Image measurement device, image measurement method, and image measurement program

Abstract

To provide an image measuring device that accurately measures even a reinforcing bar shielded by a shield.SOLUTION: An image measuring device (10) according to one embodiment of the present invention comprises an image processing unit (102) that calculates a three-dimensional position of a reinforcing bar of a subject which is captured in one image but not captured in the other image due to shielding based on two captured images with parallax, based on the three-dimensional position of the reinforcing bar being not shielded.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to technologies relating to an image measurement device, an image measurement method, and an image measurement program, and in particular to an image measurement device, an image measurement method, and an image measurement program that are capable of measuring rebars that are obstructed with high accuracy when measuring rebars using image processing. [Background technology]

[0002] Conventionally, at construction sites of reinforced concrete structures, a rebar inspection is performed before pouring concrete. The rebar inspection is to check whether the rebars are arranged as designed. There is an image inspection device that performs this rebar inspection using images of arranged rebars. For example, Patent Document 1 discloses a conventional image inspection device that uses a stereo camera to identify a plane on which a plurality of rebars to be inspected are arranged from two captured images, and prevents rebars other than the one to be inspected from being erroneously included in the measurement target. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-002737 A Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 uses stereo images to obtain rebar position information in a three-dimensional space, and identifies a plane on which multiple rebars are arranged from the obtained rebar position information. However, there is no description of a case where rebars are arranged in two or more layers and rebars on the second layer or further back are obstructed by rebars in front (on the camera side). Normally, in order to obtain the position of a rebar, the same rebar must be photographed in two images. In this case, if a rebar cannot be photographed due to obstruction in one of the stereo images, the position of that rebar cannot be obtained, making inspection difficult. Since the viewpoints of the stereo images are different, rebars located on the second layer or further back are often obstructed in one of the images, and inspection is often not possible.

[0005] Therefore, one form of the present invention has been made in consideration of the above-mentioned problems, and aims to realize an image measurement device, an image measurement method, and an image measurement program that can accurately measure a rebar even if the rebar is occluded in one of the images obtained from two imaging units with different viewpoints. [Means for solving the problem]

[0006] In order to solve the above problems, an image measurement device according to one embodiment of the present invention includes a shielding rebar detection unit that detects a shielding rebar that is captured in at least one image from multiple images having parallax of rebars arranged in multiple layers and is not captured in at least one other image because it is shielded by other rebars, and a shielding rebar measurement unit that calculates the three-dimensional position of the shielding rebar based on a rebar plane corresponding to the layer in which the shielding rebar is included.

[0007] In order to solve the above problems, an image measurement method according to one embodiment of the present invention includes a shielding rebar detection process for detecting a shielding rebar from multiple images having parallax of rebars arranged in multiple layers, the shielding rebar being captured in at least one image and not captured in at least one other image because it is shielded by other rebars, and a shielding rebar measurement process for calculating the three-dimensional position of the shielding rebar based on a rebar plane corresponding to the layer in which the shielding rebar is included.

[0008] In addition, in order to solve the above-mentioned problems, an image measurement program of one embodiment of the present invention is an image measurement program for causing a computer to function as the image measurement device, and is an image measurement program for causing a computer to function as the shielding rebar detection unit and the shielding rebar measurement unit. Effect of the Invention

[0009] According to one aspect of the present invention, it is possible to realize an image measurement device, an image measurement method, and an image measurement program that are capable of measuring reinforcing bars with high accuracy even if the reinforcing bars are obstructed. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an example of the configuration of an image measuring device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram illustrating an example of the configuration of an image processing unit illustrated in FIG. 1; [Diagram 3] 2 is a diagram showing an example of a reinforcing bar that is an object to be inspected by the image measuring device shown in FIG. 1. [Figure 4] 2 is a diagram showing an example of a reinforcing bar that is an object to be inspected by the image measuring device shown in FIG. 1. [Diagram 5] 2 is a diagram showing an example of a shielded reinforcing bar that is an inspection target of the image measuring apparatus shown in FIG. 1. [Figure 6] 2 is a diagram showing an example of a shielded reinforcing bar that is an inspection target of the image measuring apparatus shown in FIG. 1. [Figure 7] 2 is a diagram showing an example of a shielded reinforcing bar that is an inspection target of the image measuring apparatus shown in FIG. 1. [Figure 8]FIG. 2 is a diagram showing a flow of measurement by the image measuring device of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, one embodiment of the present invention will be described.

