JP3436929B2 - 3D shape measurement system - Google Patents
3D shape measurement systemInfo
- Publication number
- JP3436929B2 JP3436929B2 JP2001102228A JP2001102228A JP3436929B2 JP 3436929 B2 JP3436929 B2 JP 3436929B2 JP 2001102228 A JP2001102228 A JP 2001102228A JP 2001102228 A JP2001102228 A JP 2001102228A JP 3436929 B2 JP3436929 B2 JP 3436929B2
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- Image Processing (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、物体の３次元形状
を非接触で計測する３次元形状計測システムに係り、特
に人体の部分形状を計測する３次元形状計測システムに
関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional shape measuring system for measuring a three-dimensional shape of an object without contact, and more particularly to a three-dimensional shape measuring system for measuring a partial shape of a human body.
【０００２】[0002]
【従来の技術】従来、３次元形状計測システムとして
は、レーザや白色光でスリット光線を被検体に投影しそ
のスリットの形状から物体の外観形状を計測している。
この３次元形状計測システムの具体例としては、例えば
特許第２９６１２６４号公報に記載されているように、
三角測量と同様の原理にて得られた複数のステレオ画像
から被検体の外観形状を把握する。2. Description of the Related Art Conventionally, as a three-dimensional shape measuring system, a slit light beam is projected onto a subject with a laser or white light and the external shape of an object is measured from the shape of the slit.
As a specific example of this three-dimensional shape measuring system, for example, as described in Japanese Patent No. 2961264,
The appearance shape of a subject is grasped from a plurality of stereo images obtained by the same principle as triangulation.
【０００３】[0003]
【発明が解決しようとする課題】ところで、従来の３次
元形状計測システムは、レーザ等精密な器機を用いてい
るため器機調整や周辺装置の設計も高い精密度が要求さ
れ容易にシステムの拡張をすることができないという問
題がある。また、レーザを用いている場合には、レーザ
の吸収及び反射が原因で黒色物体や金属物体の計測がで
きないという問題がある。また、被検体の全周を計測す
る場合には、通常ターンテーブルに計測対象物を乗せて
計測を行なう。しかし、例えば人体の部分形状の計測で
被検体をターンテーブルに乗せて計測することは容易で
はないという問題がある。By the way, since the conventional three-dimensional shape measuring system uses a precise instrument such as a laser, the instrument adjustment and the design of the peripheral equipment are required to have high precision, and the system can be easily expanded. There is a problem that you cannot do it. Further, when a laser is used, there is a problem that a black object or a metal object cannot be measured due to absorption and reflection of the laser. In addition, when measuring the entire circumference of the subject, the measurement target is usually placed on the turntable for measurement. However, for example, there is a problem that it is not easy to measure a partial shape of a human body by placing an object on a turntable.
【０００４】本発明は、このような問題点に鑑みてなさ
れたもので、簡易なシステム構成にて３次元形状を計測
することを図った３次元形状計測システムを提供する。The present invention has been made in view of the above problems, and provides a three-dimensional shape measuring system intended to measure a three-dimensional shape with a simple system configuration.
【０００５】[0005]
【課題を解決するための手段】このような課題を解決す
るための本発明の技術的手段は、被検体に接触すること
なく該被検体の３次元形状に係る座標データを算出する
３次元形状計測システムにおいて、上記被検体に密着し
て被覆され該被検体表面に格子模様を形成する伸縮自在
のネットと、上記ネットが被覆された被検体を重複箇所
が生じるように少なくとも２地点以上から撮像するカメ
ラと、上記カメラで撮像した重複箇所の複数の２次元画
像情報から格子模様の交叉点の３次元座標からなる３次
元格子情報を算出する処理装置とを備えた構成とした。
被検体に被覆したネットの格子模様の交叉点を２地点か
らの２次元画像情報を用いれば交叉点の３次元座標が求
められ、複数の交叉点の３次元座標から被検体の３次元
形状が認識される。また、必要に応じ、上記２次元画像
情報の重複箇所を識別する基準点を与えるために、上記
格子模様に付設される標識を備えた構成とした。複数の
２次元画像情報において、被検体上の同一点を認識可能
にし、２次元画像情報間の対応交叉点の識別が容易にな
る。更に、必要に応じ、上記標識に、色を付した構成と
した。視覚的に、標識の認識が容易になる。The technical means of the present invention for solving such a problem is a three-dimensional shape for calculating coordinate data relating to the three-dimensional shape of the subject without contacting the subject. In the measurement system, an expandable net that is in close contact with the subject and forms a lattice pattern on the surface of the subject, and the subject covered with the net are imaged from at least two points so that overlapping points occur. And a processing device that calculates three-dimensional lattice information composed of three-dimensional coordinates of intersection points of a lattice pattern from a plurality of two-dimensional image information of overlapping portions imaged by the camera.
By using the two-dimensional image information from the two points for the intersection points of the net pattern covering the subject, the three-dimensional coordinates of the intersection points are obtained, and the three-dimensional shape of the subject is determined from the three-dimensional coordinates of the plurality of intersection points. Be recognized. Moreover, in order to provide a reference point for identifying the overlapping portion of the two-dimensional image information, a mark attached to the lattice pattern is provided as needed. In a plurality of two-dimensional image information, the same point on the subject can be recognized, and the corresponding intersection points between the two-dimensional image information can be easily identified. Further, the above-mentioned sign is colored when necessary. Visually, the recognition of the sign becomes easy.
【０００６】更にまた、必要に応じ、上記処理装置を、
上記２次元画像情報から格子模様情報を抽出する格子模
様情報抽出手段と、上記抽出手段で抽出した格子模様情
報の交叉点座標を算出する交叉点座標算出手段と、上記
重複箇所の一交叉点における上記交叉点座標算出手段が
算出した複数の交叉点座標から当該一交叉点の３次元座
標を算出する３次元座標算出手段とを備えた構成とし
た。格子模様情報抽出手段は、格子模様以外の画像情報
が含まれている２次元画像情報から格子模様情報だけを
抽出し、交叉点座標算出手段で格子模様情報の交叉点に
２次元座標を与える。３次元座標算出手段は、同一交叉
点の複数の２次元座標を用いて同一交叉点の３次元座標
を算出する。また、必要に応じ、上記格子模様情報抽出
手段は、上記２次元画像情報を２値化し格子模様情報を
細線化する機能を備える構成とした。２次元画像情報か
ら格子模様情報を抽出するとき、２次元画像情報を例え
ば白と黒とを示す２値に変換することで２次元画像を単
純化し、格子模様とそれ以外の情報とに調整する。従っ
て、格子模様は１値で表わすことができる。格子模様に
は線巾があり２値化しただけでは格子模様の交叉点を特
定できないので、格子模様を細線化して交叉点を特定し
易くする。更に、必要に応じ、上記交叉点座標算出手段
は、上記細線化した格子模様情報の交叉箇所の形状をパ
ターン化し、パターンに応じた交叉点座標を算出する機
能を備える構成とした。格子模様情報抽出手段により細
線化した格子模様の交叉箇所の形状は、形状のズレによ
り所定のパターンを形成するようになる。従って、パタ
ーン毎に交叉点の位置を定めることによって、交叉点の
２次元座標が容易に求まる。Furthermore, if necessary, the above processing device
Lattice pattern information extraction means for extracting the lattice pattern information from the two-dimensional image information, intersection point coordinate calculation means for calculating the intersection point coordinates of the lattice pattern information extracted by the extraction means, and at one intersection point of the overlapping portion. The three-dimensional coordinate calculation means calculates the three-dimensional coordinate of the one crossing point from the plurality of crossing point coordinates calculated by the crossing point coordinate calculating means. The lattice pattern information extraction means extracts only the lattice pattern information from the two-dimensional image information including image information other than the lattice pattern, and the intersection point coordinate calculation means gives the two-dimensional coordinates to the intersection points of the lattice pattern information. The three-dimensional coordinate calculation means calculates the three-dimensional coordinates of the same intersection using a plurality of two-dimensional coordinates of the same intersection. In addition, the grid pattern information extracting means is configured to have a function of binarizing the two-dimensional image information and thinning the grid pattern information, if necessary. When the lattice pattern information is extracted from the two-dimensional image information, the two-dimensional image information is converted into a binary value indicating, for example, white and black to simplify the two-dimensional image and adjust to the lattice pattern and other information. . Therefore, the lattice pattern can be represented by one value. Since the lattice pattern has a line width, the intersection points of the lattice pattern cannot be specified only by binarizing it. Therefore, the lattice pattern is thinned to facilitate the identification of the intersection points. Further, if necessary, the intersection point coordinate calculation means is configured to have a function of patterning the shape of the intersection points of the thinned grid pattern information and calculating the intersection point coordinates according to the pattern. The shape of the intersection of the lattice pattern thinned by the lattice pattern information extracting means forms a predetermined pattern due to the shape shift. Therefore, the two-dimensional coordinates of the crossing point can be easily obtained by determining the position of the crossing point for each pattern.
