WO2005054779A1 - 非接触三次元計測方法および装置 - Google Patents
非接触三次元計測方法および装置 Download PDFInfo
- Publication number
- WO2005054779A1 WO2005054779A1 PCT/JP2004/017839 JP2004017839W WO2005054779A1 WO 2005054779 A1 WO2005054779 A1 WO 2005054779A1 JP 2004017839 W JP2004017839 W JP 2004017839W WO 2005054779 A1 WO2005054779 A1 WO 2005054779A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- points
- computer
- measurement
- camera
- measurement points
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
Definitions
- the present invention relates to a method for measuring the length, area, or volume of a whole building or a specific part of various buildings such as buildings and towers by a simple operation using a photographing image using a simple device.
- the present invention relates to a non-contact three-dimensional measurement method and apparatus that can be used.
- a non-contact three-dimensional measurement method of an object there is a three-dimensional image measurement method based on stereo vision.
- this method two or more photographs of an object to be measured are taken, and three-dimensional coordinates of a measurement point are calculated by a computer based on a principle such as triangulation.
- triangulation using a telescope-equipped measuring device and red and white dangling sticks is still used.
- Patent Document 1 discloses that a digital camera equipped with a device for obtaining posture direction information is freely rotated, a target point is photographed from any two points, and a three-dimensional position of the target point is measured. A method is disclosed. It is described that according to this method, the three-dimensional positions of a large number of target points can be accurately measured by a simple method.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2001-336930
- the technology disclosed in the above-mentioned patent document has a problem that a complicated device configuration is required for a free rotation mechanism of a digital camera, and the cost is increased. [0005] Therefore, the problem to be solved by the present invention is that the length, area or volume of various buildings such as buildings and towers or specific parts can be easily manipulated using a simple device. It is an object of the present invention to provide a non-contact three-dimensional measuring method and device capable of measuring by operation. Means for solving the problem
- the method of the present invention for solving the above-mentioned problems is based on a method in which an object is photographed with a plurality of vertical force digital cameras, the positions of a plurality of measurement points on the object in the photographed images, and the plurality of positions.
- a non-contact three-dimensional measurement method characterized by calculating a length between the plurality of measurement points or an area or volume of a part surrounded by the plurality of measurement points based on a height difference between imaging points.
- a digital camera is mounted on a tripod head, the head is moved up and down to photograph a plurality of position objects, and a plurality of photographed images and a plurality of photographing point heights are taken.
- Information can be input to a computer, and a computer can perform an operation by clicking a plurality of measurement points on an object with one of the plurality of images on a display attached to the computer.
- the present invention for solving the above-mentioned problems includes a digital camera for photographing an object and a camera vertical movement fixing for moving the camera up and down to fix a photographing point. Based on the device, height information of multiple imaging points, and multiple captured images, the length between multiple measurement points on the object, or the area or volume of a region surrounded by the multiple measurement points.
- a non-contact three-dimensional measuring device comprising: a computer for obtaining the image data; and a display attached to the computer for displaying the image and for instructing the start of a predetermined calculation by clicking a measurement point. It is.
- the camera vertical movement fixing device may be composed of a tripod and a head that can move vertically.
- the present invention it is possible to measure the length, area, or volume of an entire or specific part of various buildings such as buildings and towers by a simple operation using a simple device. . Therefore, the equipment cost is low, and a digital camera and a tripod with a head that can move up and down are installed at the measurement site to take images, and image data is sent to a computer for measurement. Values can be obtained, and computer operation is easy. This is extremely effective for applications that do not require high precision.
- the digital camera 1 also photographs the object 6 at a plurality of vertical positions.
- the digital camera 1 can be attached to the camera platform 3 of the tripod 2 as in this example, and the camera platform 3 can be moved up and down to take a picture.
- step 4 information on a plurality of shot images and a plurality of shooting points is input to the computer 4.
- the reference surface force of the tripod 2 also indicates the height H, H to the camera 1 and the information of the shooting point.
- the computer 4 calculates the length, area, and volume of a desired measurement point on the object 6.
- each of the points A, B, C, and D is set as a measurement point, and the camera height H shown in Fig. 2 is used.
- the length between AB, the area of the triangle ABC, and the volume of the quadrangular pyramid surrounded by each point of AB CD and the point on the back side can be obtained.
- one of a plurality of images for example, the image in FIG. 2 is set as a reference image, and desired measurement points A and B on the object are set in the reference image.
- the computer 4 By clicking, ⁇ ⁇ , the computer 4 can be operated.