[0012] Fig. 1 is a functional block diagram showing a schematic configuration example of an image measuring device 10 according to an embodiment of the present invention. Fig. 2 is a functional block diagram showing a configuration example of an image processing unit 102 provided in the image measuring device 10.

[0013] 1, an image measuring device 10 of this embodiment includes an imaging unit 101, an image processing unit 102, and a recording unit 103. Images and inspection results output from the image measuring device 10 are displayed on a display device 104 shown in FIG.

[0014] The imaging unit 101 has a first imaging unit 101a and a second imaging unit 101b. The first and second imaging units 101a and 101b are composed of a lens and an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and acquire a captured image based on set focus, exposure, gain, etc. The two captured images are output to an image processing unit 102 or a recording unit 103.

[0015] The image processing unit 102 detects the position of the rebar to be inspected from the captured image, and outputs the inspection results such as determining the rebar diameter or rebar standard, measuring the rebar spacing, etc. As shown in Fig. 2, the image processing unit 102 includes a rebar measurement unit 201 (non-shielded rebar measurement unit), a shielded rebar detection unit 202, a shielded rebar measurement unit 203, and a result output unit 204. Details will be described later.

[0016] The recording unit 103 records the captured images received from the imaging unit 101 or the image processing unit 102, or the images that have been subjected to various image processing, and the inspection results, in a recording device. Examples of the recording device include a hard disk, an optical disk, and a flash memory. The recording unit 103 may also transfer and record at least one of the images and the inspection results to a remote server or PC via wireless or wired communication. The recording device may be built into the system, or may be removable.

[0017] The display device 104 is composed of a liquid crystal display, an organic EL (Electro Luminescence) display, etc., and displays images output from the image measuring device, inspection results, etc. in a visible state. For example, it may display the rebars being inspected in different colors to make them easier to identify, or it may mark and display measurement points so that the rebar diameter, rebar spacing, etc., where measurements have been taken, can be identified.

[0018] Here, the operation of the image measuring device 10 will be described using an example of a reinforcing bar inspection of the reinforcing bars shown in Figs. 3 and 4. Fig. 3 is a view of the reinforcing bars, in which vertical reinforcing bars (hereinafter referred to as vertical bars) 301v and horizontal reinforcing bars (hereinafter referred to as horizontal bars) 301h are combined in a lattice pattern, as seen from a direction in which the reinforcing bars are arranged in a lattice pattern. In other words, Fig. 3 is a view of the reinforcing bars viewed in a direction perpendicular to the longitudinal direction of each reinforcing bar. Meanwhile, Fig. 4 is a view of the same lattice-patterned reinforcing bars as Fig. 3, viewed from the longitudinal direction of the vertical bars 301v (upward in Fig. 3). Figs. 3 and 4 show two layers of reinforcing bars arranged in a lattice pattern (each layer will be referred to as a reinforcing bar plane, hereinafter) lined up side by side. In short, Fig. 3 shows a view from the front direction of the reinforcing bar plane, and Fig. 4 is a view viewed along the reinforcing bar plane. In the arrangement of reinforcement shown in Figs. 3 and 4, a reinforcing bar plane 301 on the front side and a reinforcing bar plane 302 on the rear side are arranged at a predetermined interval along a direction perpendicular to the planes.