【０００７】更にまた、必要に応じ、上記３次元座標算
出手段は、三角測量により３次元座標を算出する機能を
備える構成とした。複数の２次元画像情報の同一交叉点
の２次元座標が求められ、三角測量の原理で同一交叉点
の３次元格子座標が算出できる。従って、重複箇所の交
叉点の３次元格子座標の算出により、重複箇所の形状が
把握される。また、必要に応じ、上記処理装置に、被検
体に対して隣り合う関係にある同一交叉点の交叉点座標
を含む３次元格子情報を接続する接続手段を設けた構成
とした。同一交叉点にて夫々の３次元座標を同一化すれ
ば、連続する３次元格子情報が形成される。更にまた、
必要に応じ、被検体に対して隣り合う関係にある同一交
叉点の交叉点座標を含む３次元格子情報を、夫々グロー
バル座標系に変換し、同一の交叉点座標を平均化する機
能を備える構成とした。連続する３次元格子情報をグロ
ーバル座標系に変換してから、隣り合う３次元格子情報
の重なり合う箇所の同一交叉点のうち所望の同一交叉点
を一致させて他の同一交叉点を平均化して一元化し３次
元格子情報を繋げる。また、必要に応じ、上記接続手段
は、上記３次元格子情報の少なくとも３つの同一交叉点
の交叉点座標から形成される各平面を該平面の法線ベク
トルが一致するように重ね合わせて一方の座標系を他方
の座標系に変換する機能を備える構成とした。交叉点座
標毎に座標変換することなく、特定の面を合わせて３次
元格子情報を接続することができる。Furthermore, if necessary, the three-dimensional coordinate calculating means has a function of calculating three-dimensional coordinates by triangulation. The two-dimensional coordinates of the same intersection of a plurality of two-dimensional image information are obtained, and the three-dimensional grid coordinates of the same intersection can be calculated by the principle of triangulation. Therefore, the shape of the overlapping portion can be grasped by calculating the three-dimensional lattice coordinates of the intersections of the overlapping portions. Further, if necessary, the processing apparatus is provided with connecting means for connecting three-dimensional lattice information including the intersection point coordinates of the same intersection point that is adjacent to the subject. If the three-dimensional coordinates are made identical at the same intersection, continuous three-dimensional lattice information is formed. Furthermore,
A configuration having a function of converting three-dimensional grid information including the intersection point coordinates of the same intersection point that is adjacent to the subject to the global coordinate system and averaging the same intersection point coordinates, if necessary. And After converting the continuous 3D grid information to the global coordinate system, the desired same crossover points among the same crossover points of the adjoining 3D grid information are matched and the other same crossover points are averaged and unified. Then connect the 3D grid information. Further, if necessary, the connecting means superimposes each plane formed from the intersection point coordinates of at least three same intersection points of the three-dimensional lattice information so that the normal vectors of the planes coincide with each other, and The configuration has a function of converting the coordinate system to the other coordinate system. It is possible to connect three-dimensional lattice information by aligning specific surfaces without performing coordinate conversion for each intersection point coordinate.
【０００８】[0008]
【発明の実施の形態】以下、添付図面に基づいて本発明
の実施の形態に係る３次元形状計測システムについて説
明する。図１に示すように、３次元形状計測システムＳ
は、被検体Ｔに接触することなく被検体Ｔの３次元形状
に係る座標データを算出するにあたって、被検体Ｔに密
着して被覆され被検体Ｔ表面に格子模様を形成する伸縮
自在のネットＮと、ネットＮが被覆された被検体Ｔを重
複箇所が生じるように少なくとも２地点以上から撮像す
るカメラＣと、カメラＣで撮像した複数の２次元画像情
報から重複箇所の格子模様の交叉点の３次元座標からな
る３次元格子情報を算出する処理装置１０とを備えてい
る。ネットＮは、それ自体が格子模様であっても、被覆
する生地に格子模様が描かれていてもよく、被検体Ｔを
所望の方向から包み込む袋状の形状からなる。また、ネ
ットＮは、被検体Ｔの大きさに合わせて種々のサイズを
備えるとともに、格子模様の格子サイズに関しても種々
備えている。格子模様は、識別し易い黒色であることが
好ましい。また、ネットＮの格子模様の交叉点箇所に
は、所定の格子間隔で標識ｍを付設することができる。
標識ｍは、格子模様における基準点として視覚認識させ
るため色を付したり特徴的な形状にすることが好まし
い。カメラＣは、データ処理上デジタルカメラＣを用い
た。デジタルカメラＣで撮った２次元画像情報は直接処
理装置１０に転送することができる。DETAILED DESCRIPTION OF THE INVENTION A three-dimensional shape measuring system according to an embodiment of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 1, the three-dimensional shape measuring system S
Is a stretchable net N that is in close contact with the subject T to form a lattice pattern on the surface of the subject T when calculating coordinate data relating to the three-dimensional shape of the subject T without contacting the subject T. And a camera C that images the subject T covered by the net N from at least two points so that overlapping points may occur, and from the plurality of two-dimensional image information captured by the camera C, the intersection point of the lattice pattern of the overlapping points And a processing device 10 for calculating three-dimensional grid information composed of three-dimensional coordinates. The net N may itself have a lattice pattern, or may have a lattice pattern drawn on the cloth to be covered, and has a bag-like shape that wraps the subject T in a desired direction. The net N has various sizes according to the size of the subject T, and various grid sizes of the grid pattern. The grid pattern is preferably black, which is easy to identify. In addition, markers m can be attached to the intersection points of the grid pattern of the net N at predetermined grid intervals.
