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Three-dimensional measurement system and three-dimensional measurement method

A three-dimensional measurement and camera technology, applied in the field of three-dimensional measurement, can solve problems such as low spatial resolution, and achieve the effect of high precision and high-speed processing

Pending Publication Date: 2021-12-03
ORMON CORPORATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can perform high-speed and high-precision measurement, but it has the problem of low spatial resolution because multiple pixels are used to calculate the depth value

Method used

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  • Three-dimensional measurement system and three-dimensional measurement method
  • Three-dimensional measurement system and three-dimensional measurement method
  • Three-dimensional measurement system and three-dimensional measurement method

Examples

Experimental program
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Embodiment approach

[0108] refer to Figure 17 , a configuration example of the three-dimensional measurement system 1 according to the embodiment of the present invention will be described. Figure 17 is a functional block diagram of the three-dimensional measurement system 1 .

[0109] (sensor unit)

[0110] The sensor unit 10 includes a first camera 101 , a second camera 102 , a pattern light projection unit 103 , an illumination unit 104 , an image transmission unit 105 , and a drive control unit 106 .

[0111] The first camera 101 and the second camera 102 are a pair of cameras constituting a so-called stereo camera, and are arranged with a predetermined distance therebetween. By simultaneously shooting with two cameras 101 and 102, a pair of images captured from different viewpoints can be obtained (the image of the first camera 101 is referred to as a first image, and the image of the second camera 102 is referred to as a second image) . The two cameras 101 and 102 may be arranged so t...

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PUM

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Abstract

A three-dimensional measurement system: projects pattern light onto an object; acquires a first image and a second image in which the object is photographed from different perspectives; acquires first depth information through a spatial encoding pattern scheme using the first image; determines a corresponding-point search range on the basis of a parallax between the first image and the second image, the parallax being predicted from the first depth information; and acquires second depth information, which has a higher spatial resolution than the first depth information, by performing stereo matching limited to the set search range using the first image and the second image. The pattern light has a synthesized pattern in which a spatial encoding pattern in which unit components that are regions corresponding to one depth value are regularly disposed, and a random pattern in which a plurality of random pieces are irregularly disposed, are synthesized.

Description

technical field [0001] The present invention relates to three-dimensional measurement using images. Background technique [0002] Active measurement is known as a method of performing three-dimensional measurement of an object using images. In active measurement, the object is photographed with patterned light projected on it, and the three-dimensional information of the object (for example, the depth information of each pixel) is obtained using the principle of triangulation based on the position of the pattern on the obtained image. . [0003] Non-Patent Document 1 discloses a method of projecting a spatially coded pattern (referred to as a "spatial code pattern") onto the surface of an object, capturing the image, and decoding the pattern appearing in the image to obtain the depth. information. This method can perform high-speed and high-precision measurement, but has a problem of low spatial resolution because a plurality of pixels are used to calculate the depth valu...

Claims

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Application Information

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IPC IPC(8): G01B11/25G06T7/50
CPCG01B11/2513G01B11/2509G06T7/521G06T7/593G06T2207/20076G01B11/2545
Inventor 太田润松本慎也木口哲也
Owner ORMON CORPORATION