JPH071164B2 - 3D shape recognition device - Google Patents
3D shape recognition deviceInfo
- Publication number
- JPH071164B2 JPH071164B2 JP60040126A JP4012685A JPH071164B2 JP H071164 B2 JPH071164 B2 JP H071164B2 JP 60040126 A JP60040126 A JP 60040126A JP 4012685 A JP4012685 A JP 4012685A JP H071164 B2 JPH071164 B2 JP H071164B2
- Authority
- JP
- Japan
- Prior art keywords
- light source
- image pickup
- video camera
- pickup signal
- camera
- 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.)
- Expired - Lifetime
Links
Classifications
-
- 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
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、ビデオカメラ、磁気円板静止画カメラ用い
て、三次元物体としての対象物の表面形状を認識するの
に適用される三次元形状の認識装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is a three-dimensional application applied for recognizing the surface shape of an object as a three-dimensional object using a video camera and a magnetic disk still image camera. The present invention relates to a shape recognition device.
この発明は、三次元形状を入力する認識装置において、
異なる照明の夫々により得られた撮像画像から、対象物
の表面の散乱特性を仮定して測光立体法により近似的な
表面の勾配を求め、その勾配を滑らかに積分することに
より、非接触且つ自動的に表面形状を得るようにしたも
のである。The present invention provides a recognition device for inputting a three-dimensional shape,
From the captured images obtained by different illuminations, assuming the scattering characteristics of the surface of the object, the approximate surface gradient is obtained by the photometric stereo method, and the gradient is smoothly integrated for non-contact and automatic It is intended to obtain a surface shape.
従来の三次元形状の認識装置として、機械的な接触式の
ものが知られている。また、２方向からのカメラ位置か
ら対象物体を撮像し、三角測量を応用した光学的な三次
元形状の認識装置も提案されている。As a conventional three-dimensional shape recognition device, a mechanical contact type is known. In addition, an optical three-dimensional shape recognition device has been proposed in which a target object is imaged from camera positions in two directions and triangulation is applied.
従来の接触式の三次元形状の認識装置は、対象物が固い
ことが要求され、高速動作が不可能であること、分解能
が低い等の欠点を有していた。The conventional contact-type three-dimensional shape recognition device has drawbacks such that the object is required to be hard, high-speed operation is impossible, and resolution is low.
三角測量を応用した光学的な認識装置は、演算量が多く
なり、演算時間が長くなり、装置が大規模になる問題点
を有していた。The optical recognition device to which triangulation is applied has a problem that the amount of calculation is large, the calculation time is long, and the device is large in scale.
この発明は、ビデオカメラを用いて２枚の濃淡画像を基
本的に入力するだけで良く、高速動作が可能な三次元形
状の認識装置を提供するものである。The present invention provides a three-dimensional shape recognizing device which can operate at high speed by basically inputting two grayscale images using a video camera.
また、この発明による三次元形状の認識装置の分解能
は、ビデオカメラの解像度で定まり、例えばCCDカメラ
を使用した場合には、（512×400）という高分解能が達
成される。Further, the resolution of the three-dimensional shape recognition device according to the present invention is determined by the resolution of the video camera. For example, when a CCD camera is used, a high resolution of (512 × 400) can be achieved.
更に、この発明は、非接触の構成であって、対象物の材
質や、表面の光学特性の制約を受けず、広い範囲に適用
可能であり、汎用性が高い三次元形状の認識装置を提供
するものである。Furthermore, the present invention provides a three-dimensional shape recognizing device which has a non-contact structure and is applicable to a wide range without being restricted by the material of the object or the optical characteristics of the surface and having high versatility. To do.
より更に、この発明は、可動部分を必要としない簡単な
構成の三次元形状の認識装置を提供することを目的とす
るものである。Still another object of the present invention is to provide a three-dimensional shape recognition device having a simple structure that does not require a movable part.
この発明は、視点を固定し、照明の方向を異ならせるこ
とで得られた二枚の濃淡画像に含まれる情報を利用し
て、三次元形状の測定を行うものである。The present invention measures the three-dimensional shape by using the information contained in the two grayscale images obtained by fixing the viewpoint and changing the direction of illumination.