The marker m is preferably colored or has a characteristic shape so as to be visually recognized as a reference point in a lattice pattern. As the camera C, a digital camera C was used for data processing. The two-dimensional image information taken by the digital camera C can be directly transferred to the processing device 10.
【０００９】処理装置１０は、２次元画像情報から格子
模様情報を抽出する格子模様情報抽出手段と、抽出手段
で抽出した格子模様情報の交叉点座標を算出する交叉点
座標算出手段と、重複箇所の一交叉点における交叉点座
標算出手段が算出した複数の交叉点座標から一交叉点の
３次元座標を算出する３次元座標算出手段と表示手段と
を備えている。格子模様情報抽出手段は、２次元画像情
報を２値化して単純化する。２値化は、所定の色彩階調
に閾値を定めることによって行なわれる。従って、格子
模様を１値（黒）としその背景の２次元画像情報を他の
１値（白）にして格子模様を抽出することができる。ま
た、格子模様情報抽出手段は、２値化した格子模様情報
を細線化する機能を備える。細線化は、格子模様を容易
に座標化するために必要な処理であり、格子模様巾を１
画素に変換する。２値化した格子模様巾は一定でないた
め細線化の一括処理をすることができない。そこで、２
値化した格子模様を一定の線巾に画素膨張してから細線
化することが望ましい。画素膨張することによって、連
続した一定の線巾の格子模様が得られる。The processing device 10 includes a grid pattern information extracting means for extracting grid pattern information from two-dimensional image information, a cross point coordinate calculating means for calculating cross point coordinates of the grid pattern information extracted by the extracting means, and an overlapping portion. The three-dimensional coordinate calculation means for calculating the three-dimensional coordinate of one crossing point from the plurality of crossing point coordinates calculated by the crossing point coordinate calculation means at the one crossing point and the display means. The lattice pattern information extraction means binarizes and simplifies the two-dimensional image information. The binarization is performed by setting a threshold value for a predetermined color gradation. Therefore, the lattice pattern can be extracted with one value (black) and the background two-dimensional image information with another value (white). The lattice pattern information extracting means has a function of thinning the binarized lattice pattern information. The thinning is a process necessary to easily coordinate the grid pattern, and the grid pattern width is set to 1
Convert to pixels. Since the binarized grid pattern width is not constant, it is not possible to perform batch processing for thinning. So 2
It is desirable that the binarized lattice pattern is expanded into pixels with a constant line width and then thinned. By expanding the pixels, a grid pattern having a continuous and constant line width is obtained.
【００１０】交叉点座標算出手段は、細線化した格子模
様情報の交叉箇所の形状をパターン化し、パターンに応
じた交叉点座標を算出する機能を備える。細線化した格
子模様情報は、交叉箇所の２次元形状が単純化されるこ
とにより所定のパターンに分類可能になる。パターン化
は、交叉箇所を構成する画素の８近傍の状態により行な
う。具体的には、交叉模様情報を構成する画素は、その
画素に接する交叉模様情報を構成する画素の数（８近傍
情報）によりパターン化される。パターン化は、交叉箇
所を構成する画素に８近傍の画素の総和を画素値として
設定することにより行なう。交叉箇所を構成する複数の
画素の８近傍情報から、交叉点にすべき画素を特定して
座標化することができる。３次元座標算出手段は、三角
測量により３次元座標を算出する機能を備える。同一格
子模様を複数のカメラＣで撮像することによって同一格
子模様における同一の交叉点座標はカメラＣ毎に複数得
られるので、三角測量により同一の交叉点の３次元座標
が算出される。ここで、得られる重複箇所の交叉点の３
次元座標の集合を３次元格子情報と呼ぶ。また、処理装
置１０は、被検体Ｔに対して隣り合う関係にある同一交
叉点の交叉点座標を含む３次元格子情報を接続する接続
手段を備えている。３次元格子情報を接続していけば、
被検体Ｔの外観全体を認識することが可能になる。例え
ば、被検体Ｔに対して隣り合う関係にある同一交叉点の
交叉点座標を含む３次元格子情報を、夫々グローバル座
標系に変換し同一の交叉点座標を平均化する機能を備え
た場合には、グローバル座標系に配置する際に生じる３
次元格子情報の接続箇所の座標のズレ（座標値が二元化
している）を座標の平均値をとり一元化して調整する。
また、３次元格子情報の少なくとも３つの同一交叉点の
交叉点座標から形成される各平面を平面の法線ベクトル
が一致するように重ね合わせて一方の座標系を他方の座
標系に変換する機能を備えた場合には、他方の座標を重
ねあわせる面に対する法線ベクトルで示すことができ接
続操作が容易に行なわれる。The intersecting point coordinate calculating means has a function of patterning the shape of the intersecting points of the thinned grid pattern information and calculating the intersecting point coordinates according to the pattern. The thinned grid pattern information can be classified into a predetermined pattern by simplifying the two-dimensional shape of the intersection. The patterning is performed by the state in the vicinity of 8 pixels forming the intersection. Specifically, the pixels that form the cross pattern information are patterned by the number of pixels (8 neighborhood information) that are in contact with the pixels that form the cross pattern information. The patterning is performed by setting the sum of the pixels in the vicinity of 8 as the pixel value in the pixels forming the intersection. From the 8 neighborhood information of a plurality of pixels forming the intersection, the pixel to be the intersection can be specified and coordinated. The three-dimensional coordinate calculation means has a function of calculating three-dimensional coordinates by triangulation. By capturing the same lattice pattern with a plurality of cameras C, a plurality of the same intersection point coordinates in the same lattice pattern can be obtained for each camera C, so that the three-dimensional coordinates of the same intersection point are calculated by triangulation. Here, 3 of the intersection points of the obtained overlapping points
A set of dimensional coordinates is called three-dimensional grid information. Further, the processing device 10 includes a connecting unit that connects three-dimensional lattice information including the intersection point coordinates of the same intersection point that is adjacent to the subject T. If you connect 3D grid information,
It is possible to recognize the entire appearance of the subject T. For example, in the case where the three-dimensional grid information including the intersection point coordinates of the same intersection point that is adjacent to the subject T is converted into the global coordinate system and the same intersection point coordinate is averaged, Occurs when placed in the global coordinate system 3
The coordinate deviation (coordinate values are binary) of the connection point of the three-dimensional grid information is unified by taking the average value of the coordinates and adjusted.
Further, a function of superimposing each plane formed from the intersection point coordinates of at least three same intersection points of the three-dimensional lattice information so that the normal vectors of the planes coincide with each other and converting one coordinate system into the other coordinate system. In the case of including, the other coordinate can be indicated by a normal vector to the surface on which the other coordinates are superposed, and the connecting operation can be easily performed.
