Dimension measurement method and dimension measuring device

Abstract

A dimension measurement method comprises: generating a line segment model, which is a three-dimensional model of an object region expressed by line segments, using a plurality of images of the object region captured from a plurality of view points (S51); calculating a dimension of a predetermined portion in the object region using the line segment model (S52); and outputting the calculated dimension (S53). For example, the dimension measurement method may furthermore display a user interface including the line segment model, and the predetermined portion may be determined on the basis of a plurality of lines included in the line segment model which are designated by the user via the user interface.

Description

[Technical field]

[0001] The present disclosure relates to a dimension measurement method and a dimension measurement device. [Background technology]

[0002] In measuring architectural structures, the burden on workers can be reduced by generating a three-dimensional model using multiple captured images. For example, Patent Document 1 discloses a method for calculating the shape of a structure by performing point cloud measurement using a multi-viewpoint image measurement method based on multiple images. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-152533 A Summary of the Invention [Problem to be solved by the invention]

[0004] In such measurements using three-dimensional models, it is desirable to be able to reduce the amount of processing. An object of the present disclosure is to provide a dimension measurement method or dimension measurement device that can reduce the amount of processing. [Means for solving the problem]

[0005] A dimension measurement method according to an aspect of the present disclosure includes: Extract a plurality of lines from, and the plurality of A line segment model that is a three-dimensional model of the target area represented by lines is generated, and the line segment model is used to calculate dimensions of a predetermined location within the target area, and the calculated dimensions are output. Effect of the Invention

[0006] The present disclosure can provide a dimension measurement method or device that can reduce the amount of processing. [Brief description of the drawings]

[0007]

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Embodiments for Carrying Out the Invention

[0008] A dimension measurement method according to one aspect of the present disclosure generates a line segment model, which is a three-dimensional model of a target area represented by lines, using a plurality of images obtained by photographing the target area from a plurality of viewpoints, calculates the dimensions of a predetermined location within the target area using the line segment model, and outputs the calculated dimensions.

[0009] According to this, the dimension measurement method can reduce the processing amount by calculating dimensions using the line segment model. For example, the processing amount can be reduced by representing only the edges of the target area as lines compared to the case where the shape of the target area is represented by a point cloud. Specifically, in a dimension measurement method using a three-dimensional model in which not only the edges of the target area but also the surfaces of the target area are represented by a point cloud, in order to measure the edges of the target area, it is necessary to extract only the point cloud representing the edges from the three-dimensional model. On the other hand, according to the dimension measurement method according to one aspect of the present disclosure, since the line segment model includes only the point cloud representing the edges of the target area, there is no need to extract the point cloud representing the edges. Also, the data amount of the line segment model according to one aspect of the present disclosure is smaller than the data amount of a three-dimensional model in which the surfaces of the target area are also represented by a point cloud.

[0010] For example, the dimension measurement method may further display a user interface including the line segment model, and the predetermined location may be determined based on a plurality of lines included in the line segment model and specified by the user via the user interface.

[0011] According to this, by the user selecting a plurality of lines from the line segment model, the dimensions of a predetermined location based on the selected plurality of lines are measured. Thus, the user can easily measure the dimensions of a desired location.

[0012] For example, the dimension may be the distance between two lines selected by the user via the user interface.

[0013] According to this, when the user selects two lines from the line segment model, the distance between the two selected lines is measured. Therefore, the user can easily measure the dimension of a desired location.

[0014] For example, the dimension may be the distance between a line and a plane selected by the user via the user interface.

[0015] According to this, when the user selects a plurality of lines from the line segment model, the distance between the line and the plane based on the selected plurality of lines is measured. Therefore, the user can easily measure the dimension of a desired location.

[0016] For example, the plane may be a plane defined by two lines selected by the user via the user interface.

[0017] According to this, the user can easily select a desired plane.

[0018] For example, when the entire object included in the target area is not included in the captured image, a message prompting the user to capture the entire object may be presented to the user.