- the computer 4 automatically recognizes the measurement points A, B,... Other than the reference image.
- the three-dimensional coordinates of each measurement point are calculated based on the principle of triangulation, and the length, area, and volume of a desired part are obtained from the obtained three-dimensional coordinates.
- the three-dimensional coordinates, length, area, and volume of the measurement points obtained here are relative values (length ratio, etc.), and the distance between the camera 1 and the object 6 or a specific part of the object 6 By inputting the actual size of, the absolute value (such as m) can be obtained.
- the absolute value such as m
- photographing conditions such as zoom, focus, shutter speed, sensitivity characteristics, and white balance at a plurality of camera positions are not changed. It is desirable that the camera position moves up and down along the same vertical line, and the photographing angle is fixed.
- the captured images can be output to the display 5 by connecting the memory to the computer 4 or transmitted to the computer 4 for output.
- the computer 4 recognizes a small area around each measurement point as a determination area.
- a small area of the same size corresponding to the determination area in the reference image is automatically selected.
- the selected area is scanned, the color histogram of the selected area is compared with the color histogram of the determination area in the reference image, and the center point of the selected area having the highest similarity is determined by measuring points A and B in the image. , C, D.
- the calculation result by the computer 4 is displayed on the display 5 and further output to a printer.
- the device of the present invention is a device for performing the above-described method of the present invention.
- one digital camera 1, a tripod 2, and a platform 3 that can move up and down are provided.
- a computer 4 and a display 6 attached to the computer 4.
- the digital camera 1 was mounted on the camera platform 3 of the tripod 2, the object 6 was photographed, and the points A, B, C, and D on the square pyramid roof were measured.
- the height of the digital camera 1 is set to two levels, the camera platform 3 is moved vertically, and the height H, H of the camera 1 at the reference surface force of the tripod 2 is set.
- FIG. 1 is an explanatory diagram showing a main configuration of the present invention.
- FIG. 2 is an image example according to the present invention.
- FIG. 3 is another image example according to the present invention.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/581,478 US20070098251A1 (en) | 2003-12-03 | 2004-12-01 | Non-contact three-dimensional measuring methods and apparatuses |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003404896A JP2005164434A (ja) | 2003-12-03 | 2003-12-03 | 非接触三次元計測方法および装置 |
JP2003-404896 | 2003-12-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005054779A1 true WO2005054779A1 (ja) | 2005-06-16 |
Family
ID=34650151
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/017839 WO2005054779A1 (ja) | 2003-12-03 | 2004-12-01 | 非接触三次元計測方法および装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20070098251A1 (ja) |
JP (1) | JP2005164434A (ja) |
KR (1) | KR20060117918A (ja) |
CN (1) | CN100424466C (ja) |
WO (1) | WO2005054779A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100785594B1 (ko) * | 2005-06-17 | 2007-12-13 | 오므론 가부시키가이샤 | 화상 처리 장치 |
WO2007087485A2 (en) * | 2006-01-13 | 2007-08-02 | Digicontractor Corporation | Method and apparatus for photographic measurement |
US7912320B1 (en) * | 2007-01-16 | 2011-03-22 | Paul Minor | Method and apparatus for photographic measurement |