【００１１】従って、本発明の実施の形態に係る３次元
形状計測システムＳによれば、図２に示すフローに従っ
て被検体Ｔの３次元形状が計測される。ここで、被検体
Ｔは人体の一部の足とし、足には格子模様が形成された
くつ下（ネットＮ）を履かせている。格子模様の交叉箇
所には、所定格子間隔毎に夫々別の色が付設された複数
の標識ｍを設けている。
（ａ：撮像処理）被検体Ｔの左側の３次元格子座標と右
側の３次元格子座標とを得るために、左右２台計４台の
カメラＣで被検体Ｔを撮像した。その際、左右側の夫々
２台のカメラＣの撮像の重複箇所は被検体Ｔの左右側面
全体を包合するようにした。各カメラＣの取得した撮像
画像は２次元情報であるため、次のようにして撮像画像
の重複箇所の３次元情報化を行なった。Therefore, according to the three-dimensional shape measuring system S according to the embodiment of the present invention, the three-dimensional shape of the subject T is measured according to the flow shown in FIG. Here, the subject T is a leg of a part of the human body, and the socks (net N) in which a lattice pattern is formed are put on the leg. A plurality of markers m with different colors are provided at predetermined grid intervals at the intersections of the grid pattern. (A: Imaging Process) In order to obtain the three-dimensional grid coordinates on the left side and the three-dimensional grid coordinate on the right side of the subject T, the subject T was imaged by the left and right four cameras C in total. At that time, the overlapping portions of the two cameras C on the left and right sides overlap the entire left and right side surfaces of the subject T. Since the captured image acquired by each camera C is two-dimensional information, the overlapping portions of the captured images are converted into three-dimensional information as follows.
【００１２】（ｂ：２値化）個々の撮像画像から格子模
様を抽出するために、撮像画像を所定の閾値（基準にす
る色彩階調を定める）により２値（白または黒）に変換
する。閾値は２値化により背景に対して格子模様が明確
になる条件を定めればよい。２値化処理により得られた
格子模様以外のデータであって格子模様を表わす値（例
えば黒）と同じ値は格子模様を表わさない値（白）に変
換する。このようにして、格子模様だけを１値で表わす
ことができる。具体的には、図３に示すようにして２値
化を行なう。図３（１）は、２値化処理する前の２次元
画像情報である。２次元画像情報を２値化処理すること
により図３（２）に示すように格子模様が抽出される。(B: Binarization) In order to extract a lattice pattern from each imaged image, the imaged image is converted into binary (white or black) by a predetermined threshold value (defining a standard color gradation). . The threshold may be defined as a condition that the lattice pattern becomes clear with respect to the background by binarization. Data other than the lattice pattern obtained by the binarization process and the same value as the value representing the lattice pattern (for example, black) is converted into a value not representing the lattice pattern (white). In this way, only the grid pattern can be represented by a single value. Specifically, binarization is performed as shown in FIG. FIG. 3A is the two-dimensional image information before the binarization process. By binarizing the two-dimensional image information, a lattice pattern is extracted as shown in FIG.
【００１３】（ｃ：細線化）２値化処理によって得られ
た格子模様は、図３（２）に示すように線巾が均一でな
い部分があるため、線巾を均一（１画素）にする細線化
処理を行なう。先ず、図３（３）に示すように、２値化
処理によって得られた格子模様を画素膨張して線巾を均
一にするとともに２値化処理によって断線した格子模様
を接続する。線巾の均一は、２値化処理によって得られ
た格子模様の最大線巾に合わせればよい。次いで、図３
（４）に示すように、画素膨張した格子模様の線巾を１
画素化して均一な線巾の格子模様にする。格子模様の線
巾を１画素化することにより格子の交叉点を特定し易く
なる。このとき、標識ｍの箇所は、標識ｍの大きさに応
じて存在域が識別される。識別は、格子模様と標識ｍの
境界、例えば、格子模様の色と標識の色との違いを認識
することによって行なわれる。この場合、標識ｍには識
別情報として、境界におけるＸ座標の両端の座標とＹ座
標の両端の座標が与えられる。(C: Thinning) Since the lattice pattern obtained by the binarization process has a portion where the line width is not uniform as shown in FIG. 3B, the line width is made uniform (1 pixel). Performs thinning processing. First, as shown in FIG. 3C, the lattice pattern obtained by the binarization process is expanded by pixels to make the line width uniform, and the lattice patterns broken by the binarization process are connected. The uniform line width may be matched with the maximum line width of the lattice pattern obtained by the binarization process. Then, FIG.
As shown in (4), the line width of the lattice pattern with expanded pixels is set to 1
Pixels are formed into a grid pattern with a uniform line width. By making the line width of the lattice pattern one pixel, it becomes easy to identify the intersection points of the lattice. At this time, the location of the marker m is identified as the existence area according to the size of the marker m. The identification is performed by recognizing the boundary between the lattice pattern and the marker m, for example, the difference between the color of the lattice pattern and the color of the marker. In this case, the marker m is provided with the coordinates at both ends of the X coordinate and the coordinates at both ends of the Y coordinate at the boundary as identification information.
【００１４】（ｄ：交叉点座標の算出）細線化した格子
模様の交叉点を特定して交叉点の２次元座標を定める。
交叉点の特定は、被検体Ｔにおける格子模様の同一地点
を判断する上で容易になる。図４（１）に示すように、
細線化した格子模様の交叉箇所ｔは複数の画素から構成
されている場合（歪）が多く、細線化した格子模様情報
だけでは交叉点を特定し、一義的に交叉点座標を定める
ことができない。そこで、交叉点座標を定めるために交
叉箇所ｔの歪補正を次の様にして行なった。先ず、細線
化した格子模様情報に対してラスタースキャンを行な
う。ラスタースキャンは、格子模様情報を構成する画素
の８近傍（上下左右斜め）の格子模様情報を構成する画
素の画素値を求める（パターン化する）。従って、格子
模様情報を構成する画素には画素値が付加される。例え
ば、格子模様の直線部分を構成する画素は前後に格子模
様情報を構成する画素が存在するためこの画素の画素値
は「２」となる。格子模様の交叉箇所ｔを構成する画素
の画素値は交叉状態に応じて２以外の値になる。例を図
４（２）に示す。理想的に交叉点が１画素の場合には、
（ａ）のように交叉点と交叉点の８近傍において格子模
様を構成する画素の画素値は「４」となり、交叉点の８
近傍に連続する画素の画素値は「２」となる。ここで、
交叉箇所ｔを構成する画素の画素値に「３」及び「４」
がある場合には、十字交叉点ではなく、（ｂ）及び
（ｃ）のように十字交叉点が変形したＴ字交叉点が複数
存在することを意味する。そこで、画素値が「２」以外
の画素を消去して、新たに十字交叉点が生じるように交
叉箇所ｔを形成する処理を施した。但し、交叉箇所ｔが
単独のＴ字交叉点であった交叉箇所ｔではＴ字交叉点が
形成される。(D: Calculation of crossing point coordinates) Two-dimensional coordinates of the crossing points are determined by specifying the crossing points of the thinned grid pattern.