[0019] In this embodiment, the reinforcing bar plane 301 on the near side is arranged on the side closer to the imaging unit 101, and the reinforcing bar plane 302 on the far side is arranged on the far side, and the vertical bars 301v and 302v included in each reinforcing bar plane have their longitudinal direction in the vertical direction, and the horizontal bars 301h and 302h have their longitudinal direction in the horizontal direction. In addition, the reinforcing bars included in the reinforcing bar plane 301 on the near side and the reinforcing bar included in the reinforcing bar plane 302 on the far side are described as having the vertical bars 301v and the vertical bars 302v arranged at the same position in the vertical direction to the reinforcing bar plane, and the horizontal bars 301h and the horizontal bars 302h arranged at the same position in the vertical direction to the reinforcing bar plane. However, there is no restriction on the reinforcing bar positions between different planes in the vertical direction to the reinforcing bar plane.

[0020] The imaging unit 101 is configured to capture images from an imaging direction 101s shown in Fig. 4. Here, the first imaging unit 101a and the second imaging unit 101b shown in Fig. 1 are separated by a predetermined distance in the horizontal direction. Therefore, parallax occurs between the images generated by the first imaging unit 101a and the second imaging unit 101b (Fig. 1) capturing images from the imaging direction 101s shown in Fig. 4.

[0021] The images of the bar group captured by the first imaging unit 101a and the second imaging unit 101b are input to the image processing unit 102.

[0022] In the image processing unit 102, the rebar measuring unit 201 shown in FIG. 2 calculates the rebar position and measures the rebar diameter and rebar interval from the previous image. As described above, the images of the first imaging unit 101a and the second imaging unit 101b each have parallax, and the parallax varies depending on the distance. Therefore, the rebar measuring unit 201 calculates the distance by using the parallax of the two images, and calculates the three-dimensional position from the calculated distance. In detail, the relationship between the distance Z and the parallax D can be calculated by Z=f×B / D, where f is the focal length of the imaging unit and B is the distance between the two imaging units. In addition, the three-dimensional position (X, Y, Z) relative to the coordinates (x, y) on the image can be calculated by X=x×Z / f and Y=y×Z / f, respectively (Z=f×B / D).

[0023] Here, for example, a method for calculating disparity values ​​is a block matching method. In calculating disparity values ​​using the block matching method, feature point positions of the same subject between two images are detected based on the similarity in block units, and the amount of deviation (amount of disparity) is detected. Common points in the two images related to these feature points are called corresponding points.

[0024] As an evaluation function for searching for corresponding points, there is SAD (Sum of Absolute Difference) and the like. When SAD is used, a window is set around a pixel of interest in each of the images of the first imaging unit 101a and the second imaging unit 101b, the difference in luminance of each pixel between the set windows is found, and the sum of the luminance differences obtained between each pixel is calculated. A similar process is performed while changing the pixel of interest in the image of the second imaging unit 101b, and the pixel of interest with the smallest value is regarded as the corresponding point.

[0025] Therefore, the reinforcing bar measurement unit 201 detects the reinforcing bar area in the image captured by the first imaging unit 101a, obtains corresponding points from the image captured by the second imaging unit 101b using the above method, and calculates the 3D position of each pixel in the reinforcing bar area. The 3D position is not calculated for pixels in the reinforcing bar area for which no corresponding points can be obtained.

[0026] Furthermore, the rebar measurement unit 201 determines (specifies) a front rebar plane 301 and a rear rebar plane 302 from the distribution of 3D information of the rebar area whose 3D position was calculated. Note that the "rebar plane" in this embodiment refers to a two-dimensional area that includes vertical and horizontal bars that intersect with each other, with the longitudinal directions of the vertical and horizontal bars as the vertical and horizontal directions.

[0027] Furthermore, the reinforcing bar measurement unit 201 determines (specifies) which of the reinforcing bars whose three-dimensional positions have been calculated is included in the reinforcing bar plane 301 on the front side (or the reinforcing bar plane 302 on the rear side).

[0028] With respect to the reinforcing bars identified by the reinforcing bar measuring unit 201 using the above method, it is possible to measure the reinforcing bar intervals and calculate the diameters of the reinforcing bars included in the same reinforcing bar plane. However, since parallax calculation detects corresponding points on two captured images, if a reinforcing bar in one of the captured images is obstructed or not captured, it is not possible to measure that part of the reinforcing bar. Below, the obstruction of reinforcing bars will be explained using Figures 5 to 7, and then the configuration of this embodiment will be explained again.