この発明は、カメラ５の光軸に対して設けられた少なく
とも第１の光源３及び第２の光源４と、 第１の光源３により第１の撮像信号を得ると共に、第２
の光源４により第２の撮像信号を得る手段5,11と、 第１の撮像信号及び第２の撮像信号の輝度情報から対象
物の単位面の傾きを算出し、傾きの情報から対象物１の
高さ情報を算出する手段８と を備えたことを特徴とする三次元形状の認識装置であ
る。According to the present invention, at least a first light source 3 and a second light source 4 which are provided with respect to the optical axis of the camera 5, and a first image pickup signal is obtained by the first light source 3, and
Means 5 and 11 for obtaining the second image pickup signal by the light source 4, and the inclination of the unit surface of the object from the brightness information of the first image pickup signal and the second image pickup signal, and the object 1 from the inclination information. And a means 8 for calculating the height information of the three-dimensional shape recognition device.
ビデオカメラ５の位置は、対象物１に対して固定され、
照明光の方向が切り換えられる。ビデオカメラ５と異な
る方向の照明光とにより得られた２枚の二次元画像の画
素データを用いて、測光立体法の手法による演算処理を
CPU8が行い、二次元画像の各画素毎に、対象物体１の高
さ情報の計測を行うことができる。The position of the video camera 5 is fixed with respect to the object 1,
The direction of the illumination light can be switched. By using the pixel data of the two two-dimensional images obtained by the video camera 5 and the illumination light in different directions, the calculation processing by the method of the photometric stereo method is performed.
The CPU 8 can measure the height information of the target object 1 for each pixel of the two-dimensional image.
以下、この発明の一実施例について図面を参照して説明
する。第１図において、１が対象物を示し、２が対象物
１が載置された台座である。対象物１は、拡散反射を主
体とし、鏡面反射は、無視できる程度に少なく、均一な
反射率の表面を有するものでる。An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 1 is an object and 2 is a pedestal on which the object 1 is placed. The object 1 is mainly composed of diffuse reflection, has negligible specular reflection, and has a surface having a uniform reflectance.
対象物１は、その上方に位置する例えばCCD撮像素子を
使用したビデオカメラ５により撮像される。このビデオ
カメラ５の画面と平行にｘ軸及びｙ軸をとり、ビデオカ
メラ５の光軸方向にｚ軸をとる。ｘ軸は、ビデオカメラ
５の画面の水平方向と一致し、ｙ軸は、ビデオカメラ５
の画面の垂直方向と一致している。The object 1 is imaged by a video camera 5 located above it, for example, using a CCD image sensor. The x axis and the y axis are set parallel to the screen of the video camera 5, and the z axis is set in the optical axis direction of the video camera 5. The x-axis corresponds to the horizontal direction of the screen of the video camera 5, and the y-axis is the video camera 5.
It matches the vertical direction of the screen.
ビデオカメラ５の光軸を狭んで、互いに等しい天頂角で
もって、互いに等しい輝度の２個の照明光が対象物１に
照射される。各照明光は、２個の光源３及び光源４から
発生する。ビデオカメラ５は、一方の光源３からの光の
みが照射されている対象物１を撮像し、第１の静止画像
信号を発生する。また、ビデオカメラ５が他方の光源４
からの光のみが照射されている対象物１を撮像し、第２
の静止画像信号を発生する。The object 1 is irradiated with two illumination lights having the same zenith angles and narrowing the optical axis of the video camera 5 and having the same brightness. Each illumination light is generated from two light sources 3 and 4. The video camera 5 captures an image of the object 1 irradiated with only the light from one light source 3 and generates a first still image signal. In addition, the video camera 5 uses the other light source 4
The object 1 illuminated only with the light from the
To generate a still image signal.