[0019] According to this, since the dimension measurement method can generate a line segment model using an image in which the entire object is captured, the accuracy of the line segment model can be improved. Therefore, the dimension measurement method can improve the accuracy of dimension measurement.

[0020] For example, the line may be a line segment.

[0021] According to this, since the dimension measurement method can generate a line segment model using a line segment with both ends without using a portion that is cut off in the image, the accuracy of the line segment model can be improved.

[0022] Further, the dimension measuring device according to one aspect of the present disclosure includes a processor and a memory. The processor uses the memory to generate a line segment model, which is a three-dimensional model of the target area represented by lines, using a plurality of images obtained by photographing the target area, calculates the dimensions of a predetermined location within the target area using the line segment model, and outputs the calculated dimensions.

[0023] According to this, the dimension measuring device can reduce the processing amount by calculating dimensions using the line segment model.

[0024] Also, the dimension measuring device according to another aspect of the present disclosure includes an input interface, a processor, and an output interface. A plurality of images obtained by photographing the target area from a plurality of viewpoints are input to the input interface. The processor generates a three-dimensional model representing the target area by lines based on the plurality of images. The processor calculates the dimensions of a predetermined location of the three-dimensional model. The calculated dimensions are output from the output interface.

[0025] These general or specific aspects may be implemented by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be implemented by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium.

[0026] Hereinafter, embodiments will be specifically described with reference to the drawings. Note that all of the embodiments described below are specific examples of the present disclosure. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Also, among the components in the following embodiments, the components not described in the independent claims are described as optional components.

[0027] (Embodiment) In the construction industry, the labor shortage is becoming serious, and it is necessary to improve the efficiency of on-site management operations. In addition, among on-site management operations, there is a demand for improving the efficiency of inspection work that takes a lot of time in terms of man-hours. In the dimensional measurement included in this inspection work, for example, since a person measures with a measuring tool, the burden on the worker is also large.

[0028] In this embodiment, for example, an apparatus and a method capable of automatically measuring the dimensions of an object from an image captured by a camera in a mobile terminal will be described.

[0029] FIG. 1 and FIG. 2 are diagrams showing examples of dimensional measurement. FIG. 1 shows an example of a kitchen. For example, the height L1 of the kitchen counter and the distance L2 from the floor to the outlet are measured. Here, both L1 and L2 are defined as the distance between a plane and a line. For example, L1 is the distance between the floor (plane) and one side (line) of the counter.

[0030] FIG. 2 shows an example of an entrance. For example, the undercut L3 of the door (the distance between the floor and the lower side of the door), the width L4 of the tile, and the gap L5 of the door are measured. In this example, L3 is the distance between a line and a plane, and L4 and L5 are the distances between lines. Thus, in this embodiment, the distance between a line and a line or the distance between a line and a plane is measured.

[0031] Next, the configuration of the dimensional measurement apparatus according to this embodiment will be described. FIG. 3 is a block diagram of a dimensional measurement apparatus 100 according to this embodiment. The dimensional measurement apparatus 100 includes an imaging unit 200, a control unit 300, a dimensional measurement unit 400, and a user interface 500. For example, this dimensional measurement apparatus 100 is included in a mobile terminal such as a tablet terminal or a smartphone.

[0032] The imaging unit 200 captures an image (a moving image or a still image). The control unit 300 controls the imaging unit 200, the dimension measurement unit 400, and the user interface 500. The dimension measurement unit 400 generates a line segment model, which is a three-dimensional model represented by line segments, by performing line segment reconstruction using the image captured by the imaging unit 200. In other words, the line segment model is a model obtained by removing shapes other than line segments (e.g., surfaces) from the three-dimensional model. Further, the dimension measurement unit 400 measures the dimension (distance) of a location specified by the user using the line segment model.

[0033] Note that the three-dimensional model is a representation of the captured measurement object on a computer. The three-dimensional model has, for example, position information of each three-dimensional location on the measurement object. Also, the line segment model is not limited to line segments and may be a three-dimensional model represented by lines. Here, a line is a line segment with two ends, a ray with only one end, a straight line without ends, or a combination thereof. Also, having no ends means, for example, being cut off in the image.

