WO2012053521A1 - Dispositif de traitement d'informations optiques, procédé de traitement d'informations optiques, système de traitement d'informations optiques et programme de traitement d'informations optiques - Google Patents

Dispositif de traitement d'informations optiques, procédé de traitement d'informations optiques, système de traitement d'informations optiques et programme de traitement d'informations optiques Download PDF

Info

Publication number
WO2012053521A1
WO2012053521A1 PCT/JP2011/073959 JP2011073959W WO2012053521A1 WO 2012053521 A1 WO2012053521 A1 WO 2012053521A1 JP 2011073959 W JP2011073959 W JP 2011073959W WO 2012053521 A1 WO2012053521 A1 WO 2012053521A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
unit
dimensional
position data
image capturing
Prior art date
Application number
PCT/JP2011/073959
Other languages
English (en)
Japanese (ja)
Inventor
高地　伸夫
忠之 伊藤
北村　和男
大谷　仁志
Original Assignee
株式会社トプコン
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社トプコン filed Critical 株式会社トプコン
Publication of WO2012053521A1 publication Critical patent/WO2012053521A1/fr

Links

Images

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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
    • 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
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration

Definitions

  • calibration The process of obtaining the parameters necessary for this correction is called calibration.
  • calibration of the imaging device is performed at the time of shipping as a product.
  • this pre-calibration is performed under certain conditions (setting conditions in the factory), and the distance to the object to be measured is fixed or limited in order to perform accurate correction.
  • conditions for imaging for acquiring three-dimensional point cloud position data are limited, and usability is not good.
  • it is possible to perform calibration of the imaging device in a situation in which imaging is actually performed complicated operations such as setting of targets and setting of various conditions are required, which is not efficient.
  • the external positioning elements (X0, Y0, Z0) are obtained from the following equation 9 using the parameters b1 to b8 of equation 8.
  • the image data of the measurement object obtained from the laser scanner 121 and the image data of the measurement object obtained from the digital camera 122 are compared, and the portion of the feature that matches the two is calculated as the corresponding point.
  • the image data of the measurement object obtained from the laser scanner 121 is an image in which the information (RGB intensity etc.) of the reflected light of the three-dimensional point group position data acquired by the laser scanner 121 is used as pixel information. is there. Since the three-dimensional point group position data has information related to the intensity of the reflected light, it is necessary to obtain an image of the measurement object with the intensity of the reflected light as density information by configuring the image as pixel information. Can.
  • the labeling model shown in FIG. 8C includes an error, it is sufficiently possible to determine the geometrical match. That is, detection of a portion where the shape of the measurement object grasped from the first viewpoint and the shape of the measurement object grasped from the second viewpoint match is sufficiently possible by the method shown in FIG. This is the same in comparison of three-dimensional shapes.
  • unknown parameters K 1 to K 2 and P 1 to P 2 can be obtained based on the above polynomial when focusing on a large number of targets. As a result, it is possible to correct an image captured by the digital camera 122.
  • the small label (surface) is removed as noise.
  • This noise removal may be performed simultaneously with the surface labeling process.
  • the number of points of the same label (the number of points forming the label) is counted, and a process of canceling the label which is the number of points less than or equal to a predetermined number is performed.
  • the same label as the nearest surface (closest surface) is given. This expands the already labeled surface.
  • the laser scanner 122 corresponds to the laser scanner 121 of FIG. 1, and acquires three-dimensional point cloud position data of the building 120 which is the measurement object.
  • the laser scanner 122 is disposed at the first viewpoint.
  • the personal computer 123 has the function of the optical information processing apparatus 100 of FIG. 1 and is connected to two digital cameras of the laser scanner 122 and the stereo pair image capturing apparatus 124, and receives three-dimensional point cloud position data from the laser scanner 122 and Image data from the two digital cameras 125 and 126 are input.
  • the stereo pair image capturing device 124 corresponds to the digital camera of FIG.
  • step S904 it is also effective to correct the stereo pair image photographed in step S904 by using the above-mentioned approximate curve in the image correction unit 107, and to increase the accuracy thereof.
  • the accuracy of the stereo pair image obtained in step S904 can be increased, the calculation of the second three-dimensional point group position data in step S905 based on the stereo pair image obtained in step S904 can be made in advance with little error. . By doing this, it is possible to save labor of calculation and to obtain accurate results easily.
  • FIG. 14 is a block diagram of the calculation unit 4.
  • the calculation unit 4 includes a three-dimensional coordinate calculation unit 74, a link formation unit 75, a grid formation unit 9, and an optical information processing unit 100 '.
  • the three-dimensional coordinate calculation unit 74 receives the distance data of the measurement target point from the distance data processing unit 72, and the direction data of the measurement target point from the horizontal angle detector 44 and the elevation angle detector 64 (horizontal angle and elevation angle) Is input.
  • the three-dimensional coordinate calculation unit 74 determines the three-dimensional coordinates (orthogonal coordinates) of each measurement point with the position of the optical information processing apparatus 1 as the origin (0, 0, 0) based on the input distance data and direction data. calculate.
  • Coordinate data on the earth obtained from the GPS receiving unit 82 is input to the optical information processing unit 100 ′.
  • the coordinates handled by the optical information processing unit 100 ' are linked to position data (for example, electronic map information) obtained from the GPS.
  • position data for example, electronic map information

