WO2007069721A1 - 三次元形状データの記憶・表示方法と装置および三次元形状の計測方法と装置 - Google Patents
三次元形状データの記憶・表示方法と装置および三次元形状の計測方法と装置 Download PDFInfo
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- 238000009826 distribution Methods 0.000 claims abstract description 268
- 238000005259 measurement Methods 0.000 claims description 176
- 230000007613 environmental effect Effects 0.000 claims description 41
- 238000013500 data storage Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 7
- 238000000691 measurement method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 26
- 238000012545 processing Methods 0.000 description 23
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- 238000001514 detection method Methods 0.000 description 2
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Classifications
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- 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
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/005—Tree description, e.g. octree, quadtree
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
Definitions
- the present invention relates to a method and apparatus for storing and displaying a 3D shape data for measuring a plurality of measurement position forces of a stationary 3D shape and integrating and restoring the distance data, and a 3D shape measurement. It relates to a method and a device.
- Three-dimensional shape measurement technology has become widespread, and three-dimensional shape data is used in various application fields, for example, shape measurement of machine parts' workpieces', identification of self-positions in mobile robots, measurement of topography 'structures, etc.
- Measurement data in three-dimensional shape measurement is, for example, polar coordinate values with the measurement position as the origin
- the Botacel structure has a constant data volume and enables data integration with multiple viewpoints.
- Patent Document 2 “Environmental Model Input Device” proposes a means for accumulating probability values in each botasel. This method integrates environmental models without depending on the frequency of giving probabilities, making it possible to create accurate environmental models.
- Non-Patent Document 1 assumes a plane, but corrects the incorrect probability value of the botacell caused by the error included in the measurement data to V and returns it to the value for the botacell holding the probability value. Propose! /
- Patent Document 2 JP-A-9 81788, “Environmental Model Input Device”
- Non-Patent Document 1 describes “Learning Occupancy Grid Maps With
- Non-patent document 2 Kiyohide Sekimoto, et al., “Development of 3D laser radar”, Ishikawajima-Harima Technical Report Vol. 43 No. 4 (2003-7)
- the boatacell structure of Patent Document 1 has a problem that the data size increases as the number of force divisions that repeats the division of the buttonel cell increases. For this reason, the division depth is generally fixed, which limits the resolution. In other words, it is not possible to express a resolution that is greater than the size of the divided botacell. In addition, there is a botasel that is generated by mistake due to data containing errors. For this reason, it cannot cope with data containing errors.
- Non-Patent Document 1 Since the botacell structure of Non-Patent Document 1 includes a process of lowering the probability, it has a function of erasing a botacell that holds an erroneous probability value. However, in general, there are both the area where the measurement object exists and the area where the measurement object does not exist in the Botacel, so even if multiple measurements are combined, it does not converge to the shape! There is a problem.
- the present invention has been developed to solve the above-described problems.
- the object of the present invention is to restore a stationary three-dimensional shape by integrating distance data from multiple positions, and to increase the resolution without significantly increasing the data size.
- An object of the present invention is to provide a method and apparatus for storing and displaying three-dimensional shape data, and a method and apparatus for measuring a three-dimensional shape, which can cope with data including errors.
- An output step of outputting the botasel position, representative point, and error distribution to an output device A method for storing and displaying three-dimensional shape data is provided. Further, according to the present invention, there is provided a three-dimensional shape measurement method for recovering a three-dimensional shape from the coordinate value of a measurement point on the three-dimensional shape and outputting three-dimensional shape data,
- Model building steps to build an environmental model
- the method for storing and displaying the three-dimensional shape data or the method for measuring the three-dimensional shape may include the following contents.
- the coordinate value and error distribution are set as the coordinate value and error distribution of the representative point.
- a model update step for updating the environmental model, and in the model update step, a Botacel corresponding to the coordinate value of the newly input measurement point is searched.
- the error distributions do not overlap with each other, it is preferable to further divide the voxel into a plurality of hierarchical hierarchies so that only a single representative point exists within a single botacell.
