WO2013062087A1 - Dispositif de capture d'image pour effectuer une mesure tridimensionnelle, dispositif de mesure tridimensionnelle et programme de mesure - Google Patents

Dispositif de capture d'image pour effectuer une mesure tridimensionnelle, dispositif de mesure tridimensionnelle et programme de mesure Download PDF

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Publication number
WO2013062087A1
WO2013062087A1 PCT/JP2012/077720 JP2012077720W WO2013062087A1 WO 2013062087 A1 WO2013062087 A1 WO 2013062087A1 JP 2012077720 W JP2012077720 W JP 2012077720W WO 2013062087 A1 WO2013062087 A1 WO 2013062087A1
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Prior art keywords
image
unit
measurement
straight line
horizontal
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PCT/JP2012/077720
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English (en)
Japanese (ja)
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智紀 増田
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富士フイルム株式会社
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Priority to JP2013540846A priority Critical patent/JP5600220B2/ja
Publication of WO2013062087A1 publication Critical patent/WO2013062087A1/fr

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    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images

Definitions

  • the present invention relates to an imaging device that captures a parallax image for measuring three-dimensional information, a measurement device that performs three-dimensional measurement based on the parallax image, and a measurement program.
  • Patent Document 1 describes a three-dimensional measuring apparatus using this principle.
  • the horizontal lines of the two viewpoint images constituting the parallax image must be correctly matched with the parallax direction.
  • the horizontal lines in the respective viewpoint images are relatively inclined.
  • two-dimensional projection conversion process is performed on two viewpoint images prior to deriving three-dimensional information including a dimension of a measurement object and a distance from an imaging position from a parallax image. (Referred to as calibration), and the horizontal direction of each viewpoint image coincides with the parallax direction (hereinafter referred to as image parallelization).
  • the horizontal directions of the two viewpoint images can be made to coincide with each other.
  • the vibration of the device and the accuracy of calibration when two viewpoint images are arranged horizontally on the basis of the screen frame, the position of a specific point in the viewpoint image is not aligned on the horizontal line but shifted in the vertical direction. Often occurs (hereinafter, vertical misalignment).
  • a measurement instruction point is set in the left viewpoint image, a horizontal line passing through the measurement instruction point is extended toward the right viewpoint image, and a measurement instruction is included in the right viewpoint image.
  • a process for searching for a corresponding point corresponding to the point is performed.
  • the intersection of the horizontal line extending from the measurement instruction point to the right viewpoint image and the corresponding straight line in the right viewpoint image is recognized as a corresponding point. .
  • the object of the present invention is to search for a corresponding point corresponding to a measurement instruction point input to one viewpoint image in the other viewpoint image, even if there is a vertical shift between the respective viewpoint images.
  • An object of the present invention is to provide a three-dimensional measurement imaging apparatus and a three-dimensional measurement method and apparatus that minimize the influence and do not reduce the measurement accuracy.
  • An imaging apparatus for three-dimensional measurement includes a parallax image imaging unit, an image data storage unit, an image display unit, a measurement point input unit, a straight line detection unit, an angle detection unit, a horizontal determination unit, a warning And a generator.
  • the parallax image capturing unit includes a first camera and a second camera that respectively capture the first viewpoint image and the second viewpoint image from different viewpoints.
  • the image data storage unit stores image data of the first and second viewpoint images.
  • the image display unit displays at least one of the first and second viewpoint images.
  • the measurement point input unit inputs a measurement point to one of the first and second viewpoint images displayed on the image display unit.
  • the straight line detection unit detects a straight line passing through the vicinity of the input measurement point from the viewpoint image.
  • the angle detection unit detects an angle at which the straight line intersects at an acute angle with respect to the horizontal direction of the viewpoint image when the straight line is detected.
  • the horizontal determination unit determines that the detected angle is smaller than a preset threshold value S when the horizontal line is included, and the detected angle is larger than the threshold value S as a horizontal line non-contained state.
  • the warning generation unit generates a warning when the horizontal determination unit determines that the horizontal line is included.
  • the first and second viewpoint images captured by the parallax image capturing unit are stored as image data. Recording control that saves and records in the recording unit, and stops recording and recording the image data of the first and second viewpoint images when the horizontal determination unit determines that the horizontal line is included, and warns the user that it is in an unrecorded state It is desirable to provide a part.
