WO2019188198A1 - 線状物の3次元計測装置、および、線状物の3次元計測方法 - Google Patents
線状物の3次元計測装置、および、線状物の3次元計測方法 Download PDFInfo
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- WO2019188198A1 WO2019188198A1 PCT/JP2019/009721 JP2019009721W WO2019188198A1 WO 2019188198 A1 WO2019188198 A1 WO 2019188198A1 JP 2019009721 W JP2019009721 W JP 2019009721W WO 2019188198 A1 WO2019188198 A1 WO 2019188198A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20036—Morphological image processing
- G06T2207/20044—Skeletonization; Medial axis transform
Definitions
- the present invention relates to a linear object three-dimensional measurement apparatus and a linear object three-dimensional measurement method for measuring the shape of a linear object such as a wire or cable in a stereo manner.
- a stereo three-dimensional measurement method has been conventionally used as a method of measuring a three-dimensional position using the parallax of two cameras. This is to find the corresponding point of the point to be measured on two images with different viewpoints, and calculate the three-dimensional position of the measurement point from the corresponding point on each image and the positional relationship between the two cameras by the principle of triangulation It is a method to do.
- matching processing for finding corresponding points on each image is the process with the heaviest information processing load and cost. Therefore, various methods have been proposed for the purpose of improving the matching process.
- Patent Document 1 JP-A-5-026640 discloses a measurement sampling point on an external lead image in one image as a method for measuring the shape of an external lead of a semiconductor package in relation to three-dimensional measurement of a linear object by a stereo method. The intersection of the epipolar line (epipolar line) and the external lead image in the other image is described as the corresponding point of the measurement sampling point.
- An epipolar line is a straight line obtained by projecting a line connecting the viewpoint of one image and a measurement point on the other image, and the measurement point is always projected on the epipolar line on the other image.
- Patent Document 2 JP-A-2-309202 (Patent Document 2), a large number of linear objects are imaged by two cameras, and the inclination of the bright lines in the two images and the distance between the bright lines are collated as features. It is described that the corresponding points are determined.
- the linear object has a pattern or uneven color
- the image may be disturbed by the reflected light, and the linear object may not be accurately recognized in the image.
- the present invention has been made in consideration of the above, and a linear object three-dimensional measurement apparatus and a linear object three-dimensional measurement method capable of realizing a more accurate and high-speed matching process for the linear object.
- the purpose is to provide.
- a stereo camera that captures an image of the linear object, a transmitted light irradiation member that is positioned opposite to the stereo camera across the linear object, and the three-dimensional object of the linear object.
- the stereo camera acquires a transmitted light image of the linear object irradiated with light from the transmitted light irradiating member, and the arithmetic unit converts the transmitted light image into the transmitted light image. Based on this, the three-dimensional shape of the linear object is acquired.
- the transmitted light means light (backlight or back-illuminated light) that reaches the camera through a space without a linear object that is not shielded by the linear object. It does not mean only light that passes through.
- the transmitted light image is an image (backlight image or back-illuminated light image) obtained by capturing the above light with a camera.
- the stereo camera acquires a reflected light image of the linear object captured without irradiating light from the transmitted light irradiating member, and the arithmetic unit includes the transmitted light image and the reflected light.
- the three-dimensional shape of the linear object is acquired based on the image.
- the stereo camera includes a first camera and a second camera, and the line imaged using the first camera in a state where light is not irradiated from the transmitted light irradiation member.
- the first reflected light image of the linear object and the second reflected light image of the linear object captured using the second camera are acquired, and the linear object is irradiated with light from the transmitted light irradiation member.
- a first transmitted light image of the linear object captured using the first camera and a second transmitted light image of the linear object captured using the second camera are acquired.
- the calculation unit obtains a first complementary image using the first reflected light image and the first transmitted light image, and uses the second reflected light image and the second transmitted light image to obtain a second Obtain a complementary image and use the first complementary image and the second complementary image , Obtaining the three-dimensional shape of the linear material.
- the first camera and the second camera are color cameras.
- the transmitted light irradiation member has a function capable of changing the color of light applied to the linear object.
- the stereo camera irradiates light having a color different from the color of the linear object from the transmitted light irradiating member, and acquires the first transmitted light image and the second transmitted light image.
- Acquiring a second reflected light image of the linear object imaged using a second camera arranged at a position of the linear object, and facing the first camera and the second camera across the linear object A first transmitted light image of the linear object imaged using the first camera and an image captured using the second camera in a state where the linear object is irradiated with light from the transmitted light irradiation member located.