[0029] FIG. 5 shows the reinforcing bars shown in FIG. 3 and FIG. 4 photographed by the first imaging unit 101a. The reinforcing bar plane 301 on the near side and the reinforcing bar plane 302 on the far side have different depths and are at different distances from the first imaging unit 101a. Therefore, the reinforcing bars included in the reinforcing bar plane 301 on the near side and the reinforcing bars included in the reinforcing bar plane 302 on the far side look different depending on the location. For example, the first vertical bar 301v1 and the second vertical bar 301v2 included in the reinforcing bar plane 301 on the near side and the first vertical bar 302v1 and the second vertical bar 302v2 included in the reinforcing bar plane 302 on the far side are arranged at the same position in the real space in the vertical direction relative to the reinforcing bar plane. However, the first vertical bar 301v1 and the first vertical bar 302v1 look overlapping, whereas the second vertical bar 301v2 and the second vertical bar 302v2 look distant from each other. Furthermore, when the imaging distance to the reinforcing bar group is different, the positional relationship of the reinforcing bars appears different depending on their locations even when viewed from the same position. Similarly, when the viewpoint position is different, the positional relationship of the reinforcing bars included in the reinforcing bar plane 301 on the near side and the reinforcing bars included in the reinforcing bar plane 302 on the far side appears different. Therefore, the reinforcing bars included in the reinforcing bar plane 301 on the near side and the reinforcing bars included in the reinforcing bar plane 302 on the far side appear differently between the first imaging unit 101a and the second imaging unit 101b, which have different viewpoint positions.

[0030] 6 and 7 show the state of the area 303 in FIG. 5 when photographed by the first imaging unit 101a and the second imaging unit 101b, respectively. As shown in FIG. 6, in the image photographed by the first imaging unit 101a, the first vertical line 301v1 and the first vertical line 302v1 are photographed at different positions at the front and the back. On the other hand, as shown in FIG. 7, in the image photographed by the second imaging unit 101b, the first vertical line 301v1 and the first vertical line 302v1 overlap at the front and the back, and the first vertical line 302v1 at the back side is photographed while being shielded by the first vertical line 301v1 at the front side. In such a case, although the corresponding point of the first vertical line 301v1 at the front can be obtained from the two images, the corresponding point of the first vertical line 302v1 at the back cannot be obtained. Therefore, the first vertical line 302v1 at the back cannot be measured (inspected) in this state. Conversely, rebars may be blocked in the image captured by the first imaging unit 101a but not blocked in the image captured by the second imaging unit 101b. Therefore, when measuring rebars included in the rebar plane 302 on the far side, some rebars may be blocked, and a different measurement method is required for the blocked rebars.

[0031] Therefore, the image processing unit 102 includes a shielding rebar detection unit 202 (FIG. 2) that detects such shielded rebars.

[0032] The occluding rebar detection unit 202 detects rebar areas from the image of the first imaging unit 101a using the results of the rebar measurement unit 201, and detects occluded rebar areas by removing areas of rebar that are not occluded (non-occluded rebar). The occluding rebar detection unit 202 also detects rebar areas from the image of the second imaging unit 101b, and detects occluded rebar areas by removing areas of rebar that are not occluded (non-occluded rebar) using the results of the rebar measurement unit 201.

[0033] In the above description, the rebar measurement unit 201 detects rebar areas from the image of the first imaging unit 101a, and the shielding rebar detection unit 202 detects rebar areas from the image of the second imaging unit 101b, but the present invention is not limited to this. That is, the rebar measurement unit 201 may detect all rebar areas (all rebar areas included in the images regardless of whether corresponding points are obtained in the two images) included in each image (images of the first imaging unit 101a and the second imaging unit 101b), and the shielding rebar detection unit 202 may obtain information on the rebar areas of each image from the rebar measurement unit 201. In this case, the shielding rebar detection unit 202 excludes rebar areas for which the three-dimensional position specified by the rebar measurement unit 201 has been calculated from all rebar areas included in the images of the first imaging unit 101a and the second imaging unit 101b detected by the rebar measurement unit 201.