- an octree or a KD tree is used to divide the botacell.
- a coordinate value on the three-dimensional shape is sequentially acquired as distance data having an arbitrary measurement position as the origin using a distance sensor while moving the origin.
- the distance sensor position and error distribution are obtained, it is preferable to synthesize the distance sensor position error distribution and the measurement data error distribution.
- the newly acquired error distribution is compared with the error distribution in the already set botacell, and when the error distributions overlap each other, As a result of resetting a new error distribution and a new representative point, when the new representative point moves into another botacel,
- the new error distribution is compared with the error distribution in the other button cell that has already been set.
- A When the error distributions overlap each other, From both error distributions, or from both error distributions and the representative points already set in the button cell and the new representative points, a new error distribution and a new representative point are reset, and (B) If they do not overlap with each other, in some cases, only a single representative point exists within a single botasel, and the botasel is further divided into a plurality of hierarchies.
- a new representative point is obtained by the Kalman filter from the newly inputted coordinate value of the measured point and its error distribution, and the representative point and its error distribution in the already set button cell. Get the error distribution and reset it.
- the position of the representative point of the button cell is output to the output device as a measured value of a three-dimensional shape, and an index indicating the reliability or accuracy of the measured value is used as an error distribution inside the button cell. Output to the output device based on the size of.
- the outputting step when outputting the position of the representative point of the botacel to the output device as a measured value of a three-dimensional shape, a size of an error distribution inside the voxel is larger than a predetermined reference value In addition, if the reliability or accuracy of the measurement value is lower than a predetermined standard, the measurement value of the voxel is not output to the output device.
- the position force of the distance sensor is output to the output device as the three-dimensional shape measurement value of the representative point of the boat cell in the environmental model in a range where the distance sensor can measure the position.
- a storage / display device for 3D shape data for restoring a 3D shape from the coordinate values of a measurement point on the 3D shape
- a data input device for inputting coordinate values on a three-dimensional shape to a computer
- a matching device for setting and storing a representative point and its error distribution in the inside of the button cell corresponding to the coordinate value
- a data input device for inputting coordinate values on a three-dimensional shape to a computer
- a matching device for setting and storing a representative point and its error distribution in the inside of the button cell corresponding to the coordinate value
- a three-dimensional shape measuring apparatus comprising a data transmission device that outputs at least one of the representative point, the botacell position, and the error distribution to an output device.
- the three-dimensional shape data storage 'display device or the three-dimensional shape measurement device may include the following contents.
- the three-dimensional shape data storage 'display device or the three-dimensional shape measuring device is represented by the matching device inside the button cell corresponding to the coordinate value.
- a model updating device for updating the environmental model after setting and storing a point and its error distribution;
- the three-dimensional shape data storage 'display device or the three-dimensional shape measurement device is represented by the matching device inside the button cell corresponding to the coordinate value.
- a model updating device for updating the environmental model after setting and storing a point and its error distribution;
- the coordinate value and error distribution are set as the coordinate value and error distribution of the representative point.
- the three-dimensional shape data storage / display device or the three-dimensional shape measuring device is represented by the matching device in the inside of the button cell corresponding to the coordinate value.
- a model updating device for updating the environmental model after setting and storing a point and its error distribution;
- the newly acquired error distribution is compared with the error distribution in the already set botacell,
- the new error distribution and the new error distribution are calculated from both error distributions, or both error distributions and the coordinate values of the representative points already set in the button cell and the newly input measured point. Re-set the representative point,
- the voxel is further divided into a plurality of hierarchically so that there is only a single representative point in a single votacell.
- the matching device sets and stores the probability value of the botacell in addition to the representative point and its error distribution inside the botacell.
- the three-dimensional shape data storage 'display device or the three-dimensional shape measurement device uses a coordinate value on the three-dimensional shape as an origin as an arbitrary measurement position.
- a distance sensor that sequentially acquires the distance data while moving the origin is provided.
- the matching device synthesizes the error distribution of the distance sensor position and the error data distribution when the distance sensor position and error distribution are obtained. .