[0034] The user interface 500 receives user input. Also, the user interface 500 presents information to the user. For example, the user interface 500 is a display and a touch panel. Note that the user interface 500 is not limited to this and may be any user interface. For example, the user interface 500 may include a microphone, a speaker, etc.

[0035] FIG. 4 is a block diagram showing the configuration of the imaging unit 200. The imaging unit 200 includes a camera 201 and a mount 202. The camera 201 includes a storage unit 211, a control unit 212, an optical system 213, and an image sensor 214. The storage unit 211 stores images and the like captured by the image sensor 214. The control unit 212 controls the storage unit 211, the optical system 213, and the image sensor 214. The optical system 213 includes lenses and the like that allow light to enter the image sensor 214. The image sensor 214 captures an image. The mount 202 controls the shooting direction of the camera 201.

[0036] FIG. 5 is a block diagram showing the configuration of the control unit 300. The control unit 300 includes an imaging control unit 301, a UI control unit 302, a dimension measurement control unit 303, and a storage unit 304. The imaging control unit 301 controls the imaging unit 200. The UI control unit 302 controls the user interface 500. The dimension measurement control unit 303 controls the dimension measurement unit 400. The storage unit 304 stores images captured by the imaging unit 200, line segment models generated by the dimension measurement unit 400, and the like.

[0037] FIG. 6 is a block diagram showing the configuration of the dimension measurement unit 400. The dimension measurement unit 400 includes an image acquisition unit 401, a preprocessing unit 402, a line segment reconstruction unit 403, a plane estimation unit 404, and a measurement unit 405. The image acquisition unit 401 acquires a plurality of images captured by the imaging unit 200. The preprocessing unit 402 performs preprocessing on the acquired plurality of images. The line segment reconstruction unit 403 generates a line segment model by performing line segment reconstruction using the plurality of preprocessed images. The plane estimation unit 404 estimates a plane included in the line segment model. The measurement unit 405 measures the distance between line segments or the distance between a line segment and a plane using the line segment model.

[0038] FIG. 7 is a sequence diagram of the dimension measurement process in the dimension measurement device 100. This example is an example of measuring the distance between a line segment and a plane. First, a user issues a shooting start instruction via the user interface (S11). For example, the start instruction is issued by selecting a menu on the screen or launching an application.

[0039] When the control unit 300 receives the start instruction, it sends a shooting instruction to the imaging unit 200. The imaging unit 200 captures a plurality of images (still images) according to the shooting instruction (S12). Here, the plurality of obtained images (still images) are two or more images of the same object (or object space) taken from different viewpoints. FIG. 8 is a diagram showing an example of shooting of this plurality of images. For example, the user uses a single imaging device (e.g., a tablet terminal) to capture images of an object (e.g., a kitchen) from different positions.

[0040] Note that the imaging unit 200 does not necessarily have to be included in the dimension measuring device 100 and may be included in a terminal different from the terminal including the dimension measuring device 100. In this case, the image captured by the imaging unit 200 is sent to the dimension measuring device 100 via any communication means such as wireless communication.

[0041] Also, the plurality of images may be a plurality of images captured by a plurality of fixed cameras. Also, the plurality of images may be two-viewpoint images captured by a stereo camera from one position. Also, the plurality of images may be a plurality of frames included in a moving image captured while a single camera moves. Also, the plurality of images may be a combination of these.

[0042] The plurality of captured images are sent to the dimension measuring unit 400 via the control unit 300. The dimension measuring unit 400 generates a line segment model by performing line segment reconstruction using the plurality of images (S13).

[0043] Hereinafter, the line segment reconstruction process (S13) will be described. FIG. 9 is a flowchart of the line segment reconstruction process (S13). Also, FIGS. 10 to 12 are schematic diagrams for explaining line segment reconstruction.