ビデオカメラ５の出力信号がプロセス回路11に供給さ
れ、プロセス回路11から第１の静止画像信号及び第２の
静止画像信号が順次取り出される。静止画像信号は、１
フレームの信号であり、従って、ビデオカメラ５からの
二次元情報の入力は、（1/15）msecの時間で成し得る。The output signal of the video camera 5 is supplied to the process circuit 11, and the first still image signal and the second still image signal are sequentially extracted from the process circuit 11. Still image signal is 1
It is a signal of a frame, and thus input of two-dimensional information from the video camera 5 can be performed in a time of (1/15) msec.
プロセス回路11の出力信号がA/D変換器６に供給され、A
/D変換器６により、第１及び第２の静止画像信号がディ
ジタルデータに変換され、フレームメモリ７に書き込ま
れる。フレームメモリ７は、ディジタル化された第１の
静止画像信号及び第２の静止画像信号を記憶できるよう
に、少なくとも、２フレーム分の容量を有している。The output signal of the process circuit 11 is supplied to the A / D converter 6,
The / D converter 6 converts the first and second still image signals into digital data and writes the digital data in the frame memory 7. The frame memory 7 has a capacity of at least two frames so as to store the digitized first still image signal and second digitized still image signal.
フレームメモリ７と結合してCPU8が設けられている。CP
U8は、フレームメモリ７に記憶されている第１の静止画
像信号及び第２の静止画像信号の夫々の画素データを後
述するように、演算処理して対象物１の表面形状、即ち
画素単位の高さ情報を算出するものである。A CPU 8 is provided in combination with the frame memory 7. CP
U8 calculates the surface shape of the object 1, that is, in pixel units, by performing arithmetic processing on each pixel data of the first still image signal and the second still image signal stored in the frame memory 7, as described later. The height information is calculated.
CPU8により求められた高さ情報は、インターフェース９
を介して入出力装置例えば紙テープせん孔機10に供給さ
れる。図示していないが、紙テープせん孔機10以外のプ
リンタ、CRTディスプレイ等の出力装置を用いるように
してもよい。The height information obtained by the CPU8 is the interface 9
It is supplied to an input / output device, for example, a paper tape punching machine 10 via. Although not shown, a printer other than the paper tape punch 10 and an output device such as a CRT display may be used.
ビデオカメラ５により得られる二次元の静止画像即ち濃
淡画像情報から対象物１の画素単位の高さ情報を算出す
る演算処理について以下に説明する。A calculation process for calculating height information in pixel units of the object 1 from a two-dimensional still image, that is, grayscale image information obtained by the video camera 5 will be described below.
まず、ビデオカメラ５により入力された二次元の濃淡画
像において、濃淡を決める輝度Ｉは、次式により定まる
ものである。First, in the two-dimensional grayscale image input by the video camera 5, the brightness I that determines the grayscale is determined by the following equation.
Ip:光源３（又は光源４）の輝度 Pd:拡散反射係数 Ps:鏡面反射係数 S:鏡面反射項 第２図は、対象物１の表面上の点Ｐに、光源３からの光
3A（その単位ベクトルを とする。）及び光源４からの光4A（その単位ベクトルを とする。）が入射している時の状態を示している。 Ip: Luminance of light source 3 (or light source 4) Pd: Diffuse reflection coefficient Ps: Specular reflection coefficient S: Specular reflection term FIG. 2 shows the light from the light source 3 at a point P on the surface of the object 1.
3A (the unit vector And ) And light 4A from the light source 4 (the unit vector is And ) Shows the state when incident.
第２図において、ｇがビデオカメラの光軸に対して各光
源からの光3A,4Aが有する頂点角を示す。対象物の表面
のどの点でも、光源３と光源４はカメラに対し同じ傾き
を持つ。また、θ１は、光源３からの光3Aが対象物１の
点Ｐにおける法線となす角度である。θ２は、光源４か
らの光4Aが対象物１の点Ｐにおける法線となす角度であ
る。In FIG. 2, g indicates the vertex angle of the light 3A, 4A from each light source with respect to the optical axis of the video camera. At any point on the surface of the object, the light source 3 and the light source 4 have the same inclination with respect to the camera. Further, θ1 is an angle formed by the light 3A from the light source 3 and a normal line at the point P of the object 1. θ2 is the angle that the light 4A from the light source 4 makes with the normal to the point P of the object 1.