- Acquiring a second transmitted light image of the linear object acquiring a first complementary image using the first reflected light image and the first transmitted light image, and the second reflected light. Using the image and the second transmitted light image to obtain a second complementary image; Complementary image and by using the second complementary image, and a step of obtaining a three-dimensional shape of the linear material.
- the linear object has a plurality of linear bodies, and the transmitted light irradiation member irradiates light having a color different from any of the colors of the plurality of linear bodies.
- the transmitted light irradiation member is color illumination.
- the linear object can be more accurately and rapidly matched with the three-dimensional measurement.
- An apparatus and a three-dimensional measurement method for a linear object can be provided.
- FIG. 2 is a functional block diagram of the three-dimensional measurement apparatus according to Embodiment 1.
- FIG. 3 is a first diagram for explaining the three-dimensional measurement method according to the first embodiment.
- FIG. 3 is a second diagram for explaining the three-dimensional measurement method according to the first embodiment.
- FIG. 3 is a process flow diagram of the three-dimensional measurement method according to the first embodiment. It is a 1st reflected light image imaged with the stereo camera of Embodiment 1.
- FIG. It is a 2nd reflected light image imaged with the stereo camera of Embodiment 1.
- FIG. FIG. 6 is an operation flowchart of a first line image extraction step of the three-dimensional measurement method according to the first embodiment. It is the 1st reflected light image from which the 1st line image was extracted.
- FIG. 10 is a functional block diagram illustrating a process of obtaining a three-dimensional shape (complementary 3D image) according to Embodiment 2.
- FIG. 10 is a functional block diagram illustrating a process of obtaining a three-dimensional shape (complementary 3D image) according to Embodiment 2.
- the linear object three-dimensional measurement method and the linear object three-dimensional measurement apparatus according to each embodiment of the present invention will be described below with reference to the drawings.
- the three-dimensional measurement method for a linear object may be simply referred to as “measurement method”
- the three-dimensional measurement device for a linear object may be simply referred to as “measurement device”.
- FIG. 1 is a functional block diagram of a three-dimensional measurement apparatus
- FIG. 2 is a first diagram for explaining a three-dimensional measurement method.
- This wire harness W includes electric wires 21 to 23 as wire bodies.
- the measuring apparatus 10 includes a stereo camera 11, a calculation unit 15, a storage unit 16, and an input / output unit 17.
- the computing unit 15 may be a personal computer or an image processing device that is separate from the stereo camera 11, or may be hardware having a computing function built in the stereo camera.
- images of the electric wires 21 to 23 included in the wire harness W are taken using the stereo camera 11.
- a transmitted light irradiation member 50 is provided at a position facing the stereo camera 11 with the wire harness W interposed therebetween. The transmitted light irradiation member 50 will be described in detail in the second embodiment.
- the stereo camera 11 includes a first camera 12, a second camera 13, and a camera control unit 14.
- the first camera 12 is a color camera that captures a first reflected light image that is a two-dimensional color image.
- the second camera 13 is a color camera that captures a second reflected light image that is a two-dimensional color image, and a relative position with respect to the first camera is fixed.
- the camera control unit 14 controls the first camera and the second camera, and communicates with the calculation unit 15. For example, the camera control unit receives an imaging instruction from the calculation unit, transmits the imaging instruction to the first camera and the second camera, and transfers the first reflected light image and the second reflected light image to the calculation unit.
- the calculation unit 15 calculates the three-dimensional position (3D image) of the linear object by processing the first reflected light image and the second reflected light image received from the stereo camera 11 in addition to communication with the camera control unit 14. .
- the storage unit 16 stores the first reflected light image and the second reflected light image captured by the stereo camera, the color table of the object, and stores intermediate data necessary for the calculation, the calculation result, and the like.
- the input / output unit 17 receives a command from the worker or displays a measurement result for the worker.
- electric wires 21 to 23 are imaged by first camera 12 and second camera 13. If a projection point Q on the first reflected light image 30 by the first camera and a projection point R on the second reflected light image 40 by the second camera are obtained for a certain point P on the electric wire 21, it is known.
- the three-dimensional position of the point P can be calculated using position information of a certain first camera 12 and second camera 13.
- the position information of the first camera 12 and the second camera 13 can be acquired by calibrating the two cameras in advance.
- the three electric wires 21 to 23 to be measured are color-coded and have different colors, for example, coatings such as red, blue, and yellow.
- the linear object to be measured is not particularly limited as long as it is a linear object, but is preferably a linear object of a different color, more preferably a color-coded electric wire or an optical fiber cable, particularly preferably. Is a wire harness cable.