[0044] First, as shown in FIG. 10, the dimension measuring unit 400 detects line segments included in each of the plurality of images (S31). Next, the dimension measuring unit 400 calculates the feature amount of each line segment (S32). Next, as shown in FIG. 11, the dimension measuring unit 400 performs line segment matching between images using the calculated feature amounts (S33). That is, the dimension measuring unit 400 detects corresponding line segments that are corresponding (identical) line segments between images. Next, as shown in FIG. 12, the dimension measuring unit 400 estimates the camera parameters (three-dimensional position and orientation) of each image and the three-dimensional position of the line segment by geometric calculation using the relationship of the corresponding line segments (S34).

[0045] Note that the above line segment reconstruction method is just an example, and any known method may be used. For example, the dimension measurement unit 400 may generate a three-dimensional model represented by point cloud data (point cloud) using a plurality of images, and generate a line segment model by detecting the line segments included in the generated three-dimensional model.

[0046] Once again, the description of FIG. 7 will be given. The line segment model generated by the line segment reconstruction (S13) is sent to the control unit 300. The control unit 300 generates a line segment model image of the line segment model viewed from a predetermined direction using the line segment model, and sends the line segment model image to the user interface (S14).

[0047] The user interface 500 displays a UI (user interface) including the line segment model image. FIG. 13 is a diagram showing an example of this screen. In this screen, the user may change the viewpoint position and perform zooming in and out. That is, the viewpoint of the displayed Line segment model may be operable by the user. Also, a Line segment model image may be superimposed and displayed on the image. This image may be a real-time image being currently captured, or an image captured in the past. That is, the viewpoint of the displayed Line segment model may be the same as the viewpoint of the image on which the Line segment model is superimposed.

[0048] The user selects two or more line segments for selecting a plane on the screen (S15). FIG. 14 is a diagram showing an example of this screen. In the example shown in FIG. 14, line segment A and line segment B are selected. Information indicating the selected line segments is sent to the dimension measurement unit 400 via the control unit 300.

[0049] The dimension measurement unit 400 estimates a plane including the selected plurality of line segments based on the information of the selected plurality of line segments (S16). For example, as shown in FIG. 15, a plane C (floor) including line segment A and line segment B is detected. Information on the estimated plane is sent to the control unit 300. The control unit 300 superimposes the plane information on the line segment model image, and outputs the obtained image to the user interface (S17).

[0050] The user interface 500 displays the received image. The user selects a line segment and a plane to be dimensionally measured on the screen (S18). FIG. 16 is a diagram showing an example of this screen. In the example shown in FIG. 16, the line segment D and the plane C are selected.

[0051] In addition, when only one plane is estimated in the plane estimation (S16), the user may not select the plane, and the plane may be automatically selected. Alternatively, the user may be asked to confirm whether to select the plane. Note that the plane estimation may be automatically performed in the dimension measurement unit 400 using the captured image or the point cloud model when the point cloud model has been generated. In this case, since a plurality of planes are estimated, the user selects the plane to be dimensionally measured from the plurality of planes.

[0052] The information on the selected dimension measurement target is sent to the dimension measurement unit 400. The dimension measurement unit 400 measures the dimension of the dimension measurement target using the line segment model (S19). Specifically, the dimension measurement unit 400 measures the distance between the selected line segment and the plane using the line segment model. Here, the distance between the line segment and the plane is, for example, the minimum distance between the line segment and the plane.

[0053] The result of the dimension measurement is sent to the control unit 300. The control unit 300 generates dimension information indicating the result of the dimension measurement and sends it to the user interface 500 (S20). The user interface displays the dimension information (S21). FIG. 17 is a diagram showing an example of this screen. As shown in FIG. 17, information indicating the portion where the dimension has been measured and the dimension (distance) are displayed.

[0054] In addition, when the line segment and the plane are not parallel, the minimum distance between a point (for example, the center point) on the line segment and the plane may be calculated. Alternatively, the minimum distances between a plurality of points on the line segment and the plane may be calculated, and the average value or the median value of the calculated plurality of minimum distances may be calculated. Alternatively, a plurality of the minimum value, the maximum value, the average value, and the median value of the plurality of minimum distances may be calculated, and the calculated values may be presented to the user. Further, the user may be notified that the line segment and the plane are not parallel.

