving control of an autonomous vehicle or visual control of a robot.

[0003]

2. Description of the Related Art Conventionally, there are various methods for measuring the three-dimensional coordinates of a measuring object having a three-dimensional structure. One of them is a motion stereoscopic method (for example, Bolles et al .: Epipola).
r-plane image analysis: An approach to determining
structure from motion, International Journal of C
omputer Vision, Vol.1, No.1, pp.7-55, 1987) has been proposed.

According to this method, the image input portion such as a video camera is moved to continuously photograph the measurement object while changing the photographing position, and the movement of the image of the measurement object on the obtained image is used to measure each of the measurement objects. This is a measurement method for obtaining three-dimensional coordinates for a portion, and utilizes the property that the movement of a projected image on an image is faster as the distance between the image input unit and the measurement target is shorter.

[0005]

By the way, in the measurement by the above-mentioned conventional method, the measurement points at which the three-dimensional position coordinates can be obtained are limited to the edge feature points where the brightness change in the image is abrupt, and between the edge feature points. I can't get information about the aspect. That is, in the conventional processing, only the three-dimensional position of the feature point of the object is obtained, but the surface information of the object cannot be obtained.

As a solution to this problem, a three-dimensional shape measuring apparatus (for example, Japanese Patent Application No. 3-303218) has been proposed which is capable of detecting and interpolating a surface between edge feature points.
When a smooth surface without edge feature points or a background object is smooth, it is difficult to detect the surface because the occlusion information cannot be obtained.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a three-dimensional shape measuring apparatus capable of detecting and interpolating a smooth surface.

[0008]

In order to achieve the above-mentioned object, a three-dimensional shape measuring apparatus of the present invention comprises a pattern light irradiating section for irradiating a pattern light for producing a pattern on a three-dimensional object, and an image of the object. An image input unit for inputting a plurality of images while exercising, a motion information input unit for inputting position / orientation information at the time of image input of the image input unit, a plurality of images input from the image input unit and the motion A three-dimensional information extraction unit that extracts three-dimensional information of a subject from the plurality of images using the motion information input from the information input unit, and a three-dimensional surface using the three-dimensional coordinates output by the three-dimensional information extraction unit as input. And a surface information generation unit that accumulates surface information output by the surface existence determination unit and generates a three-dimensional surface,
It is composed of an output unit that outputs the three-dimensional surface information extracted by the surface information generation unit, and can measure a smooth surface without feature points, and the shape of the object is measured while the image input unit moves. It is characterized by

[0009]

[Function] In addition to a device using a shielding type (for example, a device proposed in Japanese Patent Application No. 3-303218), this device irradiates a light beam having a pattern that causes edge feature points on an object. By providing the pattern light irradiation unit, edge feature points are generated even on a smooth surface of the background object having no edge feature points, so that it is possible to detect a surface by a shielding type.
Furthermore, since edge feature points are generated even on the smooth surface of the target object, it is possible to measure the surface with higher accuracy.

[0010]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a block diagram showing a schematic configuration of a three-dimensional shape measuring apparatus according to an embodiment of the present invention.
FIG. 3 is a block diagram showing a specific functional configuration of FIG. 1.

In FIGS. 1 and 2, reference numeral 10 denotes a pattern light irradiating unit for irradiating the surface of the measurement object X and the background object Y with pattern light that causes a pattern such as vertical stripes. An image input unit 20 inputs images of an object from a plurality of viewpoints. The image input unit 20 can be composed of a plurality of cameras corresponding to the number of viewpoints for observing the object or one movable camera. In the following, the case of using one movable camera will be described. A moving device 30 moves the image input unit 20. A movement information input unit 40 detects the movement locus of the image input unit 20 by measuring the movement amount of the moving device 30.

Reference numeral 50 designates the image input unit 2 by the moving device 30.
The measurement target X is imaged many times while changing the position of 0, the corresponding points of each part of the measurement target X are determined from the obtained many images, the moving speed on the image is obtained, and the measurement target is measured. It is a three-dimensional information extraction unit that calculates three-dimensional coordinates of each edge feature point portion of X. The specific procedure for calculating the three-dimensional coordinates is as follows: “Anno, Hamano, Ishii: Reconstruction of 3D surface from spatiotemporal image-Method using occlusion discrimination-”, IEICE Technical Report PRU Vol.91, N
No. 437, PRU 91-106, pp.65-72, 1992 ”, and therefore is not known here.