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manufacturing & Machinery (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

La présente invention permet d'étalonner efficacement et facilement un moyen d'imagerie dans des conditions d'imagerie particulières, à l'aide d'une technologie qui obtient, à partir d'une image acquise, des données de position de groupe de points tridimensionnelles qui complètent des données de position de groupe de points tridimensionnelles obtenues au moyen d'un dispositif de balayage laser. Un balayage laser d'un bâtiment (120) est effectué à partir d'un premier point de vue et des données de position de groupe de points tridimensionnelles sont obtenues. Des images de couple stéréoscopique des sections non visibles du bâtiment (120) depuis le premier point de vue sont acquises à partir d'un second point de vue. Ensuite, un dispositif (124) d'acquisition d'images de couple stéréoscopique est étalonné à l'aide des données de position de groupe de points tridimensionnelles en trouvant la relation de correspondance entre les images stéréoscopiques obtenues depuis le second point de vue et les données de position de groupe de points tridimensionnelles obtenues depuis le premier point de vue.
PCT/JP2011/073959 2010-10-18 2011-10-18 Dispositif de traitement d'informations optiques, procédé de traitement d'informations optiques, système de traitement d'informations optiques et programme de traitement d'informations optiques WO2012053521A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010-233764 2010-10-18
JP2010233764A JP5580164B2 (ja) 2010-10-18 2010-10-18 光学情報処理装置、光学情報処理方法、光学情報処理システム、光学情報処理プログラム

Publications (1)

Publication Number Publication Date
WO2012053521A1 true WO2012053521A1 (fr) 2012-04-26

Family

ID=45975232

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2011/073959 WO2012053521A1 (fr) 2010-10-18 2011-10-18 Dispositif de traitement d'informations optiques, procédé de traitement d'informations optiques, système de traitement d'informations optiques et programme de traitement d'informations optiques

Country Status (2)