[0055] In addition, on each screen where a user operation occurs, a message or the like that prompts the user to operate or indicates the operation content may be displayed. Also, in the above description, an example in which display of characters or the like is used as a method of presenting information to the user is shown, but any method such as display of an icon or voice output may be used.

[0056] Also, here, an example in which after plane estimation (S15 to S17) is performed, the line segment to be dimensionally measured is selected (S18) has been described. However, the line segment to be dimensionally measured may be selected first, and then plane estimation (S15 to S17) may be performed.

[0057] Also, here, an example in which the distance between a line segment and a plane is measured has been described. However, the distance between two line segments may be measured. In this case, S15 to S17 are not performed, and two line segments to be dimensionally measured are selected in S18.

[0058] Also, the distance between two planes may be measured. In this case, S15 to S17 are performed twice to estimate two planes. Further, a point and a line segment, or a point and a plane may be specified by the user, and the distance between the point and the line segment, or the distance between the point and the plane may be measured.

[0059] Further, the dimension measuring device 100 may have only any one of the functions of measuring the distance between a line segment and a plane, measuring the distance between line segments, and other functions (functions of measuring the distance between planes, between a point and a line segment, or between a point and a plane), or may have a plurality of functions. When having a plurality of functions, which function is used may be specified by the user at a predetermined timing (for example, at the start of S11 or S15, etc.), or may be specified by the user at an arbitrary timing. Alternatively, the function may be automatically switched according to the user's selection result of a line segment or a plane. For example, when two line segments are selected by the user as the dimension measurement target, the distance between the two line segments is measured, and when a line segment and a plane are selected by the user as the dimension measurement target, the distance between the line segment and the plane may be measured.

[0060] Next, the processing flow of the dimension measuring unit 400 will be described. FIG. 18 is a flowchart of the dimension measurement processing by the dimension measuring unit 400. First, the image acquisition unit 401 acquires a plurality of images captured by the imaging unit 200 (S41).

[0061] Next, the preprocessing unit 402 executes preprocessing on the acquired plurality of images (S42). The preprocessing is, for example, brightness adjustment, noise removal, resolution conversion, color space conversion, lens distortion correction, projective conversion, affine conversion, edge enhancement processing, trimming processing, or a combination thereof. Note that the timing at which the preprocessing is executed may be adjusted according to the timing at which the dimension measurement processing is executed, or may be performed in advance. The plurality of preprocessed images obtained by executing the image preprocessing by the preprocessing unit 402 may be stored in the storage unit 304 provided in the control unit 300. Note that the preprocessing by the preprocessing unit 402 may not be executed. For this reason, the dimension measuring unit 400 may not include the preprocessing unit 402.

[0062] Next, the line segment reconstruction unit 403 performs line segment reconstruction to calculate the three-dimensional shape of a predetermined space using a plurality of images captured by the imaging unit 200 (S43). Specifically, the line segment reconstruction unit 403 detects line segments for each of the plurality of images, performs association between the images, and calculates a line segment model, which is a three-dimensional line segment of a predetermined space, by geometric calculation using the correspondence relationship.

[0063] The plane estimation unit 404 estimates a three-dimensional plane using the line segment model. First, the plane estimation unit 404 selects a plurality of line segments included in the plane in order to estimate the plane (S44). For example, this plurality of line segments is selected based on an operation by the user. Note that the plane estimation unit 404 may perform this selection automatically. Next, the plane estimation unit 404 estimates a plane including the selected plurality of line segments (S45). Note that the plane estimation process by the plane estimation unit 404 may not be executed. For this reason, the dimension measurement unit 400 may not include the plane estimation unit 404.

[0064] Next, the measurement unit 405 selects two line segments or a line segment and a plane that are the dimension measurement targets (S46). For example, this selection is made based on an operation by the user. Note that the measurement unit 405 may perform this selection automatically. Next, the measurement unit 405 calculates the distance between the two selected line segments or between the line segment and the plane (S47). Also, the calculated distance is displayed, for example, on the user interface 500.