The intersection point can be easily identified when determining the same point in the lattice pattern on the subject T. As shown in FIG. 4 (1),
The crossing point t of the thin lined grid pattern often has a plurality of pixels (distortion), and the crossing point cannot be uniquely determined by specifying the crossing point only by the thinned grid pattern information. . Therefore, in order to determine the coordinates of the intersection point, distortion correction at the intersection point t was performed as follows. First, a raster scan is performed on the thinned grid pattern information. The raster scan obtains (patterns) the pixel values of the pixels forming the lattice pattern information in the 8 neighborhoods (upper, lower, left, right, and diagonal) of the pixels forming the lattice pattern information. Therefore, the pixel value is added to the pixels forming the lattice pattern information. For example, the pixel forming the straight line portion of the lattice pattern has pixels forming the lattice pattern information before and after the pixel, and the pixel value of this pixel is "2". The pixel values of the pixels forming the crossing points t of the checkerboard pattern are values other than 2 depending on the crossing state. An example is shown in FIG. Ideally, if the intersection is 1 pixel,
As shown in (a), the pixel value of the pixels forming the lattice pattern in the vicinity of the intersections and 8 of the intersections is “4”, and
The pixel value of the pixels continuous in the vicinity is “2”. here,
“3” and “4” are added to the pixel values of the pixels forming the intersection point t
If there is, it means that there are a plurality of T-shaped intersections in which the intersections are deformed as shown in (b) and (c), instead of the intersections. Therefore, a process of deleting the pixels having pixel values other than “2” and forming the intersection point t so that a new cross intersection point is formed is performed. However, a T-shaped intersection is formed at the intersection t where the intersection t was a single T-shaped intersection.
【００１５】図５には、交叉箇所ｔが十字状態の場合の
歪補正が示される。十字交叉の場合は、図４（１）に示
す交叉箇所ｔを消去することにより図５（１）に示すよ
うに線分の端点（ａ，ｂ，ｃ，ｄ）が４つ生じる。選択
した１端点（例えばａ）において端点ａを含む線分を所
定距離Ｙ遡ることにより端点ａを含む線分の傾きを求め
ることができる。次いで、図５（２）に示すように、求
めた傾きに合わせて端点ａから線分を延長し、延長とと
もに先端点Ｚの画素値を求めることによって、図５
（３）に示すように、端点ｃに接続させることができる
（先端点Ｚの画素値が「２」になればよい）。図５
（４）に示すように、他の端点（ｃまたはｄ）について
も同様に線分を形成する。このようにして、向かい合う
端点（ａとｃ，ｂとｄ）を結んで新たに交叉点を再形成
する。この交叉点の再形成により１画素の交叉点が定ま
り、交叉点に２次元座標が与えられる。また、交叉点の
再形成は次ぎの様にしても行なうことができる。先ず、
交叉箇所ｔを消去することにより生じた線分の端点
（ａ，ｂ，ｃ，ｄ）から２端点ずつの組み合わせを選択
して、選択した２点が含まれる２つの直線の方程式を求
める。次いで、得られた直線の方程式の連立方程式から
交点を算出して、交点座標が交叉箇所ｔ内に存在するか
否かを調べる。交点座標が交叉箇所ｔに存在する端点の
組み合わせは１つしかないので、その組み合わせを求め
ることにより１画素の交叉点が定まり、交叉点に２次元
座標が与えられる。このようにすれば、端点の組み合わ
せを求める際に、交叉点の２次元座標を得ることができ
る。以上の処理は、一つのカメラＣで撮像した格子模様
情報に対して行なったが、重複箇所の格子模様情報を３
次元化するために以下の処理を行なった。FIG. 5 shows distortion correction when the crossing point t is in a cross shape. In the case of a cross, cross points t shown in FIG. 4 (1) are deleted to generate four end points (a, b, c, d) of the line segment as shown in FIG. 5 (1). The slope of the line segment including the end point a can be obtained by tracing back the line segment including the end point a at the selected one end point (for example, a) by the predetermined distance Y. Then, as shown in FIG. 5 (2), the line segment is extended from the end point a in accordance with the obtained inclination, and the pixel value of the end point Z is obtained along with the extension.
As shown in (3), it can be connected to the end point c (the pixel value of the front end point Z should be "2"). Figure 5
As shown in (4), line segments are similarly formed for the other end points (c or d). In this way, the opposite end points (a and c, b and d) are connected to form a new intersection point. By the reformation of this intersection, the intersection of one pixel is determined, and two-dimensional coordinates are given to the intersection. Further, the re-formation of the intersection point can be carried out as follows. First,
A combination of two endpoints from the endpoints (a, b, c, d) of the line segment generated by deleting the intersection point t is selected, and two straight line equations including the selected two points are obtained. Next, the intersection is calculated from the simultaneous equations of the obtained straight line equations, and it is checked whether the coordinates of the intersection exist within the intersection point t. Since there is only one combination of the end points where the coordinates of the intersection point exist at the intersection point t, the intersection point of one pixel is determined by obtaining the combination, and the two-dimensional coordinates are given to the intersection point. By doing so, it is possible to obtain the two-dimensional coordinates of the intersecting points when obtaining the combination of the end points. The above processing is performed for the lattice pattern information captured by one camera C, but the lattice pattern information of the overlapping portion is 3
The following processing was performed in order to make a dimension.
【００１６】（ｅ：３次元格子座標の算出）重複箇所の
同一交叉点の２次元座標が複数（用いたカメラＣの数）
得られるので、三角測量の原理により容易に同一交叉点
の３次元座標が算出される。重複箇所の交叉点の３次元
座標の集合として３次元格子情報が形成される。
（ｆ：３次元格子情報の接続）被検体Ｔ上の連続する３
次元格子情報が得られた場合には、３次元格子情報を接
続することにより被検体Ｔの外観形状のデータの集積化
が図られる。ここで、３次元格子情報を接続するために
は、接続する双方の３次元格子情報に同一交叉点を示す
共通する３次元座標が含まれている必要がある。共通す
る３次元座標の存在の判断は、格子の重なり度合から判
断することができる。図６には、共通する３次元座標の
存在の判断方法が示される。所定の２つの３次元格子情
報Ｚ１，Ｚ２には所定間隔で標識ｍ１，ｍ２（異なる色
情報が付与された別個の標識）を付している（ここで
は、３次元格子情報の左右側部で接続することを前提に
している。上下側部で接続する場合も同様である）。従
って、標識ｍ１と標識ｍ２との間の格子行の交叉数Ｑ
（ここでは５）がわかっているので、３次元格子情報Ｚ
１において標識ｍ１から標識ｍ２側に在る交叉数Ｑ１
（ここでは３）と３次元格子情報Ｚ２において標識ｍ２
から標識ｍ１側に在る交叉数Ｑ２（ここでは４）を調べ
れば格子の重なり度合（Ｑ１＋Ｑ２−Ｑ＝２）がわか
り、同一交叉点を表わす共通する３次元座標領域を識別
することができる。(E: Calculation of three-dimensional grid coordinates) There are a plurality of two-dimensional coordinates of the same intersection at overlapping points (the number of cameras C used).
Since it is obtained, the three-dimensional coordinates of the same intersection can be easily calculated by the principle of triangulation. Three-dimensional lattice information is formed as a set of three-dimensional coordinates of intersections of overlapping points. (F: Connection of three-dimensional lattice information) Three consecutive objects on the subject T
When the three-dimensional lattice information is obtained, by connecting the three-dimensional lattice information, the data of the appearance shape of the subject T can be integrated. Here, in order to connect the three-dimensional lattice information, it is necessary that both the three-dimensional lattice information to be connected include common three-dimensional coordinates indicating the same intersection. The presence of common three-dimensional coordinates can be determined from the degree of lattice overlap. FIG. 6 shows a method for determining the presence of common three-dimensional coordinates. Marks m1 and m2 (separate markers with different color information) are attached at predetermined intervals to the predetermined two pieces of three-dimensional grid information Z1 and Z2 (here, on the left and right side portions of the three-dimensional grid information). It is assumed that the connection is made. The same is true when connecting at the upper and lower sides. Therefore, the number of intersections Q of the lattice rows between the marker m1 and the marker m2
Since (5 here) is known, three-dimensional lattice information Z
1, the number of intersections Q1 on the side of the marker m1 to the marker m2
(Here, 3) and the marker m2 in the three-dimensional lattice information Z2
By examining the number of intersections Q2 (4 in this case) on the side of the marker m1, the degree of lattice overlap (Q1 + Q2-Q = 2) can be found, and a common three-dimensional coordinate area representing the same intersection can be identified.