  • a corresponding point search unit is provided for searching for a corresponding point corresponding to the measurement point in the other viewpoint image. It is also effective that the determination unit, the angle detection unit, and the horizontal determination unit perform the same function with respect to corresponding points instead of the measurement points.
  • the image display unit display the presence / absence of straight line detection by the straight line detection unit and the determination result by the horizontal determination unit in addition to the display of the viewpoint image. It is preferable that the recording control unit also adds information related to the detection result of the straight line detection unit and the determination result of the horizontal determination unit to the image data of the corresponding viewpoint image and stores it in the image data storage unit.
  • the warning generating unit should generate warnings that differ in stages depending on the magnitude of the angle detected by the angle detecting unit, and when the warning occurs, the first and second viewpoint images suitable for three-dimensional measurement are generated. It is preferable to perform notification for prompting imaging. Further, the first and second imaging units are rotated about the respective imaging optical axes, and when the warning occurs, the first and second imaging units are automatically rotated so as to be in a state not containing the horizon. Also good.
  • the present invention can also be implemented in the form of a three-dimensional measuring apparatus.
  • the three-dimensional measurement apparatus includes a parallax image storage unit, an image display unit, a measurement point input unit, a corresponding point search unit, a three-dimensional measurement unit, a straight line detection unit, an angle detection unit, and a horizontal determination unit. And a warning generation unit.
  • the parallax image storage unit stores the first viewpoint image and the second viewpoint image input from the outside.
  • the image display unit displays at least one of the first and second viewpoint images.
  • the measurement point input unit inputs a measurement point to one viewpoint image displayed on the image display unit.
  • the corresponding point search unit searches for a corresponding point corresponding to the measurement point in the other viewpoint image in which the measurement point is not input.
  • the three-dimensional measurement unit derives three-dimensional information of the subject based on the first and second viewpoint images, the measurement points, and the corresponding points.
  • the straight line detection unit detects a straight line passing through the vicinity of the measurement point or the corresponding point.
  • the angle detection unit detects an angle at which the straight line intersects at an acute angle with respect to the horizontal direction of the viewpoint image.
  • the horizontal determination unit determines that the detected angle is smaller than a preset threshold value S when the horizontal line is included, and if the detected angle is larger than the threshold S, the horizontal line is not included.
  • the warning generation unit generates a warning when the horizontal determination unit determines the horizon-containing state, and appropriate three-dimensional information is derived from the first and second viewpoint images externally input to the parallax image storage unit. Notify you that you cannot.
  • stereo matching processing can be used.
  • a more appropriate corresponding point is derived.
  • a corresponding point detection direction search unit or the like is provided.
  • the corresponding point detection direction search unit follows the straight line passing through the corresponding point from the viewpoint image from which the corresponding point is derived before the three-dimensional measurement unit derives the three-dimensional information when the warning occurs. Search for new corresponding points. When a new corresponding point is searched, the new corresponding point can be used for derivation of the three-dimensional information instead of the original corresponding point.
  • a warning occurs, after a determination by the horizontal determination unit, when a specific image belonging to a certain area centered on the measurement point of the viewpoint image and a certain area are scanned along a straight line passing through the measurement point Compared with scanned images obtained sequentially from within a certain area during scanning, image similarity is determined, and when the similarity is below a preset reference level, the corresponding point detection direction search unit previously Since there is a high possibility that the searched new corresponding point is an appropriate corresponding point, the derivation of the three-dimensional information using the new corresponding point may be allowed.
  • the present invention also includes a three-dimensional measurement program.
  • the program of the present invention includes a parallax image storage step, an image display step, a measurement point input step, a corresponding point search step, and a three-dimensional measurement step.
  • the parallax image storing step the first viewpoint image and the second viewpoint image having different imaging viewpoints are stored in the storage medium.
  • the image display step at least one of the first and second viewpoint images is displayed as an image.
  • measurement point input step measurement point input processing is performed on one viewpoint image displayed in the image display step.
  • a corresponding point corresponding to the measurement point is searched for in the other viewpoint image that is not the input target of the measurement point by a technique such as stereo matching processing.
  • the three-dimensional measurement step derivation of three-dimensional information related to the subject imaged in the viewpoint image based on the first and second viewpoint images, the measurement points, and the corresponding points is performed.