- the model update device includes:
- the new error distribution is compared with the error distribution in the other button cell that has already been set.
- A When the error distributions overlap each other, New error distribution and new representative point are reset from both error distributions, or from both error distributions and representative points already set in the button cell and the new representative points.
- B Error distributions overlap each other. In this case, in order to have only a single representative point in a single botacell, the botacell is further divided into a plurality of hierarchies.
- the 3D shape data storage 'display device or the 3D shape measuring device includes a model update device that updates the environmental model after the matching step.
- the model updating apparatus acquires a new representative point and error distribution by a Kalman filter from the newly inputted coordinate value of the measured point and its error distribution, and the representative point in the already set botacell and its error distribution. To reset.
- the data transmission device outputs the position of the representative point of the botacel as a three-dimensional shape measurement value to the output device, and displays an index indicating the reliability or accuracy of the measurement value inside the voxel. Based on the size of the error distribution! /, Output to the output device.
- the data transmission device When the data transmission device outputs the position of the representative point of the botacel as a three-dimensional measurement value to the output device, the size of the error distribution inside the voxel is a predetermined reference If the measured value is larger than the value, it is determined that the reliability or accuracy of the measured value is lower than a predetermined reference value, and the measured value of the button cell is not output to the output device.
- the output device outputs the position of the representative point of the button cell in the environmental model in a range in which the distance sensor can measure the position as a three-dimensional shape measurement value to the output device.
- a spatial region where a three-dimensional shape exists is divided into a plurality of voxels and the positions of each botacel are stored. Therefore, even if the measurement object is large, the amount of data Can be suppressed to a small data proportionate to the number of botasels.
- the representative point and its error distribution are set and stored in the inside of the button cell corresponding to the coordinate value, information exceeding the resolution of the button cell can be expressed.
- the maximum botacell when the maximum botacell is set to a size corresponding to the necessary minimum resolution, and there are a plurality of measurement points in a single botacell,
- the voxel is further divided and divided into a plurality of hierarchical hierarchies so that only a single point to be measured exists within a single botasel.
- the representative point can be used to further increase the resolution.
- the voxel is further divided into a plurality of hierarchies in a hierarchical manner so that only a single representative point exists within a single votacell. It is possible to converge to a highly accurate shape while avoiding accumulation.
- the method and apparatus of the present invention has a function of correcting distance data including an error into accurate information, and by repeating this, it is highly effective for long-time measurement. Converge to an accurate shape.
- the method of the present invention is a process for updating the representative points corresponding to each botasel and the error distribution thereof with new measurement points, so the amount of calculation is small.
- the measurement data can be successively integrated into the botacell structure with the minimum resolution required for the largest botacell, and the memory size does not greatly exceed the fixed size.
- a new value is obtained by a Kalman filter from the newly input coordinate value of the measured point and its error distribution, and the representative point and the error distribution in the already set botasel. Since the representative point and the error distribution are acquired and reset, the shape can be obtained closer to the true value.
- an index indicating the reliability or accuracy of the measurement value is provided. Since the error distribution inside the voxel is output to the output device, the user can select the measurement value with low reliability according to the contents of the application when using the measurement device. It's a little bit.
- the size of the error distribution inside the voxel is predetermined. If the reliability or accuracy of the measured value is lower than a predetermined standard, the measured value of the voxel is not output to the output device. Therefore, when using a measurement device, only highly reliable measurement values can be handled in the first place, which leads to a reduction in the amount of data handled and an improvement in reliability.
- a coordinate value on a three-dimensional shape is sequentially acquired while moving the origin as distance data having an arbitrary measurement position as the origin, and in particular, By obtaining distance data from different directions, it is possible to integrate distance data of error distributions with different distribution shapes and improve accuracy.
- FIG. 1 is a configuration diagram of a three-dimensional laser radar disclosed in Non-Patent Document 2.
- polar coordinate values (r, ⁇ , ⁇ ) with an arbitrary measurement position as the origin are measured as measurement results.
- An error distribution as shown in the figure usually exists in the measurement result of the distance sensor.