【００１７】実際に３次元格子情報を接続するときは、
図７（１）に示すように、共通する３次元格子情報領域
に接続させるための標識ｍを含むように撮像して得られ
た３次元格子情報Ｚ１，Ｚ２，Ｚ３をグローバル座標系
に変換してから行なう。３次元格子情報Ｚ１，Ｚ２，Ｚ
３は、夫々任意の座標系を用いているため、グローバル
座標系に変換することにより共通座標における相対位置
が定められ３次元格子情報の接続が可能になる。図７
（２）には、３次元格子情報Ｚ１とＺ２との接続形態が
示される。接続は、共通する３次元格子情報領域に存在
する標識ｍを夫々の３次元格子情報Ｚ１，Ｚ２で結んだ
標識線Ｌを合わせることによって行なう。標識線Ｌで合
わせることにより、標識線Ｌから外れた双方の３次元格
子情報端部の３次元座標はカットした。また、標識線Ｌ
箇所には、夫々の３次元格子情報Ｚ１，Ｚ２における同
一交叉点（Ｓ１，Ｓ２）の３次元座標が２値存在する場
合がある。交叉箇所ｔの同一交叉点の３次元座標は、撮
像時の誤差等によりズレが生じるからである。その場
合、３次元座標の平均値にし同一交叉点の３次元座標の
一元化を行なう。When actually connecting three-dimensional lattice information,
As shown in FIG. 7 (1), the three-dimensional lattice information Z1, Z2, Z3 obtained by imaging so as to include the marker m for connecting to the common three-dimensional lattice information area is converted into the global coordinate system. First. Three-dimensional lattice information Z1, Z2, Z
Since each of 3 uses an arbitrary coordinate system, conversion to the global coordinate system determines the relative position in the common coordinates and enables connection of the three-dimensional lattice information. Figure 7
(2) shows the connection form of the three-dimensional lattice information Z1 and Z2. The connection is performed by aligning the marker lines L connecting the markers m existing in the common three-dimensional lattice information area with the respective three-dimensional lattice information Z1 and Z2. By aligning with the marker line L, the three-dimensional coordinates of both ends of the three-dimensional grid information deviated from the marker line L were cut. Also, the marker line L
There may be binary three-dimensional coordinates of the same intersection (S1, S2) in the respective three-dimensional grid information Z1, Z2. This is because the three-dimensional coordinates of the same crossing point at the crossing point t are misaligned due to an error during imaging. In that case, the average value of the three-dimensional coordinates is used to unify the three-dimensional coordinates of the same intersection.
【００１８】図８には、上記実施の形態に係る３次元形
状計測システムＳの接続処理において、３次元格子情報
のグローバル座標系への変換を行なう代わりに、３次元
格子情報の少なくとも３つの同一交叉点の交叉点座標か
ら形成される各平面を平面の法線ベクトルが一致するよ
うに重ね合わせて一方の座標系を他方の座標系に変換し
て接続する例が示される。図８（１）に示す３次元格子
情報Ｚ１に３次元格子情報Ｚ２を接続する場合には、共
通する３次元座標領域（図６参照）Ｐを平面化して重ね
合わせる。３次元格子情報Ｚ１の３次元座標領域Ｐの所
定の座標ｐ１，ｐ２，ｐ３を選定して平面を形成する。
３次元格子情報Ｚ２においても座標ｐ１，ｐ２，ｐ３に
対応する座標ｐ１’，ｐ２’，ｐ３’にて平面を形成す
る。３次元格子情報Ｚ２の共通する３次元座標領域以外
の座標を形成した平面における法線ベクトルで表す。次
いで図８（２）に示すように、３次元格子情報Ｚ１で形
成した平面を延長する。３次元格子情報Ｚ１で形成した
平面と３次元格子情報Ｚ２で形成した平面とは同一平面
であるから、３次元格子情報Ｚ２の共通する３次元座標
領域以外の座標は、延長した平面における法線ベクトル
として表わすことができる。従って、図８（３）に示す
ように、３次元格子情報Ｚ２は３次元格子情報Ｚ１の座
標系に変換され３次元格子情報Ｚ１とＺ２の接続が行な
われる。In FIG. 8, in the connection processing of the three-dimensional shape measuring system S according to the above embodiment, instead of converting the three-dimensional lattice information into the global coordinate system, at least three identical three-dimensional lattice information are obtained. An example is shown in which the respective planes formed from the intersection point coordinates of the intersection points are superposed so that the normal vectors of the planes coincide with each other, and one coordinate system is converted into the other coordinate system for connection. When connecting the three-dimensional grid information Z2 to the three-dimensional grid information Z1 shown in FIG. 8A, the common three-dimensional coordinate area P (see FIG. 6) is planarized and overlapped. Predetermined coordinates p1, p2, p3 of the three-dimensional coordinate area P of the three-dimensional lattice information Z1 are selected to form a plane.
Also in the three-dimensional lattice information Z2, a plane is formed by the coordinates p1 ′, p2 ′, p3 ′ corresponding to the coordinates p1, p2, p3. It is represented by a normal vector on a plane forming coordinates other than the common three-dimensional coordinate area of the three-dimensional lattice information Z2. Next, as shown in FIG. 8B, the plane formed by the three-dimensional lattice information Z1 is extended. Since the plane formed by the three-dimensional lattice information Z1 and the plane formed by the three-dimensional lattice information Z2 are the same plane, coordinates other than the common three-dimensional coordinate area of the three-dimensional lattice information Z2 are normal to the extended plane. It can be represented as a vector. Therefore, as shown in FIG. 8C, the three-dimensional lattice information Z2 is converted into the coordinate system of the three-dimensional lattice information Z1 and the three-dimensional lattice information Z1 and Z2 are connected.