Country Link
JP (1) JP5580164B2 (fr)
WO (1) WO2012053521A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012141235A1 (fr) * 2011-04-13 2012-10-18 株式会社トプコン Dispositif de traitement de données de position de groupes de points tridimensionnels, système de traitement de données de position de groupes de points tridimensionnels, procédé et programme de traitement de données de position de groupes de points tridimensionnels
US9977983B2 (en) 2012-08-09 2018-05-22 Kabushiki Kaisha Topcon Optical data processing device, optical data processing system, optical data processing method, and optical data processing program
CN111047650A (zh) * 2019-12-02 2020-04-21 北京深测科技有限公司 一种用于飞行时间相机的参数标定方法
CN111220100A (zh) * 2020-04-10 2020-06-02 广东博智林机器人有限公司 基于激光束的测量方法、装置、系统、控制设备及介质
CN113099210A (zh) * 2021-03-31 2021-07-09 东莞中国科学院云计算产业技术创新与育成中心 三维图像还原方法、装置、计算机设备和存储介质
CN113643388A (zh) * 2021-10-14 2021-11-12 深圳市海谱纳米光学科技有限公司 一种用于高光谱图像的黑帧标定、矫正方法和系统
CN115388911A (zh) * 2022-08-24 2022-11-25 Oppo广东移动通信有限公司 光学动作捕捉系统的精度测量方法、装置、电子设备

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9183631B2 (en) * 2012-06-29 2015-11-10 Mitsubishi Electric Research Laboratories, Inc. Method for registering points and planes of 3D data in multiple coordinate systems
JP6214867B2 (ja) * 2012-11-14 2017-10-18 株式会社東芝 計測装置、方法及びプログラム
JP6081209B2 (ja) * 2013-02-01 2017-02-15 オリンパス株式会社 内視鏡装置およびプログラム
DE102013009288B4 (de) * 2013-06-04 2016-02-04 Testo Ag 3D-Aufnahmevorrichtung, Verfahren zur Erstellung eines 3D-Bildes und Verfahren zur Einrichtung einer 3D-Aufnahmevorrichtung
DE112014002943T5 (de) * 2013-06-19 2016-03-10 Mitsubishi Electric Corporation Verfahren zur Registrierung von Daten unter Verwendung eines Satzes von Grundelementen
JP6622886B2 (ja) * 2013-07-09 2019-12-18 キヤノン株式会社 情報処理装置、情報処理方法およびプログラム
JP6296444B2 (ja) * 2014-01-30 2018-03-20 国際航業株式会社 点群画像による図化方法、及び点群画像による図化装置
JP6433200B2 (ja) * 2014-08-28 2018-12-05 株式会社トプコン 演算装置、演算方法、およびプログラム
JP6251142B2 (ja) * 2014-09-05 2017-12-20 公益財団法人鉄道総合技術研究所 測定対象物の非接触検知方法及びその装置
JP2016057108A (ja) * 2014-09-08 2016-04-21 株式会社トプコン 演算装置、演算システム、演算方法およびプログラム
WO2017187950A1 (fr) * 2016-04-27 2017-11-02 富士フイルム株式会社 Dispositif et procédé de traitement d'image
CN107808398B (zh) 2016-09-08 2023-04-07 松下知识产权经营株式会社 摄像头参数算出装置以及算出方法、程序、记录介质
JP6877946B2 (ja) * 2016-10-17 2021-05-26 株式会社トプコン レーザスキャナ
JP7038346B2 (ja) 2017-05-01 2022-03-18 パナソニックＩｐマネジメント株式会社 カメラパラメータ算出方法、カメラパラメータ算出プログラム、及びカメラパラメータ算出装置
JP7113611B2 (ja) * 2017-11-30 2022-08-05 大成建設株式会社 位置特定装置、位置特定プログラム及び位置特定方法、並びに、撮影画像登録装置、撮影画像登録プログラム及び撮影画像登録方法
JP7007167B2 (ja) * 2017-12-05 2022-01-24 株式会社トプコン 測量装置、測量装置の校正方法および測量装置の校正用プログラム
JP6403862B1 (ja) * 2017-12-14 2018-10-10 キヤノン株式会社 ３次元モデルの生成装置、生成方法及びプログラム
CA3061699C (fr) * 2017-12-14 2023-03-07 Canon Kabushiki Kaisha Dispositif de generation, methode de generation et support informatique non transitoire stockant un programme pour la generation d'un modele tridimensionnel a partir d'une image
AU2018384159B2 (en) * 2017-12-14 2021-02-11 Canon Kabushiki Kaisha Generation device, generation method and program for three-dimensional model
JP6986683B2 (ja) 2018-01-05 2021-12-22 パナソニックＩｐマネジメント株式会社 視差値算出装置、視差値算出方法及びプログラム
JPWO2020075213A1 (ja) * 2018-10-09 2021-09-02 オリンパス株式会社 計測装置、計測方法および顕微鏡システム
JP6511681B1 (ja) 2018-10-15 2019-05-15 株式会社Ｍｕｊｉｎ 形状情報生成装置、制御装置、積み降ろし装置、物流システム、プログラム、及び、制御方法
JP7433623B2 (ja) * 2019-11-18 2024-02-20 株式会社ベイシスコンサルティング 構造物画像管理システム
JP6928217B1 (ja) * 2020-07-31 2021-09-01 松尾建設株式会社 測定処理装置、方法及びプログラム
JP2022111795A (ja) * 2021-01-20 2022-08-01 オムロン株式会社 計測システム、検査システム、計測装置、計測方法、検査方法、及びプログラム