US8220335B2 (en) * | 2008-05-16 | 2012-07-17 | Lockheed Martin Corporation | Accurate image acquisition for structured-light system for optical shape and positional measurements |
CN101819023B (zh) * | 2008-12-18 | 2012-07-18 | 河海大学常州校区 | 一种非接触式的船舶几何尺寸的视觉测量装置 |
JP4889753B2 (ja) * | 2009-02-03 | 2012-03-07 | 西日本電気システム株式会社 | 測量装置、鉄道測量システム、測量プログラム、情報記憶媒体 |
CN101751187B (zh) * | 2010-01-05 | 2012-01-04 | 友达光电股份有限公司 | 三维互动立体显示器的指示物位置判断方法 |
US8134717B2 (en) | 2010-05-21 | 2012-03-13 | LTS Scale Company | Dimensional detection system and associated method |
CN101908228B (zh) * | 2010-07-16 | 2012-04-25 | 浙江大学 | 一种用于获得建筑立面测绘图的数字化建筑测绘方法 |
JP5917039B2 (ja) * | 2010-09-13 | 2016-05-11 | キヤノン株式会社 | 被検体情報取得装置 |
KR101296605B1 (ko) * | 2011-02-20 | 2013-09-17 | 김준규 | 이미지를 이용한 체적 측량 방법 및 그 장치 |
CN103162620B (zh) * | 2012-10-26 | 2015-05-13 | 苏州比特速浪电子科技有限公司 | 图像处理装置及图像处理方法 |
CN103217144B (zh) * | 2013-04-10 | 2015-03-18 | 广东欧珀移动通信有限公司 | 一种监测建筑物高度及与所述建筑物的距离的方法及装置 |
CN104359426B (zh) * | 2014-11-20 | 2017-01-11 | 四川望锦机械有限公司 | 一种球销座着色检测时的着色面积量化方法 |
CN104677329B (zh) * | 2015-03-19 | 2017-06-30 | 广东欧珀移动通信有限公司 | 基于摄像头的目标测距方法及装置 |
CN105279372B (zh) * | 2015-09-29 | 2018-12-14 | 百度在线网络技术(北京)有限公司 | 一种确定建筑物高度的方法和装置 |
CN105277144A (zh) * | 2015-10-16 | 2016-01-27 | 浙江工业大学 | 基于双目视觉的土地面积快速检测方法及其检测装置 |
CN107976183A (zh) * | 2017-12-18 | 2018-05-01 | 北京师范大学珠海分校 | 一种空间数据测量方法及装置 |
CN110008802B (zh) | 2018-12-04 | 2023-08-29 | 创新先进技术有限公司 | 从多个脸部中选择目标脸部及脸部识别比对方法、装置 |
CN111238374B (zh) * | 2020-03-16 | 2021-03-12 | 天目爱视(北京)科技有限公司 | 一种基于坐标测量的三维模型构建及测量方法 |
CN112254638B (zh) * | 2020-10-15 | 2022-08-12 | 天目爱视(北京)科技有限公司 | 一种可俯仰调节的智能视觉3d信息采集设备 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0569495U (ja) * | 1992-02-26 | 1993-09-21 | 日本ベルボン精機工業株式会社 | 三 脚 |
JPH06347220A (ja) * | 1993-06-07 | 1994-12-20 | Sumitomo Electric Ind Ltd | 画像監視装置とその使用方法 |
JPH08201023A (ja) * | 1995-01-31 | 1996-08-09 | Minolta Co Ltd | 三次元計測装置 |
JPH11325895A (ja) * | 1998-05-15 | 1999-11-26 | Asia Air Survey Co Ltd | パノラマカメラを用いたステレオ3次元計測方法および装置 |
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US5341185A (en) * | 1992-02-26 | 1994-08-23 | Velbon International Corporation | Center column friction control system for video tripod |
US5568258A (en) * | 1992-08-25 | 1996-10-22 | Asahi Glass Company Ltd. | Method and device for measuring distortion of a transmitting beam or a surface shape of a three-dimensional object |
CA2373284A1 (en) * | 1999-05-14 | 2000-11-23 | 3D Metrics, Incorporated | Color structured light 3d-imaging system |
US6519359B1 (en) * | 1999-10-28 | 2003-02-11 | General Electric Company | Range camera controller for acquiring 3D models |
JP2001336930A (ja) * | 2000-05-26 | 2001-12-07 | Maeda Science:Kk | 目標点の三次元位置検出方法 |
-
2003
- 2003-12-03 JP JP2003404896A patent/JP2005164434A/ja active Pending
-
2004
- 2004-12-01 US US10/581,478 patent/US20070098251A1/en not_active Abandoned
- 2004-12-01 KR KR1020067007998A patent/KR20060117918A/ko not_active Application Discontinuation
- 2004-12-01 WO PCT/JP2004/017839 patent/WO2005054779A1/ja active Application Filing
- 2004-12-01 CN CNB2004800361748A patent/CN100424466C/zh not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0569495U (ja) * | 1992-02-26 | 1993-09-21 | 日本ベルボン精機工業株式会社 | 三 脚 |
JPH06347220A (ja) * | 1993-06-07 | 1994-12-20 | Sumitomo Electric Ind Ltd | 画像監視装置とその使用方法 |
JPH08201023A (ja) * | 1995-01-31 | 1996-08-09 | Minolta Co Ltd | 三次元計測装置 |
JPH11325895A (ja) * | 1998-05-15 | 1999-11-26 | Asia Air Survey Co Ltd | パノラマカメラを用いたステレオ3次元計測方法および装置 |
Also Published As
Publication number | Publication date |
---|---|
KR20060117918A (ko) | 2006-11-17 |
US20070098251A1 (en) | 2007-05-03 |
JP2005164434A (ja) | 2005-06-23 |
CN1890531A (zh) | 2007-01-03 |
CN100424466C (zh) | 2008-10-08 |
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