【００１９】[0019]
【発明の効果】以上説明したように、本発明の３次元形
状計測システムによれば、被検体に密着して被覆され被
検体表面に格子模様を形成する伸縮自在のネットと、ネ
ットが被覆された被検体を重複箇所が生じるように少な
くとも２地点以上から撮像するカメラと、カメラで撮像
した重複箇所の複数の２次元画像情報から格子模様の交
叉点の３次元座標からなる３次元格子情報を算出する処
理装置とを備えて構成したので、簡易なシステム構成に
て３次元形状を計測することができる。また、２次元画
像情報の重複箇所を識別する基準点を与えるために、格
子模様に付設される標識を備えた場合には、複数の２次
元画像情報から基準点を合わせて３次元画像情報を形成
することができる。更に、標識に、色を付した場合に
は、標識の視認性を高めることができる。更にまた、処
理装置を、２次元画像情報から格子模様情報を抽出する
格子模様情報抽出手段と、抽出手段で抽出した格子模様
情報の交叉点座標を算出する交叉点座標算出手段と、重
複箇所の一交叉点における交叉点座標算出手段が算出し
た複数の交叉点座標から一交叉点の３次元座標を算出す
る３次元座標算出手段とを備えて構成した場合には、重
複箇所における複数の２次元画像情報の交叉点座標から
３次元座標を算出することができる。As described above, according to the three-dimensional shape measuring system of the present invention, the stretchable net which is in close contact with the subject and forms a lattice pattern on the subject surface, and the net are coated. A camera that images the subject from at least two points so that overlapping points occur, and three-dimensional grid information that is composed of the three-dimensional coordinates of the intersections of the grid pattern from the two-dimensional image information of the overlapping points picked up by the camera. Since the processing device for calculating is provided, the three-dimensional shape can be measured with a simple system configuration. Further, when a marker attached to the grid pattern is provided in order to provide a reference point for identifying the overlapping portion of the two-dimensional image information, the three-dimensional image information is obtained by combining the reference points from a plurality of two-dimensional image information. Can be formed. Further, when the sign is colored, the visibility of the sign can be enhanced. Furthermore, the processing device further includes a lattice pattern information extracting unit that extracts lattice pattern information from the two-dimensional image information, an intersection point coordinate calculating unit that calculates intersection point coordinates of the lattice pattern information extracted by the extracting unit, and an overlapping point. In the case where the three-dimensional coordinate calculating means for calculating the three-dimensional coordinate of one crossing point from the plurality of crossing point coordinates calculated by the crossing point coordinate calculating means at one crossing point is provided, a plurality of two-dimensional coordinates at the overlapping points are provided. Three-dimensional coordinates can be calculated from the coordinates of the intersections of the image information.
【００２０】また、格子模様情報抽出手段に、２次元画
像情報を２値化し格子模様情報を細線化する機能を備え
る場合には、格子模様情報とその背景情報とを区別し格
子模様情報を一元化することができる。更に、交叉点座
標算出手段に、細線化した格子模様情報の交叉箇所の形
状をパターン化し、パターンに応じた交叉点座標を算出
する機能を備える場合には、交叉箇所を１値に収束して
交叉点の座標化を容易にすることができる。更にまた、
３次元座標算出手段に、三角測量により２次元座標から
３次元座標を算出する機能を備える場合には、３次元座
標化を容易に行なうことができる。また、処理装置に、
被検体に対して隣り合う関係にある同一交叉点の交叉点
座標を含む３次元格子情報を接続する接続手段を設けた
場合には、被検体の一連の外観を容易に把握することが
できる。更に、接続手段に、被検体に対して隣り合う関
係にある同一交叉点の交叉点座標を含む３次元格子情報
を、夫々グローバル座標系に変換し同一の交叉点座標を
平均化する機能を備える場合には、３次元格子情報を接
続するに当たって接続箇所のズレを抑えて３次元格子情
報を接続することができる。更にまた、接続手段に、３
次元格子情報の少なくとも３つの同一交叉点の交叉点座
標から形成される各平面を平面の法線ベクトルが一致す
るように重ね合わせて一方の座標系を他方の座標系に変
換する機能を備える場合には、交叉点を平面における法
線ベクトルで位置決めできるので接続処理を容易に行な
うことができる。When the grid pattern information extracting means has a function of binarizing the two-dimensional image information and thinning the grid pattern information, the grid pattern information and the background information thereof are distinguished and the grid pattern information is unified. can do. Further, when the crossing point coordinate calculation means is provided with a function of patterning the shape of the crossing point of the thinned grid pattern information and calculating the crossing point coordinate according to the pattern, the crossing point is converged into one value. It is possible to easily coordinate the intersection points. Furthermore,
When the three-dimensional coordinate calculating means has a function of calculating three-dimensional coordinates from two-dimensional coordinates by triangulation, three-dimensional coordinate conversion can be easily performed. In addition, in the processing device,
When the connecting means for connecting the three-dimensional lattice information including the intersecting point coordinates of the same intersecting point which is adjacent to the subject is provided, the series of appearances of the subject can be easily grasped. Further, the connecting means is provided with a function of converting three-dimensional lattice information including the intersection point coordinates of the same intersection point adjacent to the subject into the global coordinate system and averaging the same intersection point coordinates. In this case, when connecting the three-dimensional lattice information, it is possible to connect the three-dimensional lattice information while suppressing the deviation of the connection points. Furthermore, the connecting means has 3
In the case of having a function of superposing each plane formed from the intersection point coordinates of at least three same intersection points of the three-dimensional grid information so that the normal vectors of the planes coincide with each other and converting one coordinate system into the other coordinate system Since the intersection point can be positioned by the normal vector on the plane, the connection processing can be easily performed.
【図面の簡単な説明】[Brief description of drawings]
【図１】本発明の実施の形態に係る３次元形状計測シス
テムを示す説明図である。FIG. 1 is an explanatory diagram showing a three-dimensional shape measuring system according to an embodiment of the present invention.
【図２】本発明の実施の形態に係る３次元形状計測シス
テムの計測フローを示す説明図である。FIG. 2 is an explanatory diagram showing a measurement flow of the three-dimensional shape measuring system according to the embodiment of the present invention.
【図３】本発明の実施の形態に係る３次元形状計測シス
テムにおける細線化処理を示す説明図である。FIG. 3 is an explanatory diagram showing thinning processing in the three-dimensional shape measuring system according to the embodiment of the present invention.
【図４】本発明の実施の形態に係る３次元形状計測シス
テムにおける格子模様の交差点座標算出処理を示す説明
図である。FIG. 4 is an explanatory diagram showing an intersection coordinate calculation process of a lattice pattern in the three-dimensional shape measuring system according to the embodiment of the present invention.
【図５】本発明の実施の形態に係る３次元形状計測シス
テムにおける格子模様の交叉箇所の歪補正処理を示す説
明図である。FIG. 5 is an explanatory diagram showing a distortion correction process at an intersection of a lattice pattern in the three-dimensional shape measuring system according to the embodiment of the present invention.
【図６】本発明の実施の形態に係る３次元形状計測シス
テムにおける３次元格子情報の重なり度合を示す説明図
である。FIG. 6 is an explanatory diagram showing an overlapping degree of three-dimensional lattice information in the three-dimensional shape measuring system according to the embodiment of the present invention.
【図７】本発明の実施の形態に係る３次元形状計測シス
テムにおける３次元格子情報の接続処理を示す説明図で
ある。FIG. 7 is an explanatory diagram showing a connection process of three-dimensional lattice information in the three-dimensional shape measuring system according to the embodiment of the present invention.
【図８】本発明の実施の形態に係る３次元形状計測シス
テムにおける３次元格子情報の他の接続処理を示す説明
図である。FIG. 8 is an explanatory diagram showing another connection processing of three-dimensional lattice information in the three-dimensional shape measuring system according to the embodiment of the present invention.