- A is a standard constant.
- the data input device 32 includes the above-described distance sensor, and inputs coordinate values on a three-dimensional shape to a storage device.
- the position / posture and moving distance of the distance sensor may be input using a goometer, odometer, or the like.
- the data input device 32 may also have normal input means such as a keyboard.
- the model building device is a device that performs a model building step described later
- the matching device is a device that performs a matching step described later
- the model updating device is a device that performs a model updating step described later
- a data transmission device Is a device that outputs data to the output device 36.
- the above-described apparatus of the present invention may be a combination of the above-described distance sensor and a normal PC (computer), or may be an apparatus in which the entirety is integrated. Also, it may be integrated into a self-propelled device.
- the method of the present invention is a three-dimensional shape measurement method and apparatus for restoring a three-dimensional shape from the coordinate value of a measurement point on the three-dimensional shape, and includes a data input step Sl, a data correction step S2, and a model construction. It has step S3, matching step S4, model update step S5, and output step S6.
- Sl, S2, and S4 to S6 are performed each time measurement data is obtained, and S3 can be performed only when measurement data is obtained for the first time.
- the coordinate value on the three-dimensional shape is input to the computer storage device using the distance sensor. Also, for example, using a goometer, odometer, etc.
- this data input step S1 it is preferable to use the three-dimensional laser radar 10 to sequentially obtain the coordinate values on the three-dimensional shape as distance data having an arbitrary measurement position as the origin and without moving the origin.
- the coordinate value on the three-dimensional shape is This is distance data with an arbitrary measurement position as the origin, and is represented by polar coordinate values (r, ⁇ , ⁇ ). Also, the error distribution of each coordinate value is input in advance by another input means (for example, a keyboard), which is a force obtained by calculation from the polar coordinate values (r, ⁇ , ⁇ ).
- isolated point removal In the distance data correction processing, isolated point removal, statistical processing, and the like are performed.
- An isolated point is a point that exists in an isolated point force, and the measurement data is composed of a plurality of adjacent points. Therefore, the isolated point can be removed assuming that it is an erroneous measurement.
- Statistical processing takes into account the error distribution included in the measurement data and corrects the distance by statistical processing (for example, average value) of multiple measurements.
- the target three-dimensional shape can be approximated by a straight line or a plane, these should be performed.
- FIG. 5 is a schematic diagram of model building steps when an octree is used to divide the botacell.
- the space model where the three-dimensional shape exists is divided into a plurality of botell cells 6 that have rectangular body forces whose boundary surfaces are orthogonal to each other, and an environment model that stores each bot cell position. Build up.
- FIG. 6 is a schematic diagram of the constructed environmental model.
- the representative point 7 and its error distribution 8 are set and stored inside the boat cell 6 corresponding to the coordinate value on the three-dimensional shape.
- the terminal botasel can have only one representative point of measurement.
- Each botacel has a representative point of the measured value and its error distribution to represent the shape of the object.
- (X, y, z) is the relative coordinates of the representative point in the button cell
- Sx, Sy, Sz is the size of one side of the button cell at level 1
- n (k), n (k), n (k) are the levels
- the address of the boat cell at k, L is the level where the desired representative point exists.
- FIG. 7A and FIG. 7B are diagrams showing the data structure of the botacell data in the present invention.
- Presence The presence or absence of an object can be expressed.
- model update step S5 is performed after the matching step S4, and updates the environment model constructed in the model construction step S3.
- FIG. 8 is a data processing flowchart in the model update step S5. As shown in this figure, if a search is made for a botacell corresponding to the coordinate value of the measured point newly input in step ST1, and there is no representative point in that botacell in step ST2 (the botacell is empty), Sets (newly registers) the coordinate value and error distribution of the measured point newly input in step ST3 as the coordinate value and error distribution of the representative point.
- step ST3 there should be essentially no object between the new measurement position (origin) and the measured point. Therefore, the representative point and error distribution in the button cell located between the new measurement position (origin) and the measured point are reset or deleted.