Reference numeral 60 denotes a surface existence determination unit which determines the existence of a surface between the edge feature points based on the front-back relation and the occlusion relation of the edge feature points. As a concrete procedure for determining the existence of a surface by the surface existence determining unit 60, “Anno, Hamano: Restoration of surface structure using spatiotemporal image, image recognition / understanding symposium (MIRU
'92), pp. I-137-I-144, 1992 ".

Reference numeral 70 denotes a surface information generator for accumulating surface information and generating a three-dimensional surface. An output unit 80 outputs the three-dimensional surface information extracted by the surface information generation unit 70. The three-dimensional information extraction unit 50 includes a corresponding point extraction unit 51 and a three-dimensional coordinate extraction unit 5.
It consists of 2. The surface presence determination unit 60 is the shield type determination unit 6
1 and the connection point determination unit 62. The surface information generation unit 70 includes a storage unit 71 and a three-dimensional surface interpolation unit 72.

The operation of the three-dimensional shape measuring apparatus according to this embodiment is as follows. The pattern light irradiation unit 10 irradiates the pattern light that causes a pattern such as vertical stripes on the surfaces of the measurement target X and the background object Y. Image information of the object is input to the image input unit 20. In addition, the exercise information input unit 40
The motion information of the image input unit 20 is input to. The corresponding point extraction unit 51 of the three-dimensional information extraction unit 50 reads out the image information from the image input unit 20, simultaneously reads out the movement information of the image input unit 20 from the movement information input unit 40, converts the movement information into an epipolar image, and converts it into an epipolar image. The correspondence of the feature points of is searched and determined. The three-dimensional coordinate extraction unit 52 determines three-dimensional coordinates from the corresponding points determined by the corresponding point extraction unit 51 and the speed of the image input unit 20 obtained by the motion information input unit 40.

The shielding type determination unit 61 of the surface existence determination unit 60
Determines the occlusion type of the corresponding points on the epipolar image obtained by the three-dimensional coordinate extraction unit 52. Next, the connection point determination unit 6
2 compares the shielding types obtained by the shielding type determining unit 61 and determines corresponding points to be connected. The storage unit 71 of the surface information generation unit 70 stores the connection point information obtained by the connection point determination unit 62. Then, the three-dimensional surface interpolating unit 72 includes the storage unit 7
A three-dimensional surface to be interpolated is generated from the connection point information accumulated in 1. The three-dimensional surface information thus obtained is output to the output unit 80.
To output.

As can be seen from the above description, according to the present embodiment, in the measurement of a three-dimensional shape by the motion stereoscopic method, it is possible to measure a smooth surface having no characteristic points by irradiating pattern light. It will be possible. Although the present invention has been specifically described above based on the embodiments, the present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the scope of the invention.

[0018]

As described above, according to the present invention, in the measurement of a three-dimensional shape by the motion stereoscopic method, by irradiating the pattern light, the edge feature point of the pattern is generated by the pattern light. As a result, it is possible to measure a smooth surface having no characteristic points, and it is possible to obtain more three-dimensional information about the measurement object.
Further, the present invention has an advantage that three-dimensional information for computer graphics and CAD can be input with high accuracy and can be applied to automatic driving of automobiles, visual control of robots, and the like.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a three-dimensional shape measuring apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a specific functional configuration of the present embodiment.

[Explanation of symbols]

 10 pattern light irradiation unit 20 image input unit 30 moving device 40 motion information input unit 50 three-dimensional information extraction unit 60 surface presence determination unit 70 surface information generation unit 80 output unit

Claims (1)

[Claims] 1. A three-dimensional shape measuring apparatus for recognizing the shape of a measuring object having a three-dimensional structure, and a pattern light irradiating section for irradiating pattern light that causes a pattern on a three-dimensional object to be measured, An image input unit for inputting a plurality of images of a three-dimensional object from a plurality of viewpoints, a motion information input unit for inputting position / orientation information at the time of image input of the image input unit, and a plurality of images input from the image input unit. Using the image information and the motion information input from the motion information input unit,
A three-dimensional information extraction unit that extracts three-dimensional information of a subject from a plurality of images; a surface existence determination unit that receives the three-dimensional coordinates output by the three-dimensional information extraction unit and determines the existence of a three-dimensional surface; A surface information generation unit that accumulates the surface information output by the surface existence determination unit to generate a three-dimensional surface, and an output unit that outputs the three-dimensional surface information generated by the surface information generation unit. 3D shape measuring device.