計算を簡単にするために鏡面反射を無視できる場合を考
える。To simplify the calculation, consider the case where specular reflection can be ignored.
光源３の場合におけるＰ点の輝度は、 で表現される。The brightness of the point P in the case of the light source 3 is It is expressed by.
光源４の場合におけるＰ点の輝度は、 ここで、 のＹ軸成分が０であること、 のＸ軸成分の符号が逆であることを使用して（１）式及
び（２）式を変形すると、 tan gは、既知であるから、tan eは、次のようにして求
まる。The brightness of the point P in the case of the light source 4 is here, The Y-axis component of is 0, When the equations (1) and (2) are transformed by using the opposite signs of the X-axis components of Since tan g is known, tan e can be obtained as follows.
この式により勾配ｅが分かる。台座２の位置を（ｚ＝
０）とすれば、勾配ｅをｘ方向に積分することにより、
対象物１の高さ情報を各画素毎に計測でき、対象物１を
三次元物体として再構成することができる。 The gradient e can be found from this equation. Change the position of the pedestal 2 (z =
0), by integrating the gradient e in the x direction,
The height information of the object 1 can be measured for each pixel, and the object 1 can be reconstructed as a three-dimensional object.
CPU8は、上述の演算処理をフレームメモリ７に貯えられ
ている画素データを使用して行う。つまり、光源３から
得られた第１の静止画像信号と光源４から得られた第２
の静止画像信号とで対応する画素同士のデータが輝度I1
及びI2として用いられる。この輝度I1及びI2が入力され
ると、上述のように各画素ごとに勾配ｅが求められる。
次に、画面の端部から勾配ｅを積分することにより、各
画素のｚ座標の値即ち高さを算出することができる。The CPU 8 uses the pixel data stored in the frame memory 7 to perform the above arithmetic processing. That is, the first still image signal obtained from the light source 3 and the second still image signal obtained from the light source 4.
Still image signal data of the corresponding pixels between the luminance and I 1
And used as I 2 . When the luminances I 1 and I 2 are input, the gradient e is obtained for each pixel as described above.
Next, the value of the z coordinate of each pixel, that is, the height can be calculated by integrating the gradient e from the end of the screen.
上述のように、この発明においては、二枚の濃淡画像か
ら表面形状を計測することができる。As described above, in the present invention, the surface shape can be measured from the two grayscale images.
この発明は、二枚の濃淡画像をカメラにより入力すれば
良く、三枚以上の画像を必要とする装置と比して、入力
時間の短縮、演算時間の短縮を図ることができ、従っ
て、高速な計測を行うことができる。According to the present invention, it is sufficient to input two grayscale images with a camera, and as compared with a device that requires three or more images, the input time and the calculation time can be shortened. It is possible to perform various measurements.
この発明では、カメラの解像度で分解能が定まるので、
高分解能の装置を実現できる。In this invention, since the resolution is determined by the resolution of the camera,
A device with high resolution can be realized.
この発明は、非接触で対象物の形状を認識することがで
き、対象物体の材質や、表面の光学特性等の制約を受け
ず、汎用性に優れた装置を構成できる。According to the present invention, the shape of an object can be recognized in a non-contact manner, the material of the object, the optical characteristics of the surface, and the like are not restricted, and a highly versatile device can be configured.
この発明は、カメラ１台と、照明用の光源２個とで、入
力装置を構成でき、可動部分が全くなく、小型で、取り
扱いに優れた装置を実現することができる。According to the present invention, an input device can be configured with one camera and two light sources for illumination, and it is possible to realize a device that has no moving parts, is small, and is easy to handle.
第１図はこの発明の一実施例の構成を示すブロック図、
第２図はこの発明の一実施例の説明に用いる略線図であ
る。 図面における主要な符号の説明 1:対象物、3,4:光源、5:ビデオカメラ、8:CPU。FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention,
FIG. 2 is a schematic diagram used for explaining one embodiment of the present invention. Description of main symbols in drawings 1: Object, 3, 4: Light source, 5: Video camera, 8: CPU.