[0065] Here, in line segment reconstruction, since matching is performed using line segments, the accuracy decreases when the object is cut off in the image, that is, when the entire object does not fit in the image. Therefore, when such a case occurs, the dimension measurement device 100 may instruct the user to perform re-photographing. For example, the dimension measurement device 100 detects an edge in the image, and when the detected edge continues to the edge of the image, determines that the edge (object) is cut off.

[0066] FIG. 19 is a diagram showing an example of a screen in which the entire object (kitchen counter) does not fit into the image. FIG. 20 is a diagram showing an example of a screen in which a message is displayed in this case. Note that such a message may be displayed after shooting a still image, may be displayed while the real-time video before shooting a still image is being monitored, or may be displayed during shooting a moving image. Further, such a warning to the user may be given by displaying an icon or by voice.

[0067] Also, when three or more images are used as a plurality of images for line segment reconstruction, the dimension measuring device 100 may select two or more images in which the entire object is reflected from the plurality of images, and perform line segment reconstruction using the two or more images. That is, the dimension measuring device 100 may perform line segment reconstruction without using an image in which the object is cut off.

[0068] As described above, the dimension measuring device according to the present embodiment performs the processing shown in FIG. 21. The dimension measuring device generates a line segment model, which is a three-dimensional model of the target area represented by lines, using a plurality of images taken of the target area from a plurality of viewpoints (S51). Next, the dimension measuring device calculates the dimensions of a predetermined location within the target area using the line segment model (S52). Next, the dimension measuring device outputs the calculated dimensions (S53). For example, the dimension measuring device 100 presents the calculated dimensions to the user or outputs them to another device.

[0069] According to this, the dimension measuring device can reduce the processing amount by calculating the dimensions using the line segment model. Also, for example, compared to the case where the user needs to select two points, the selection operation by the user can be facilitated. Specifically, in order to accurately measure the height L1 of the kitchen counter shown in FIG. 1 by designating two points, the user needs to designate two points that are closest to each other between the floor and the upper surface of the kitchen counter. On the other hand, when lines and lines, or a line and a plane are designated as in the present embodiment, the shortest distance between the lines and lines, or the line and the plane is automatically measured, so that the selection operation by the user becomes easy.

[0070] For example, the dimension measuring device further displays a user interface including a line segment model, and a predetermined position is determined based on a plurality of lines included in the line segment model specified by the user via the user interface. According to this, when the user selects a plurality of lines from the line segment model, the dimension of the predetermined position based on the selected plurality of lines is measured. Therefore, the user can easily measure the dimension of a desired position.

[0071] For example, the dimension of a predetermined position is the distance between two lines selected by the user via the user interface. According to this, when the user selects two lines from the line segment model, the distance between the selected two lines is measured. Therefore, the user can easily measure the dimension of a desired position.

[0072] For example, the dimension of a predetermined position is the distance between a line and a plane selected by the user via the user interface. According to this, when the user selects a plurality of lines from the line segment model, the distance between the line and the plane based on the selected plurality of lines is measured. Therefore, the user can easily measure the dimension of a desired position.

[0073] For example, the plane selected by the user is a plane defined by two lines selected by the user via the user interface. According to this, the user can easily select a desired plane.

[0074] For example, when the entire object included in the target area is not included in the captured image, a message prompting the user to capture the entire object is presented to the user. According to this, since the dimension measuring device can generate a line segment model using an image in which the entire object is captured, the accuracy of the line segment model can be improved. Therefore, the dimension measuring device can improve the accuracy of dimension measurement.

[0075] For example, the above-mentioned line is a line segment. According to this, since the dimension measuring device can generate a line segment model using a line segment with both ends without using a portion that is cut off in the image, the accuracy of the line segment model can be improved.

[0076] For example, the dimension measurement device includes a processor and a memory, and the processor performs the above processing using the memory.

[0077] As described above, the dimension measurement device and the like according to the embodiment of the present disclosure have been described. However, the present disclosure is not limited to this embodiment.