  • the straight line detection step the presence or absence of a straight line passing through the vicinity of the measurement point or the corresponding point is confirmed.
  • the angle detection step The angle at which the straight line intersects at an acute angle with respect to the horizontal direction is detected.
  • the horizontal determination step a case where the detected angle is smaller than a preset threshold value S is determined to be a horizontal line containing state, a case where the detected angle is large is determined to be a horizontal line non-containing state, and a warning is given if the horizontal determining unit determines that the horizontal line is included.
  • the generation step it is warned that the correspondence between the measurement points and the corresponding points is poor in reliability, and as a result, the reliability of the three-dimensional measurement information derived in the three-dimensional measurement step is also poor.
  • the maximum value of the vertical image shift amount generated between the first and second viewpoint images is Vmax, and an error of horizontal parallax allowed in the three-dimensional measurement is Umax.
  • Vmax the maximum value of the vertical image shift amount generated between the first and second viewpoint images
  • Umax an error of horizontal parallax allowed in the three-dimensional measurement
  • it is effective to set “S Arctan (Vmax / Umax)”.
  • the warning generated in the warning generation step is in a plurality of stages according to the size of the angle detected in the angle detection step.
  • the measurement input to one of the viewpoint images It is possible to prevent erroneous setting when setting a corresponding point corresponding to a point to the other viewpoint image, and to perform three-dimensional measurement with high accuracy.
  • the imaging apparatus using the present invention is composed of a stereo camera 2, and a left-eye camera 2a and a right-eye camera 2b are provided side by side.
  • the optical system used for each of the cameras 2a and 2b has the same optical specifications including the focal length.
  • an image sensor is individually incorporated in the imaging plane of each optical system.
  • These left-eye camera 2a and right-eye camera 2b constitute an imaging unit for parallax images.
  • An image display panel 4 made of liquid crystal or the like is provided on the back of the stereo camera 2. Live images captured by the cameras 2a and 2b are displayed side by side on the image display panel 4. When the shutter button 5 is operated, the main imaging is performed following the live image displayed at that time, and the image data of the left viewpoint image and the right viewpoint image are associated with each other and recorded in the same image file. . Note that tag data including shooting conditions such as shooting distance and shooting magnification is also recorded in the same image file.
  • FIG. 1 shows an example in which furniture is imaged as the subject 3 and its height H is a target for three-dimensional measurement.
  • the left viewpoint image 6L and the right viewpoint image 6R obtained as live images are displayed side by side on the image display panel 4.
  • the stereo camera 2 is provided with a calibration function so that the left viewpoint image 6L and the right viewpoint image 6R can be correctly aligned and displayed in a horizontal orientation.
  • the calibration function is also limited, and as shown in FIG. 2, the left viewpoint image 6L and the right viewpoint image 6R may be displayed in a posture in which the screen is shifted up and down and one of them is slightly rotated. .
  • the stereo camera 2 In the three-dimensional measurement using the stereo camera 2, when a measurement point 7 serving as a reference is designated in the left viewpoint image 6L displayed on the image display panel 4, the corresponding point 8 corresponding to the measurement point 7 is the other right viewpoint. It is automatically set on the image 6R. In order to prevent an error from entering the corresponding point 8 calculation process as much as possible, the stereo camera 2 is provided with a unique configuration shown by functional blocks in FIG. Since the measurement point 7 is usually specified on the subject 3 to be measured, it is input on the contour line or the shape line as shown in FIG. Often entered on top of.
  • the imaging unit 11 includes lenses 2a and 2b and image sensors individually provided on the imaging plane thereof, and imaging signals sequentially obtained from the image sensors are input to the signal processing unit 12.
  • the signal processing unit 12 performs known image signal processing, and the image data of the left viewpoint image 6L and the second viewpoint image 6R obtained as live images are sequentially rewritten on the VRAM 13 connected to the signal processing unit 12. Further, the left viewpoint image 6L and the second viewpoint image 6R can be displayed on the image display panel 4 by image data read out from the VRAM 13 at an appropriate timing.
  • the signal processing unit 12 is provided with a straight line detection unit 14 and an angle detection unit 15. As shown in FIG. 2, for example, when the measurement point 7 serving as a reference for the three-dimensional measurement is designated on the left viewpoint image 6L, the straight line detection unit 14 displays a part of the image on or near the measurement point 7. It is detected whether or not any straight line segment constituting the line passes. Note that the vicinity in this case is determined according to the number of pixels and the pixel size of the image sensor, and can be determined within a range of five pixels from the measurement point 7 to the periphery, for example.