Claims (1)
ように設けられた第１及び第２の光源と、 上記第１及び第２の光源を対象物に順次照射して第１の
撮像信号を得ると共に、第２の撮像信号を得る手段と、 上記第１及び第２の撮像信号を記憶するためのメモリ
と、 上記メモリに蓄えられている上記第１の撮像信号及び第
２の撮像信号の輝度情報から対象物の単位面の傾きを算
出し、この傾き情報を上記カメラの光軸と垂直な方向に
積分し、この積分情報から上記対象物の高さ情報を算出
する手段と を備えたことを特徴とする三次元形状の認識装置。1. A first and a second light source provided so as to have an equal zenith angle with respect to an optical axis of a camera, and a first object which is sequentially irradiated with the first and the second light source. A means for obtaining an image pickup signal and a second image pickup signal, a memory for storing the first and second image pickup signals, the first image pickup signal and the second image pickup signal stored in the memory. Means for calculating the tilt of the unit surface of the object from the brightness information of the image pickup signal, integrating this tilt information in the direction perpendicular to the optical axis of the camera, and calculating the height information of the object from this integrated information. A three-dimensional shape recognizing device comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60040126A JPH071164B2 (en) | 1985-02-28 | 1985-02-28 | 3D shape recognition device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60040126A JPH071164B2 (en) | 1985-02-28 | 1985-02-28 | 3D shape recognition device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61198009A JPS61198009A (en) | 1986-09-02 |
| JPH071164B2 true JPH071164B2 (en) | 1995-01-11 |
Family
ID=12572121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60040126A Expired - Lifetime JPH071164B2 (en) | 1985-02-28 | 1985-02-28 | 3D shape recognition device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH071164B2 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4792696A (en) * | 1987-06-05 | 1988-12-20 | Trustees Of Columbia University In The City Of New York | Method and an apparatus for determining surface shape utilizing object self-shadowing |
| JPH0797022B2 (en) * | 1989-09-11 | 1995-10-18 | 株式会社東芝 | Shape measuring device, shape measuring method, and calibration method of shape measuring device |
| JP2565838B2 (en) * | 1993-01-26 | 1996-12-18 | 株式会社デジタルストリーム | Optical three-dimensional angle detection device and optical three-dimensional position calculation device |
| JPH07117390B2 (en) * | 1993-06-22 | 1995-12-18 | 日本電気株式会社 | Bonding wire shape inspection device |
| US5811826A (en) * | 1996-02-07 | 1998-09-22 | Massachusetts Institute Of Technology | Methods and apparatus for remotely sensing the orientation of an object |
| US6031612A (en) * | 1996-02-12 | 2000-02-29 | Massachusetts Institute Of Technology | Apparatus and methods for contour measurement using movable sources |
| US6690474B1 (en) | 1996-02-12 | 2004-02-10 | Massachusetts Institute Of Technology | Apparatus and methods for surface contour measurement |
| US6229619B1 (en) | 1996-02-12 | 2001-05-08 | Massachusetts Institute Of Technology | Compensation for measurement uncertainty due to atmospheric effects |
| US5870191A (en) * | 1996-02-12 | 1999-02-09 | Massachusetts Institute Of Technology | Apparatus and methods for surface contour measurement |
| SE9900276L (en) * | 1999-01-28 | 2000-01-10 | Skogsind Tekn Foskningsinst | Topographic determination of a surface illuminated by incident light |
| EP2322899B1 (en) * | 2008-08-26 | 2022-03-16 | Kabushiki Kaisha Bridgestone | Specimen roughness detecting method, and apparatus for the method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5856808B2 (en) * | 1979-06-29 | 1983-12-16 | ウエスト電気株式会社 | distance measuring device |
| JPH07113535B2 (en) * | 1983-03-24 | 1995-12-06 | 富士通株式会社 | Surface inclination measuring device |
-
1985
- 1985-02-28 JP JP60040126A patent/JPH071164B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61198009A (en) | 1986-09-02 |
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