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004085553A (ja) * 2002-06-26 2004-03-18 Pentax Corp 測量システム
JP2005077385A (ja) * 2003-09-03 2005-03-24 Hitachi Plant Eng & Constr Co Ltd 画像対応付け方法ならびに測量方法およびそれらを利用する計測システム
JP2007171092A (ja) * 2005-12-26 2007-07-05 Ishikawajima Harima Heavy Ind Co Ltd 三次元計測用マーカとこれを用いた三次元計測方法
JP2008082707A (ja) * 2006-09-25 2008-04-10 Topcon Corp 測量方法及び測量システム及び測量データ処理プログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004085553A (ja) * 2002-06-26 2004-03-18 Pentax Corp 測量システム
JP2005077385A (ja) * 2003-09-03 2005-03-24 Hitachi Plant Eng & Constr Co Ltd 画像対応付け方法ならびに測量方法およびそれらを利用する計測システム
JP2007171092A (ja) * 2005-12-26 2007-07-05 Ishikawajima Harima Heavy Ind Co Ltd 三次元計測用マーカとこれを用いた三次元計測方法
JP2008082707A (ja) * 2006-09-25 2008-04-10 Topcon Corp 測量方法及び測量システム及び測量データ処理プログラム

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2012141235A1 (ja) * 2011-04-13 2014-07-28 株式会社トプコン 三次元点群位置データ処理装置、三次元点群位置データ処理システム、三次元点群位置データ処理方法およびプログラム
US9053547B2 (en) 2011-04-13 2015-06-09 Kabushiki Kaisha Topcon Three-dimensional point cloud position data processing device, three-dimensional point cloud position data processing system, and three-dimensional point cloud position data processing method and program
JP6030549B2 (ja) * 2011-04-13 2016-11-24 株式会社トプコン 三次元点群位置データ処理装置、三次元点群位置データ処理システム、三次元点群位置データ処理方法およびプログラム
WO2012141235A1 (fr) * 2011-04-13 2012-10-18 株式会社トプコン Dispositif de traitement de données de position de groupes de points tridimensionnels, système de traitement de données de position de groupes de points tridimensionnels, procédé et programme de traitement de données de position de groupes de points tridimensionnels
US9977983B2 (en) 2012-08-09 2018-05-22 Kabushiki Kaisha Topcon Optical data processing device, optical data processing system, optical data processing method, and optical data processing program
CN111047650B (zh) * 2019-12-02 2023-09-01 北京深测科技有限公司 一种用于飞行时间相机的参数标定方法
CN111047650A (zh) * 2019-12-02 2020-04-21 北京深测科技有限公司 一种用于飞行时间相机的参数标定方法
CN111220100A (zh) * 2020-04-10 2020-06-02 广东博智林机器人有限公司 基于激光束的测量方法、装置、系统、控制设备及介质
CN113099210B (zh) * 2021-03-31 2023-01-10 东莞中国科学院云计算产业技术创新与育成中心 三维图像还原方法、装置、计算机设备和存储介质
CN113099210A (zh) * 2021-03-31 2021-07-09 东莞中国科学院云计算产业技术创新与育成中心 三维图像还原方法、装置、计算机设备和存储介质
CN113643388A (zh) * 2021-10-14 2021-11-12 深圳市海谱纳米光学科技有限公司 一种用于高光谱图像的黑帧标定、矫正方法和系统
CN113643388B (zh) * 2021-10-14 2022-02-22 深圳市海谱纳米光学科技有限公司 一种用于高光谱图像的黑帧标定、矫正方法和系统
CN115388911A (zh) * 2022-08-24 2022-11-25 Oppo广东移动通信有限公司 光学动作捕捉系统的精度测量方法、装置、电子设备