  • the angle detection unit 15 detects how much the straight line detected by the straight line detection unit 14 is at an angle with respect to the horizontal line.
  • the horizontal reference in this case is based on the pixel array of the image sensor that is capturing the left viewpoint image 6L in which the measurement point 7 is specified.
  • the horizontal determination unit 16 determines whether or not the angle of the detected straight line is smaller than a preset threshold S. Since the inclination of the straight line with respect to the horizontal is not particularly directional, the angle detection unit 15 detects the degree of the angle that intersects the horizontal line at an acute angle.
  • the operation input unit 10 includes a touch panel and cursor operation buttons for inputting the measurement points 7 described above, and a shutter button 5 which is operated when leaving a parallax image for 3D measurement as a record. It is also used for the input part of the measurement point that becomes the measurement reference.
  • the signal processing unit 12 is further connected with a warning generation unit 19 and an image data memory 20.
  • the warning generation unit 19 performs a warning operation when the evaluation by the straight line detection unit 14 and the horizontal determination unit 16, that is, whether or not an appropriate image can be recorded as an image for three-dimensional measurement is NG.
  • generation of a notification sound, display of a warning on the image display panel 4, a release lock operation for prohibiting the pressing operation of the shutter button 5, or the like can be used.
  • the image data memory 20 can store image data of the left viewpoint image 6L and the second viewpoint image 6R that are appropriately captured by operating the shutter button 5.
  • control by the recording control unit 17 may be added.
  • the left viewpoint image 6L and the right viewpoint image 6R captured by the operation of the shutter button 5 are once recorded in a predetermined area of the VRAM 13, but as described above, it may not always be appropriate for derivation of three-dimensional information. . Therefore, in such a case, recording / saving of the image data in the image data memory 20 can be automatically stopped by a command from the recording control unit 17.
  • the image data of the parallax image that is actually captured by the operation of the shutter button 5 can be temporarily written in the image data memory 20. In this case, when it is determined that the image data is inappropriate for the three-dimensional measurement, it is possible to control to automatically erase the written image data. In these cases, it is desirable to perform confirmation display on the image display panel 4.
  • the processing executed by the stereo camera 2 will be described using the flowchart shown in FIG.
  • the imaging process S2 in response to the pressing operation of the shutter button 5, the left viewpoint image 6L and the right viewpoint image 6R captured by the left eye camera 2a and the right eye camera 2b are captured.
  • the pair of viewpoint images is recorded and temporarily stored in the image data memory 20 in a form associated with the same image file.
  • the viewpoint images 6L and 6R are displayed on the image display panel 4 by the display process S3.
  • the measurement point input process S4 is a process of designating a measurement point 7 that serves as a reference in the left viewpoint image 6L displayed on the image display panel 4.
  • an operation from the operation input unit 10 for example, a cursor operation with a mouse or a touch operation on a touch panel incorporated in the image display panel 4 can be used.
  • the straight line detection unit 14 detects a straight line passing directly above or near the measurement point 7.
  • the angle detection unit 15 performs an angle detection process S7, and an angle ⁇ intersecting the horizontal line on the acute angle side is detected. Then, it is determined whether or not the angle ⁇ is larger than the threshold value S by the horizontal determination process S8. If the angle ⁇ is larger than the threshold value S, the horizontal determination unit 16 determines that the horizontal line is not included, and determines that the presence of the straight line has little influence on the derivation of the three-dimensional information.
  • the three-dimensional information includes the entire or partial size of the subject that is the subject of the parallax image, the distance from the imaging position to the subject, and the like.
  • the straight line detection process S5 even when there is no straight line pattern in the vicinity of the measurement point S7, it is determined that there is no problem in derivation of the three-dimensional information in particular as in the horizon-free state.
  • the left viewpoint image 6L and the right viewpoint image 6R picked up this time can be classified as parallax images suitable for three-dimensional measurement, and the recording control unit 17 uses the image recording process S9 to display images related to the parallax images.
  • the data is recorded and stored in the image data memory 20 as data in a common file together with tag data such as shooting conditions. Further, the angle ⁇ detected in the angle detection process S7 may be additionally recorded in one of the tag data.