- step ST4 the error distribution newly acquired in step ST4 is compared with the error distribution in the already set botacell (i.e., whether different points are the same). Judge whether it is one point).
- the voxel is further divided into eight so that only a single representative point exists in a single votacell in steps ST6 and ST7. In this way, it is divided into a plurality of hierarchies and newly registered.
- the criteria for division and synthesis are determined from, for example, the degree of coincidence of error distributions.
- a distance scale such as Mahalanobis distance or a probability scale such as likelihood can be used as the degree of coincidence of the error distribution.
- the force that represents the same point may be determined by statistical testing.
- step ST5 a new error distribution and a new error distribution center are reset from both error distributions.
- a new representative point has moved into another button cell (ie, Yes in step ST8), the process returns to step ST2 and the above-described processing is repeated.
- Figure 10 shows the new error distribution and new error from both error distributions at step ST5, or from both error distributions and the coordinate values of the representative points already set in the botacell and the newly input measured points. As a result of resetting the center of the distribution, a new representative point moves to another botasel.
- the position of the representative point of the button cell is output to the output device 36 as a three-dimensional shape measurement value, and an index (for example, a numerical value) indicating the reliability or accuracy of the measurement value is displayed for the voxel.
- the size (spread) of the error distribution inside the voxel is larger than a predetermined reference value.
- the measured value is smaller than the predetermined reference, the measured value of the voxel (that is, the position of the representative point of the votacel) is not output to the output device 36.
- a search is made for a button cell corresponding to the coordinate value of the newly input measured point, and a representative point and an error distribution in the button cell are newly set. Only when the car, the car to be reset, or the voxel is further divided into a plurality of hierarchically divided botasels, in the output step S6, the representative point position, error distribution and At least one of the positions may be output to the output device as a three-dimensional shape measurement value.
- the position of the representative point of the button cell in the environmental model in the range visible from the position is measured as a three-dimensional shape measurement value to the output device. It may be output.
- the range where the position force of the distance sensor can be seen is the range where the distance sensor can measure the position of the distance sensor. From the position of the distance sensor, the angle range (field of view) where the distance sensor can measure the position and the position of the distance sensor Include the distance range that the distance sensor can measure!
- the processing procedure shown in FIG. 4 repeats the processing every time new measurement data is obtained, and at least the internal storage device 34 and the external storage device 33 are used. Also stores the result in either. In order to speed up processing, it is preferable to store the results in the internal storage device 34 as much as the capacity allows.
- the spatial region in which the three-dimensional shape exists is divided into a plurality of botasels 6, and the positions of the respective botasels are stored in the external storage device 33. Even if is large, the amount of data can be reduced to a data size that is small in proportion to the number of botasels.
- the maximum botacell 9 is set to a size corresponding to the necessary minimum resolution, and there are a plurality of measurement points in a single botacell 9
- the voxel is further divided into eight and divided into a plurality of hierarchically so that only a single point to be measured exists in a single botagel, the data volume can be reduced to a small data size.
- the resolution can be further increased by using the divided botacell and representative points.
- a plurality of coordinate values on a three-dimensional shape are acquired as distance data having a plurality of measurement positions as origins, and the coordinate value of the distance data is used as the coordinate value of the representative point.
- Figure 12 shows how the error distribution of representative points is reduced and the accuracy of representative points is improved by integrating distance data with multiple measurement positions as the origin. Since the distance data obtained with different measurement positions (that is, the position of the three-dimensional measuring instrument as the distance sensor) as the origin also has different error distribution directions, these distance data are integrated sequentially via the environmental model. As a result, the error distribution of the representative points is reduced, and the position accuracy of the representative points is improved.
- the figure after the three-dimensional measurement is a schematic diagram showing a two-dimensional cross section of the cup, and the broken line in the figure after the three-dimensional measurement shows the actual surface of the cup.
- the voxel is further divided into eight and divided into a plurality of hierarchically so that only a single representative point exists in a single votacell. It is possible to converge to a highly accurate shape while avoiding accumulation.