[0034] The shielding rebar measurement unit 203 identifies which rebar plane contains the rebar that the shielded rebar area detected in each image by the shielding rebar detection unit 202 corresponds to. Specifically, the shielding rebar measurement unit 203 calculates the position of the corresponding rebar using the rebar plane position. More specifically, the shielding rebar measurement unit 203 determines the rebar plane position where the shielding rebar is placed using the relationship with the position of the unshielded rebar (non-shielded rebar) area detected by the rebar measurement unit 201.

[0035] Typically, rebars are arranged at equal intervals or according to a pattern of fixed rebar spacing. Therefore, it is possible to estimate the rebar positions that cannot be measured by the rebar measuring unit 201. At this time, the shielding rebar measuring unit 203 breaks down the rebars (non-shielded rebars) measured by the rebar measuring unit 201 into rebar positions on the front rebar plane 301 and the back rebar plane 302. Then, the shielding rebar measuring unit 203 checks the relationship between the rebar positions on each rebar plane and the shielded rebar area, and determines that the shielding rebar area close to the area estimated to be unmeasured on each rebar plane is the rebar on each rebar plane. Since the three-dimensional position of each rebar plane is known, for a certain shielding rebar, it is possible to calculate the parallax from the rebar position in the image in which the shielding rebar is photographed and the three-dimensional position of the rebar plane, and calculate the corresponding position in the other image. At this time, for example, it is possible to determine whether the shielding rebar is located on the rebar plane of the second layer, based on whether the rebar position calculated assuming that the shielding rebar is located on the second layer is shielded by the rebar of the first layer located on the imaging unit 101 side, or whether the rebar is located at a position equidistant from the non-shielding rebar detected on the rebar plane of the second layer. In addition, since the rebars located on the rebar plane of the first layer and the rebars located on the rebar plane of the second layer are usually arranged at the same rebar intervals, the rebar position on the rebar plane of the first layer is projected to the rebar plane position of the second layer, and the position on the plane of the second layer where the rebar is located is calculated. Then, based on the positional relationship of the shielding rebar calculated from the rebar position of the image in which the shielding rebar is photographed and the three-dimensional position of the rebar plane, if the positions overlap, it can be determined that the rebar is located on that rebar plane, and if the positions differ, it is a rebar on another rebar plane. In this way, the position of the shielding rebar is determined in order from the rebar plane on the imaging unit 101 side, and it is detected on which rebar plane it is located. Since the rebar plane can be measured as a three-dimensional plane, the three-dimensional position of each shielding rebar can be calculated by projecting the pixels on the determined rebar plane onto a three-dimensional plane. This makes it possible to calculate the three-dimensional position and diameter of the shielding rebar. The obtained results are output to the result output unit 204 (Fig. 2).

[0036] The result output unit 204 calculates a measurement result by integrating the results measured by the rebar measurement unit 201 and the results measured by the shielding rebar measurement unit 203. For example, the rebar spacing calculated by the rebar measurement unit 201 will result in gaps in the shielding rebar parts that cannot be measured, but by aligning and integrating the results from the shielding rebar measurement unit 203, a result without gaps can be obtained.

[0037] In this way, accurate measurements can be made even when there is shielding of reinforcing bars.

[0038] (Processing flow) 8 shows a process flow of an image measurement method using the image measurement device 10 of this embodiment. The following process flow is performed in the image processing unit 102. The details are as follows.

[0039] When the image generated by the imaging unit 101 is input to the image processing unit 102, the reinforcing bar measurement unit 201 calculates the reinforcing bar area from the captured image (step S1).

[0040] Next, the reinforcing bar measurement unit 201 calculates the three-dimensional position of the unobstructed reinforcing bar (non-obstructed area) from which parallax can be acquired within the reinforcing bar area (step S2).

[0041] Next, the rebar measurement unit 201 determines the rebar plane using the three-dimensional position information of the unshielded rebar (step S3).