  • the parallax image is preferably classified and handled as a parallax image suitable for three-dimensional measurement. Then, for example, it is possible to perform control such that the recording process by the image recording process S9 is not performed only on a parallax image that is not suitable for three-dimensional measurement.
  • the measurement accuracy of the three-dimensional information is reduced along with the display of the angle ⁇ measured in the angle detection process S7 on the image display panel 4. It is desirable to perform display or display that the saving to the image data memory 20 has been stopped.
  • an operation for forcibly saving the captured parallax image can be included as an option, and in this case, the content of the warning is preferably stored together with the image data.
  • the warning may be generated by sound or voice in addition to the screen display of images and marks.
  • the above-mentioned criteria for determining whether or not it is suitable for the measurement of 3D information is based on the following, considering the process of deriving 3D information.
  • two viewpoint images are arranged horizontally.
  • the pair of viewpoint images is not completely horizontally arranged, and vertical misalignment often occurs.
  • the three-dimensional information is derived from the captured left viewpoint image 6L and right viewpoint image 6R, it is set on the subject 3 of the left viewpoint image 6L in order to derive the parallax of the subject 3 to be measured. It is essential to obtain the corresponding point 8 corresponding to the measurement point 7 in the right viewpoint image 6R.
  • the corresponding point 8 is searched and acquired in the horizontal direction from the measurement point 7 on the screen in which the left and right viewpoint images 6L and 6R are horizontally arranged and displayed.
  • the measurement point 7 input to the left viewpoint image 6L is acquired and a substantially horizontal straight line 24 is detected at the center of the measurement point 7 by the straight line detection process S5, the measurement point 7 is directed toward the right viewpoint image 6R.
  • the corresponding point 8 is searched horizontally from the measurement point 7. If a vertical shift D occurs between the two images, the straight line 27 of the right viewpoint image corresponding to the straight line 24 of the left viewpoint image 6L is also displaced upward by the vertical shift D. For this reason, when the corresponding point 8 is searched horizontally from the measurement point 7, the corresponding point 8 a that is larger than the true corresponding point 8 and moves to the left is set with respect to the abscissa of the screen. Then, since the three-dimensional information is derived on the assumption that the measurement point 7 and the corresponding point 8a on the left and right viewpoint images 6L and 6R are the same point of the subject 3, a decrease in accuracy cannot be prevented. .
  • the stereo camera 2 is used as an imaging device for three-dimensional measurement, and the captured image data of the left viewpoint image 6L and the right viewpoint image 6R are input together with tag data to a three-dimensional measuring device configured with a personal computer. You can also. In this case, it is sufficient for the stereo camera 2 to determine whether or not the parallax image captured with reference to the measurement point 7 is appropriate. However, when the stereo camera itself has a function of performing three-dimensional measurement, it is necessary to add the above-described corresponding point search function to the stereo camera.
  • the improved stereo camera shown in FIG. 6 includes a corresponding point search unit 35 having a horizontal search unit 36 and a detection direction search unit 37 in the signal processing unit 12 of the stereo camera 2 of the first embodiment, and a similar line determination unit. 38, and a three-dimensional measuring unit 40.
  • the horizontal search unit 36 searches from the measurement point 7 input to the left viewpoint image 6L to the corresponding point 8 in the right viewpoint image 6R in the horizontal direction.
  • the search action is performed.
  • the detection direction search unit 37 detects a straight line passing directly above or near the input measurement point, and when the angle ⁇ is equal to or smaller than the threshold S, the detection direction search unit 37 newly adds the straight line passing directly above or near the corresponding point. Has the effect of searching for a corresponding point.
  • the similarity determination unit 38 functions when a measurement point 7 is input to the left viewpoint image 8L, a straight line passing directly above or near the point is detected, and the angle ⁇ is equal to or less than the threshold value S.
  • the function of the similarity determination unit 38 is to set an image confirmation area 45 of a certain size with the measurement point 7 on the detected straight line 44 as the center, and virtually set the measurement point 7 to a straight line. Scan along 44.
  • the image confirmation area 45 moves together with the virtual measurement points 7a and 7b accompanying the scanning as indicated by the broken line, and the similarity of the images in the image confirmation area 45 is determined and evaluated during this movement. Note that scanning is performed in both directions so that the image confirmation area 45 covers the entire length of the straight line 44.