Also Published As

Publication number Publication date
JP5580164B2 (ja) 2014-08-27
JP2012088114A (ja) 2012-05-10

Similar Documents

Publication Publication Date Title
WO2012053521A1 (fr) Dispositif de traitement d'informations optiques, procédé de traitement d'informations optiques, système de traitement d'informations optiques et programme de traitement d'informations optiques
JP5620200B2 (ja) 点群位置データ処理装置、点群位置データ処理方法、点群位置データ処理システム、および点群位置データ処理プログラム
JP6236118B2 (ja) 三次元データ処理装置、三次元データ処理システム、三次元データ処理方法およびプログラム
JP5593177B2 (ja) 点群位置データ処理装置、点群位置データ処理方法、点群位置データ処理システム、および点群位置データ処理プログラム
JP5465128B2 (ja) 点群位置データ処理装置、点群位置データ処理システム、点群位置データ処理方法、および点群位置データ処理プログラム
CN109859272B (zh) 一种自动对焦双目摄像头标定方法及装置
JP4885584B2 (ja) レンジファインダ校正方法及び装置
WO2021140886A1 (fr) Procédé de génération de modèle tridimensionnel, dispositif de traitement d'informations et programme
CN107155341B (zh) 三维扫描系统和框架
CN104729422B (zh) 用于校正激光测量装置的方法及其系统
WO2011162388A1 (fr) Dispositif de traitement de données de groupes de points, système de traitement de données de groupes de points, procédé de traitement de données de groupes de points et programme de traitement de données de groupes de points
US20120256916A1 (en) Point cloud data processing device, point cloud data processing method, and point cloud data processing program
JP7300948B2 (ja) 測量データ処理装置、測量データ処理方法、測量データ処理用プログラム
CN113034612B (zh) 一种标定装置、方法及深度相机
JP2009042162A (ja) キャリブレーション装置及びその方法
JP2007323615A (ja) 画像処理装置及びその処理方法
Cvišić et al. Recalibrating the KITTI dataset camera setup for improved odometry accuracy
Wilm et al. Accurate and simple calibration of DLP projector systems
US11763491B2 (en) Compensation of three-dimensional measuring instrument having an autofocus camera
JP2005275789A (ja) 三次元構造抽出方法
Cui et al. ACLC: Automatic Calibration for non-repetitive scanning LiDAR-Camera system based on point cloud noise optimization
JP2004170277A (ja) ３次元計測方法、３次元計測システム、画像処理装置、及びコンピュータプログラム
Uyanik et al. A method for determining 3D surface points of objects by a single camera and rotary stage
JP2006003276A (ja) ３次元形状計測システム
Kshirsagar et al. Camera Calibration Using Robust Intrinsic and Extrinsic Parameters

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11834360

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11834360

Country of ref document: EP

Kind code of ref document: A1