[0042] Next, as described above, among the reinforcing bar regions in the two captured images, reinforcing bar regions for which no corresponding points could be obtained are detected (step S4, occluding reinforcing bar detection process). The reinforcing bar regions detected here correspond to occluded reinforcing bar regions. This detection is performed by the occluding reinforcing bar detection unit 202.

[0043] Next, it is determined which rebar plane contains the rebar that is detected in step S4 and that corresponds to the blocked rebar area (step S5).

[0044] Next, the position of the shielding rebar is estimated based on the rebar plane determined in step S5 and the position of the non-shielding rebar, and the three-dimensional position of the shielding rebar is calculated by projecting pixels on each shielding rebar onto the three-dimensional plane of the rebar plane at the estimated position (step S6, shielding rebar measurement process).

[0045] The three-dimensional positions of the unshielded rebars calculated in step S5 and the three-dimensional positions of the shielded rebars calculated in step S6 are integrated to generate a result, and the diameter of each rebar and the spacing between rebars located on the same rebar plane are calculated, and the measurement results are output (step S7).

[0046] As described above, according to this embodiment, it is possible to accurately measure the position and diameter of a reinforcing bar through image processing, even if the reinforcing bar is obstructed.

[0047] In this embodiment, the imaging unit 101 has two imaging units, but is not limited to this and may have three or more imaging units. For example, the imaging unit 101 may be configured with a triple lens.

[0048] [Software implementation example] The image processing unit 102 of the image measuring device 10 (rebar measurement unit 201, shielding rebar detection unit 202, shielding rebar measurement unit 203, and result output unit 204) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

[0049] In the latter case, the image measuring device 10 includes a computer that executes instructions of a program, which is software that realizes each function. The computer includes, for example, at least one processor (control device) and at least one computer-readable recording medium that stores the program. The object of the present invention is achieved by the processor reading the program from the recording medium and executing it in the computer. The processor may be, for example, a CPU (Central Processing Unit). The recording medium may be a "non-transient tangible medium," such as a ROM (Read Only Memory), tape, disk, card, semiconductor memory, programmable logic circuit, or the like. The device may further include a RAM (Random Access Memory) that expands the program. The program may be supplied to the computer via any transmission medium (such as a communication network or broadcast waves) that can transmit the program. One aspect of the present invention may also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[0050] 〔summary〕 The image measuring device 10 of aspect 1 of the present invention includes a shielding rebar detection unit 202 that detects shielding rebars that are captured in at least one image from multiple images having parallax of rebars arranged on multiple layers and that are blocked by other rebars and not captured in at least one other image, and a shielding rebar measurement unit 203 that calculates the three-dimensional position of the shielding rebar based on the rebar plane corresponding to the layer in which the shielding rebar is included. According to the above configuration, it is possible to realize an image measuring device that can accurately measure a reinforcing bar even if the reinforcing bar is shielded.

[0051] The image measuring device 10 of aspect 2 of the present invention, in the above-mentioned aspect 1, is provided with an unobstructed rebar measuring unit (rebar measuring unit 201) that calculates the three-dimensional position of an unobstructed rebar that is not obscured by other rebars from the multiple images, and the obscured rebar measuring unit 203 may identify the rebar plane from the three-dimensional position of the unobstructed rebar. According to the above configuration, since the reinforcing bar plane corresponding to each floor can be identified, the three-dimensional position of the shielding reinforcing bar can be calculated based on the reinforcing bar plane.

[0052] The image measuring device 10 of aspect 3 of the present invention, in aspect 2 above, may further include a result output unit 204 that calculates rebar measurement results that combine the measurement results of unshielded rebars by the unshielded rebar measuring unit (rebar measuring unit 201) and the measurement results of shielded rebars by the shielded rebar measuring unit 203. According to the above-described configuration, it is possible to obtain measurement results that include no missing parts, including shielding rebars.

[0053] In the image measuring device 10 of aspect 4 of the present invention, in aspects 1 to 3 above, the shielding rebar measurement unit 203 may calculate the three-dimensional position of the shielding rebar by projecting the shielding rebar detected by the shielding rebar detection unit 202 onto the rebar plane. According to the above configuration, the three-dimensional position of the shielding rebar can be calculated by projecting the shielding rebar onto a rebar plane that is identified from the three-dimensional position of the non-shielding rebar.