  • the criterion for similarity is an image in the image confirmation area 45 centered on the initial measurement point 7, and the image in the image confirmation area 45 obtained for each scan is represented by the similarity or pattern of density distribution or color distribution. It can be determined by recognition or the like. In order to increase the efficiency of the determination process, for example, points corresponding to the level of similarity are set for each evaluation item such as the above-described density distribution, color distribution similarity, and pattern similarity, and the total points are set in advance. A method such as comparison with a threshold can be employed.
  • the size of the image confirmation area 45 may be appropriately adjusted depending on the number of pixels, for example, 50 ⁇ 50 pixels.
  • this stereo camera can be regarded as a three-dimensional measuring apparatus integrated with an imaging unit.
  • the horizontal search unit 36 After performing the measurement point input process S4 as in the previous embodiment, the horizontal search unit 36 performs a corresponding point horizontal search process S11 for the right viewpoint image 7R before the straight line detection process S5. As described above, the corresponding point 8 is acquired for the measurement point 7. Subsequently, a straight line detection process S5 and a straight line determination process S are performed. When the straight line angle ⁇ exceeds the threshold S, the captured parallax image is determined to be appropriate, and the three-dimensional information deriving process S12 is performed. Used. The derived three-dimensional information is displayed on the image display panel 4 and stored in the image data memory 20 together with the image data of the parallax image as tag data.
  • the corresponding point search process S13 by the detection direction search unit 37 is performed following the horizontal determination process S8.
  • this search process S13 a new corresponding point is searched for along the corresponding point acquired in the previous horizontal search process S11 along a straight line passing through the corresponding point or its vicinity. If it demonstrates using FIG. 5A, it is the process which searches the new corresponding point 8 from the original corresponding point 8a in the right viewpoint image 6R.
  • the in-area image of a certain size in the left viewpoint image 6 ⁇ / b> L centering on the measurement point 7 and the newly searched corresponding point are the center. Based on the similarity to the in-area image of a certain size in the right viewpoint image 6R, a higher similarity is specified as a new corresponding point.
  • the left-eye camera 2a and the right-eye camera 2b are combined with a rotation mechanism 42, and the left-eye camera 2a and the right-eye camera 2b are rotated at the same angle around the respective imaging optical axes by rotation of the motor. Be ready to rotate.
  • a gear may be fixed to the outer periphery of the lens barrel of the left eye camera 2a and the right eye camera 2b, and an interlocking gear driven by a motor may be engaged with both.
  • the corresponding point search process using the similarity determination unit 38 will be described with reference to the flowchart of FIG.
  • the straight line angle ⁇ is equal to or smaller than the threshold S in the horizontal determination process S8 and it is determined that the horizontal line is included
  • the pair of viewpoint images 6L and 6R are classified as unsuitable for three-dimensional measurement.
  • the reason why it is not suitable for the three-dimensional measurement is that the reliability of the position of the corresponding point is low. Therefore, if the reliability can be increased, it can be used for the three-dimensional measurement.
  • the corresponding point search process S13 and the replacement process S15 by the detection direction search unit 37 are effective in increasing the reliability at the time of deriving the corresponding point, but the images near the straight line detected around the measurement point are similar. If it is, it means that there is a high probability that a similar image exists along the vicinity of the straight line on the right viewpoint image 6R side, so that a true corresponding point is very difficult to search.
  • the image in the image confirmation area 45 centered on the measurement point 7 and the measurement points 7a and 7b after being moved along the straight line 44 passing through the measurement point 7 are centered.
  • a case where the image in the image confirmation area 45 is similar corresponds to a case where it is difficult to derive a true corresponding point.
  • a case where there is no similarity between these images corresponds to a case where a true corresponding point can be derived. Therefore, as shown in FIG. 8, when it is determined in the horizontal determination process S8 that the horizon line is included, the image reading process S18 in the image confirmation area and the similarity of the read image with respect to the left viewpoint image 6L. It is effective to perform a similarity determination process S20 that is a combination of the determination process S19.
  • the warning process S16 it is desirable to display on the image display panel 4 including the determination result in the similarity determination process S20.
  • the result of the horizontal determination process S8 is displayed or when the image recording process S9 is performed, the result of the straight line determination process S6, the result of the horizontal determination process S8, or the like together with the image data.