Ｓ ３次元形状計測システム Ｔ 被検体 Ｎ ネット ｍ 標識 Ｃ カメラ ｔ 交叉箇所 Ｌ 標識線 １０ 処理装置 S 3D shape measurement system T subject N net m sign C camera t intersection L sign line 10 processor
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開2002−230529（ＪＰ，Ａ) 特開 平６−232240（ＪＰ，Ａ) 特開2001−12925（ＪＰ，Ａ) 特開2000−57376（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) G01B 11/00 - 11/30 G06T 1/00 G06T 7/00 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP 2002-230529 (JP, A) JP 6-232240 (JP, A) JP 2001-12925 (JP, A) JP 2000-57376 (JP , A) (58) Fields investigated (Int.Cl. 7 , DB name) G01B 11/00-11/30 G06T 1/00 G06T 7/00
Claims (10)
次元形状に係る座標データを算出する３次元形状計測シ
ステムにおいて、 上記被検体に密着して被覆され該被検体表面に格子模様
を形成する伸縮自在のネットと、 上記ネットが被覆された被検体を重複箇所が生じるよう
に少なくとも２地点以上から撮像するカメラと、 上記カメラで撮像した重複箇所の複数の２次元画像情報
から格子模様の交叉点の３次元座標からなる３次元格子
情報を算出する処理装置とを備えて構成したことを特徴
とする３次元形状計測システム。1. A method for measuring the object 3 without contacting the object
In a three-dimensional shape measuring system for calculating coordinate data related to a three-dimensional shape, an expandable net that is in close contact with the subject and forms a lattice pattern on the surface of the subject, and a subject covered with the net are provided. A camera that captures images from at least two points so that overlapping points occur, and a process of calculating three-dimensional lattice information including three-dimensional coordinates of intersection points of a lattice pattern from a plurality of two-dimensional image information of the overlapping points captured by the camera. A three-dimensional shape measuring system characterized by comprising a device.
る基準点を与えるために、上記格子模様に付設される標
識を備えたことを特徴とする請求項１記載の３次元形状
計測システム。2. The three-dimensional shape measuring system according to claim 1, further comprising a marker attached to the lattice pattern to provide a reference point for identifying an overlapping portion of the two-dimensional image information.
る請求項１または２記載の３次元形状計測システム。3. The three-dimensional shape measuring system according to claim 1, wherein the sign is colored.
ら格子模様情報を抽出する格子模様情報抽出手段と、 上記抽出手段で抽出した格子模様情報の交叉点座標を算
出する交叉点座標算出手段と、 上記重複箇所の一交叉点における上記交叉点座標算出手
段が算出した複数の交叉点座標から当該一交叉点の３次
元座標を算出する３次元座標算出手段とを備えて構成し
たことを特徴とする請求項１，２または３記載の３次元
形状計測システム。4. The processing device comprises: a grid pattern information extracting means for extracting grid pattern information from the two-dimensional image information; and a cross point coordinate calculating means for calculating cross point coordinates of the grid pattern information extracted by the extracting means. And three-dimensional coordinate calculation means for calculating three-dimensional coordinates of the one intersection from the plurality of intersection coordinates calculated by the intersection coordinate calculation means at one intersection of the overlapping points. The three-dimensional shape measuring system according to claim 1, 2, or 3.
元画像情報を２値化し格子模様情報を細線化する機能を
備えることを特徴とする請求項４記載の３次元形状計測
システム。5. The three-dimensional shape measuring system according to claim 4, wherein the lattice pattern information extracting means has a function of binarizing the two-dimensional image information and thinning the lattice pattern information.
した格子模様情報の交叉箇所の形状をパターン化し、パ
ターンに応じた交叉点座標を算出する機能を備えること
を特徴とする請求項５記載の３次元形状計測システム。6. The crossing point coordinate calculating means is provided with a function of patterning the shape of the crossing points of the thinned grid pattern information and calculating the crossing point coordinates according to the pattern. The described three-dimensional shape measuring system.
より３次元座標を算出する機能を備えることを特徴とす
る請求項４，５または６記載の３次元形状計測システ
ム。7. The three-dimensional shape measuring system according to claim 4, 5 or 6, wherein the three-dimensional coordinate calculating means has a function of calculating three-dimensional coordinates by triangulation.
う関係にある同一交叉点の交叉点座標を含む３次元格子
情報を接続する接続手段を設けたことを特徴とする請求
項１，２，３，４，５，６または７記載の３次元形状計
測システム。8. The processing device is provided with connecting means for connecting three-dimensional lattice information including coordinates of intersections of the same intersections that are adjacent to each other with respect to the subject. The three-dimensional shape measuring system according to 2, 3, 4, 5, 6 or 7.
う関係にある同一交叉点の交叉点座標を含む３次元格子
情報を、夫々グローバル座標系に変換し同一の交叉点座
標を平均化する機能を備えることを特徴とする請求項８
記載の３次元形状計測システム。9. The connecting means converts three-dimensional grid information including intersection point coordinates of the same intersection point adjacent to the subject into a global coordinate system and averages the same intersection point coordinates. 9. A function to perform is provided.
The described three-dimensional shape measuring system.
の少なくとも３つの同一交叉点の交叉点座標から形成さ
れる各平面を該平面の法線ベクトルが一致するように重
ね合わせて一方の座標系を他方の座標系に変換する機能
を備えることを特徴とする請求項８記載の３次元形状計
測システム。10. The connecting means superimposes each plane formed from the intersection point coordinates of at least three identical intersection points of the three-dimensional lattice information so that the normal vectors of the planes coincide with each other, and one of the coordinates is obtained. The three-dimensional shape measuring system according to claim 8, further comprising a function of converting the system into the other coordinate system.
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|---|---|---|---|
| JP2001102228A JP3436929B2 (en) | 2001-03-30 | 2001-03-30 | 3D shape measurement system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001102228A JP3436929B2 (en) | 2001-03-30 | 2001-03-30 | 3D shape measurement system |
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| JP2002296019A JP2002296019A (en) | 2002-10-09 |
| JP3436929B2 true JP3436929B2 (en) | 2003-08-18 |
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| JP4005430B2 (en) * | 2002-07-08 | 2007-11-07 | 正邦 荒蒔 | Limb function training device |
| DE602004016185D1 (en) * | 2003-10-03 | 2008-10-09 | Automotive Systems Lab | PASSENGER SENSING SYSTEM |
| US7557966B2 (en) * | 2004-08-11 | 2009-07-07 | Acushnet Company | Apparatus and method for scanning an object |
| GB2418314A (en) * | 2004-09-16 | 2006-03-22 | Sharp Kk | A system for combining multiple disparity maps |
| KR101195942B1 (en) | 2006-03-20 | 2012-10-29 | 삼성전자주식회사 | Camera calibration method and 3D object reconstruction method using the same |
| JP5287152B2 (en) * | 2008-11-04 | 2013-09-11 | オムロン株式会社 | 3D model creation method and object recognition apparatus |
| JP6383399B2 (en) * | 2015-12-28 | 2018-08-29 | 株式会社デジタルハンズ | Part shape measuring instrument, and part shape measuring apparatus and method |
| GB2548341A (en) | 2016-03-10 | 2017-09-20 | Moog Bv | Movement tracking and simulation device and method |
| CN111832760B (en) * | 2020-07-14 | 2023-09-29 | 深圳市法本信息技术股份有限公司 | Automatic inspection method for well lid based on visual algorithm |
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