[0054] The image measurement method of aspect 5 of the present invention includes a shielding rebar detection process (step S4) for detecting a shielding rebar that is captured in at least one image from multiple images having parallax of rebars arranged in multiple layers and is not captured in at least one other image because it is blocked by other rebars, and a shielding rebar measurement process (step S6) for calculating the three-dimensional position of the shielding rebar based on the rebar plane corresponding to the layer in which the shielding rebar is included. According to the above-described configuration, it is possible to realize an image measurement method that can accurately measure a reinforcing bar even if the reinforcing bar is obstructed.

[0055] The image measuring device according to each aspect of the present invention may be realized by a computer. In this case, the image measuring program of the image measuring device that realizes the image measuring device on a computer by causing the computer to operate as each part (software element) of the image measuring device, and the computer-readable recording medium on which it is recorded, also fall within the scope of the present invention.

[0056] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims, and the embodiments obtained thereby are also included in the technical scope of the present invention. [Explanation of symbols]

[0057] 10. Image measurement device 101 Imaging unit 101a First imaging unit 101b Second imaging unit 101s Shooting direction 102 Image processing section 103 Recording Department 104 Display device 201 Reinforcement bar measurement section (unshielded reinforcement bar measurement section) 202 Shielding rebar detection unit 203 Shielding steel bar measurement section 204 Result output section 301 (Front) Rebar Plane 301h (included in the foreground rebar plane) Horizontal bars (non-shielding bars) 301v (included in the foreground rebar plane) Vertical rebar (non-shielding rebar) 301v1 1st vertical bar (non-shielding bar) 301v2 2nd vertical bar (non-shielding bar) 302 (rear) rebar plane 302h (included in the rear rebar plane) Horizontal bars 302v (included in the rear rebar plane) Vertical bars 302v1 1st vertical bar 302v2 2nd vertical bar (shielding bar)

Claims

1. a shielding rebar detection unit that detects, from a plurality of images having parallax of rebars arranged in a plurality of layers, a shielding rebar that is captured in at least one image and is not captured in at least one other image because it is shielded by another rebar; A shielding rebar measurement unit that calculates the three-dimensional position of the shielding rebar based on a rebar plane corresponding to the layer in which the shielding rebar is included; An unobstructed rebar measuring unit that calculates a three-dimensional position of an unobstructed rebar that is not obscured by other rebars from the multiple images; Equipped with The shielding rebar measurement unit identifies the rebar plane from the three-dimensional position of the unshielded rebar, An image measurement device characterized in that the shielding rebar measurement unit calculates the three-dimensional position of the shielding rebar by projecting the shielding rebar detected by the shielding rebar detection unit onto the rebar plane.

2. The image measuring device described in claim 1, further comprising a result output unit that calculates a rebar measurement result that combines the measurement results of unshielded rebars by the unshielded rebar measuring unit and the measurement results of shielded rebars by the shielded rebar measuring unit.

3. a shielding rebar detection process for detecting, from a plurality of images having parallax of rebars arranged in a plurality of layers, a shielding rebar that is captured in at least one image and is not captured in at least one other image because it is shielded by another rebar; A shielding rebar measurement process for calculating a three-dimensional position of the shielding rebar based on a rebar plane corresponding to the layer in which the shielding rebar is included; An unobstructed rebar measuring process for calculating a three-dimensional position of an unobstructed rebar that is not obscured by other rebars from the plurality of images; Including, In the shielded rebar measurement process, the rebar plane is identified from the three-dimensional position of the unshielded rebar, This image measurement method is characterized in that in the shielding rebar measurement process, the three-dimensional position of the shielding rebar is calculated by projecting the shielding rebar detected in the shielding rebar detection process onto the rebar plane.

4. An image measurement program for causing a computer to function as the image measurement device described in claim 1, the image measurement program for causing a computer to function as the shielding rebar detection unit, the shielding rebar measurement unit, and the non-shielding rebar measurement unit.

Images