  • the result of the sex determination process S20 may be recorded. Further, when the left-eye camera 2a and the right-eye camera 2b are rotated around the optical axis using the rotation mechanism 42 at the time of re-imaging, rotation angle information is added to the image data of the parallax image obtained by re-imaging. It is good to keep.
  • the above-described embodiment basically relates to an imaging apparatus that includes the imaging unit 11, but the present invention can also be used as a three-dimensional measurement apparatus that does not include the imaging unit 11 as a component.
  • the operation input unit 10 shown in FIG. 6 corresponds to a keyboard or touch panel type operation input unit
  • the image display panel 4 corresponds to a monitor for a personal computer
  • the image data memory 20 corresponds to an internal memory or an external memory of the personal computer. What is necessary is just to give the function of the signal processing apparatus 12 to the arithmetic processing part of a personal computer.
  • a three-dimensional shape can be measured in exactly the same manner using the function of the arithmetic processing unit of the personal computer. Furthermore, since the substantial measurement function by the three-dimensional measuring apparatus of the present invention is executed by each processing unit included in the signal processing unit 12 corresponding to the arithmetic processing unit of the personal computer, the present invention provides the three-dimensional measuring apparatus. It can also be implemented in the form of a functioning measurement program.
  • the left viewpoint image and the right viewpoint image arranged and displayed as the first and second viewpoint images have been described.
  • the direction of the parallax does not necessarily have to be the horizontal direction.
  • the input of the measurement point is not limited to the left viewpoint image, and may be any one of at least two types of viewpoint images.
  • a corresponding point corresponding to the measurement point may be searched using coordinates from specific fixed points such as four corners in each viewpoint image.

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  • Measurement Of Optical Distance (AREA)

Abstract

La présente invention permet d'améliorer la précision d'une mesure tridimensionnelle grâce à la suppression du désalignement entre un point de mesure qui est entrée dans une image de point de vue et un point correspondant qui est établi dans une autre image de point de vue. Un point de mesure (7), servant de référence pour la mesure tridimensionnelle, est entré dans une image de point de vue de gauche (6L). Un point correspondant (8a) est établi sur une ligne d'extension qui se prolonge horizontalement à partir du point de mesure (7) vers une image de point de vue de droite (6R). S'il existe un désalignement vertical (D) entre les images de point de vue de gauche et de droite (6L, 6R) au moment d'un ajustement de position par étalonnage et que la ligne droite (24, 27) qui passe par le point de mesure (7) et le point correspondant (8a) sur les images de point de vue (6L, 6R) respectives croise la ligne horizontale à un petit angle (θ), le point correspondant (8a) est établi incorrectement à une position déviant énormément par rapport au point correspondant (8) réel. Pour éviter cela, il est déterminé que les images de point de vue de gauche et de droite (6L, 6R) donnant un angle (θ) inférieur ou égal à un seuil (S) ne sont pas appropriées pour la mesure tridimensionnelle, et un avertissement est généré.
PCT/JP2012/077720 2011-10-28 2012-10-26 Dispositif de capture d'image pour effectuer une mesure tridimensionnelle, dispositif de mesure tridimensionnelle et programme de mesure WO2013062087A1 (fr)

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JP2020012742A (ja) * 2018-07-19 2020-01-23 日立オートモティブシステムズ株式会社 物体検知装置
WO2020166403A1 (fr) * 2019-02-12 2020-08-20 日立オートモティブシステムズ株式会社 Dispositif de traitement d'images
WO2021176819A1 (fr) * 2020-03-06 2021-09-10 日立Astemo株式会社 Dispositif de traitement

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JP2016080399A (ja) * 2014-10-10 2016-05-16 エヌ・ティ・ティ・インフラネット株式会社 ３次元形状計測装置及び３次元形状計測方法
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JP7064400B2 (ja) 2018-07-19 2022-05-10 日立Astemo株式会社 物体検知装置
WO2020166403A1 (fr) * 2019-02-12 2020-08-20 日立オートモティブシステムズ株式会社 Dispositif de traitement d'images
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WO2021176819A1 (fr) * 2020-03-06 2021-09-10 日立Astemo株式会社 Dispositif de traitement
JPWO2021176819A1 (fr) * 2020-03-06 2021-09-10
JP7250211B2 (ja) 2020-03-06 2023-03-31 日立Astemo株式会社 処理装置

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