- the probability value of each boatel is also calculated as a representative point and an error distribution force.
- the probability value of the botacell is calculated by including it in the botacell for the entire error distribution. The specific power of the distribution can also be obtained.
- probability values are synthesized by, for example, Bayesian estimation using probability values for the respective error distributions.
- the absolute error of the measurement data can be calculated by synthesizing this error distribution with the error distribution of the measurement data.
- FIG. 15 is a schematic diagram in the case of calculating the absolute error of the measurement data by combining the error distribution of the position of the distance sensor and the error distribution of the measurement data.
- the method and apparatus of the present invention has a function of correcting distance data including an error to accurate information, and by repeating this, it is highly accurate for long-time measurement. Converge to shape.
- the method of the present invention is a process for updating the representative points 7 corresponding to the respective botasels 6 and the error distribution 8 thereof with new measurement points, so that the calculation amount is small.
- the measurement data can be sequentially integrated into a voxel structure with the maximum resolution and the minimum resolution, and the memory size does not greatly exceed the fixed size.
- the position m (i) of each model point group is a state quantity, and the model is expressed by the following equation (3) based on the position of the measurement point of the distance sensor.
- m (i) is a representative point inside the botasel (hereinafter the same).
- L (j) is a measurement position by the distance sensor.
- t is the transposed matrix (the same applies below)
- h (R, t, m (i)) is an observation system model for L (j).
- the translation vector t (X, y, z) representing the position of the mobile body (for example, mobile robot) equipped with the distance sensor with respect to the world coordinate system.
- v (i) is the observation noise added to the measured value L (j) of the distance sensor.
- the measurement object is stationary, and the position and orientation of the measurement object! Fix ⁇ to the environment model.
- Measurement point cloud by distance sensor and point i (ie representative point) on environmental model point cloud The point i on the model point group to which this association is performed is updated by the following equation (4). It should be noted that only the representative point m (i) on the model point group associated with the measurement point group by the distance sensor may be updated by the following equation (4).
- K mk (i) ⁇ mk (i) H mk (j) H mk (j) ⁇ mk (i) H mk + ⁇ Lk (j))-1
- the subscript k represents a value at a discrete time k.
- m and (i) indicate the updated value (post-estimate value) of m (i), and m (i) is m, k k k k, k-1 k-
- N is the total number of measurement points obtained by 3D LR.
- N is the total number of measurement points obtained by 3D LR.
- ⁇ S be the error covariance matrix when the laser is irradiated in the X-axis direction of the sensor coordinate system. The error distribution also changes its posture according to the laser irradiation direction.
- ⁇ (j) is the error covariance matrix when the laser is irradiated in the X-axis direction of the sensor coordinate system. The error distribution also changes its posture according to the laser irradiation direction.
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Priority Applications (4)
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DE112006003361T DE112006003361T5 (de) | 2005-12-16 | 2006-12-15 | Verfahren und Vorrichtung für das Aufzeichnen/Anzeigen von dreidimensionalen Formdaten und Verfahren und Vorrichtung für das Messen einer dreidimensionalen Form |
US12/096,871 US8300048B2 (en) | 2005-12-16 | 2006-12-15 | Three-dimensional shape data recording/display method and device, and three-dimensional shape measuring method and device |
JP2007550239A JP4650750B2 (ja) | 2005-12-16 | 2006-12-15 | 三次元形状データの記憶・表示方法と装置および三次元形状の計測方法と装置 |
CN2006800474232A CN101331380B (zh) | 2005-12-16 | 2006-12-15 | 三维形状数据的存储/显示方法和装置以及三维形状的计测方法和装置 |
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Also Published As
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JPWO2007069721A1 (ja) | 2009-05-28 |
JP4650750B2 (ja) | 2011-03-16 |
US8300048B2 (en) | 2012-10-30 |
CN101331380A (zh) | 2008-12-24 |
US20090184961A1 (en) | 2009-07-23 |
DE112006003361T5 (de) | 2008-10-16 |
CN101331380B (zh) | 2011-08-03 |
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