[0078] Also, each processing unit included in the dimension measurement device and the like according to the above embodiment is typically realized as an LSI which is an integrated circuit. These may be individually formed into one chip, or may be formed into one chip so as to include some or all of them.

[0079] Also, the integration into an integrated circuit is not limited to an LSI, and it may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after LSI manufacturing, or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may be used.

[0080] Also, in each of the above embodiments, each component may be configured by dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

[0081] Also, the present disclosure may be realized as a dimension measurement method and the like executed by a dimension measurement device and the like.

[0082] Also, the division of the functional blocks in the block diagram is an example, and a plurality of functional blocks may be realized as one functional block, one functional block may be divided into a plurality, or a part of the functions may be transferred to other functional blocks. Also, the functions of a plurality of functional blocks having similar functions may be processed by a single piece of hardware or software in parallel or in a time-sharing manner.

[0083] In addition, the order in which each step in the flowchart is executed is for illustrative purposes to specifically describe the present disclosure, and other orders may be used. Also, some of the above steps may be executed simultaneously (in parallel) with other steps.

[0084] As described above, the dimension measuring device and the like according to one or more aspects have been described based on the embodiments. However, the present disclosure is not limited to these embodiments. Without departing from the spirit of the present disclosure, various modifications conceived by those skilled in the art to these embodiments, or forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects.

Industrial Applicability

[0085] The present disclosure can be applied to a dimension measuring device.

Explanation of Signs

[0086] 100 Dimension measuring device 200 Imaging unit 201 Camera 202 Stand 211 Storage unit 212 Control unit 213 Optical system 214 Image sensor 300 Control unit 301 Imaging control unit 302 UI control unit 303 Dimension measurement control unit 304 Storage unit 400 Dimension measurement unit 401 Image acquisition unit 402 Preprocessing unit 403 Line segment reconstruction unit 404 Plane estimation unit 405 Measurement unit 500 User interface

Claims

1. Extract a plurality of lines from a plurality of images captured from a plurality of viewpoints of a target area, and generate a line segment model which is a three-dimensional model of the target area represented by the plurality of lines, Calculate the dimensions of a predetermined location within the target area using the line segment model, Output the calculated dimensions Dimension measurement method.

2. The dimension measurement method further includes, Display a user interface including the line segment model, The predetermined location is determined based on a plurality of lines included in the line segment model and specified by the user via the user interface The dimension measurement method according to Claim 1.

3. The dimension is the distance between two lines selected by the user via the user interface The dimension measurement method according to Claim 2.

4. The dimension is the distance between a line and a plane selected by the user via the user interface The dimension measurement method according to Claim 2.

5. The plane is a plane defined by two lines selected by the user via the user interface The dimension measurement method according to Claim 4.

6. When the entire object included in the target area is not included in the captured image, present a message to prompt the user to capture the entire object to the user The dimension measurement method according to Claim 1.

7. The line segment model is a model obtained by removing shapes other than lines from the three-dimensional model The dimension measurement method according to Claim 1.

8. Generate the line segment model by performing line segment reconstruction using the plurality of images The dimension measurement method according to Claim 1.

9. In the generation of the line segment model, calculate a plurality of feature amounts of the plurality of lines, and estimate a plurality of three-dimensional positions of the plurality of lines using the plurality of feature amounts The dimension measurement method according to Claim 1.

10. In the generation of the line segment model, detect corresponding lines among the plurality of lines included in each of the plurality of images The dimension measurement method according to Claim 1.

11. Each of the plurality of lines is a line segment The dimension measurement method according to any one of Claims 1 to 10.

12. Estimate a plane including the two or more lines based on information of the two or more lines included in the plurality of lines, The dimension measurement method according to Claim 1 or 2.

13. A processor and, A memory, and The processor uses the memory, Extract a plurality of lines from a plurality of images captured from a plurality of viewpoints of a target area, and generate a line segment model which is a three-dimensional model of the target area represented by the plurality of lines. Using the line segment model, calculate the dimensions of a predetermined location within the target area. Output the calculated dimensions. A dimension measuring device.

Images