- FIG. 4 shows a flowchart of the measurement method of the present embodiment.
- the color table is a table in which the color is recorded for each type of linear object that can be measured.
- FIG. 12 shows, as an example, a color table in which the colors are represented by the brightness of the three primary colors of red, green and blue (RGB) for each type of electric wire.
- the color table is stored in the storage unit 16.
- the electric wires 21 to 23 are captured in the first reflected light image 30 by the first camera 12. At the same time, the electric wires 21 to 23 are picked up by the second camera 13 in the second reflected light image 40 from a viewpoint different from that of the first camera. The first reflected light image and the second reflected light image are transferred to the calculation unit 15 and stored in the storage unit 16.
- the calculation unit 15 acquires the first reflected light image 30 and the second reflected light image 40 from the stereo camera 11. At this time, referring to FIG. 5, images 31 to 33 of three electric wires 21 to 23 are shown in the first reflected light image 30. Similarly, referring to FIG. 6, the second reflected light image 40 includes images 41 to 43 of the three electric wires 21 to 23.
- the calculating part 15 extracts the specific electric wire 21 as a 1st line image on the 1st reflected light image 30.
- the step of extracting the first line image includes an extraction operation by color, a binarization operation, a noise removal operation, and a thinning operation.
- the calculation unit acquires the color of the electric wire 21 to be measured from the color table, and only the image 31 of the linear object 21 of the specific color on the first reflected light image 30 is the first line. Extracted as an image 34. Specifically, when the color of each pixel of the first reflected light image 30 is compared with the specific color and the two are determined to be the same, the pixel is left and when the two are determined to be different Erases the pixel.
- the determination of whether the colors are the same or different can be made based on whether or not the difference between them is a predetermined value or less.
- the RGB value corresponding to the electric wire 21 is acquired from the color table, the RGB value of each pixel of the first reflected light image 30 is compared with the RGB value, and if the difference between the RGB values is equal to or less than a predetermined value, It is determined that the pixel has the same color as the electric wire 21.
- the predetermined value can be determined in consideration of the number of RGB gradations, the degree of color difference between different types of electric wires, and the like.
- the first reflected light image 30 is binarized. This is an operation of replacing the value of each pixel with 0 or 1 using an appropriate threshold. Subsequent image processing is facilitated by the binarization operation.
- the binarization operation may be performed simultaneously with the color extraction operation. Binarization can be performed by setting a pixel determined to be the same color to 1 and a pixel determined to be a different color to 0.
- the first line image 34 is extracted by the extraction operation using the color, isolated pixels due to camera shot noise or the like remain in the first reflected light image 30.
- the position of the RGB image pickup device with respect to one pixel is actually slightly shifted, the color of the image is disturbed at a portion where the color changes sharply, such as the outline of the image 31 to 33 of the electric wire, There may still be isolated pixels left. By removing such pixels, a more accurate first line image 34 can be obtained.
- the first line image 34 is thinned. This is an operation of narrowing the line width to 1 while maintaining the connectivity of the first line image.
- a known method such as selecting a pixel located at the center of the line width can be used. As a result, subsequent image processing is facilitated, and corresponding points and the like can be obtained more accurately.
- FIG. 8 shows the obtained first line image 34.
- the first reflected light image 30 from which the first line image has been extracted is stored in the storage unit 16.
- FIG. 9 shows the obtained second line image 44.
- the second reflected light image 40 from which the second line image has been extracted is stored in the storage unit 16.
- the calculation unit 15 next selects a point of interest Q on the first line image 34 of the first reflected light image 30.
- Point Q is a projection point of the point P (FIG. 2) of the electric wire 21 onto the first reflected light image.
- the calculation unit 15 then obtains an epipolar line 45 corresponding to the point of interest Q of the first reflected light image 30 on the second reflected light image 40.
- An intersection point R between the second line image 44 and the epipolar line 45 is obtained, and this is set as a point corresponding to the point of interest Q.
- Point R is a projection point of the point P (FIG. 3) of the electric wire 21 onto the second reflected light image.
- the projection point Q onto the first reflected light image 30 and the projection point R onto the second reflected light image 40 are obtained for the point P of the electric wire 21 shown in FIG.
- the unit calculates the three-dimensional position of the point P.
- a new focus point is selected on the first line image 34, and the steps after the focus point selection are repeated.
- an adjacent point connected to the previous point of interest can be selected.
- the three-dimensional measurement of the electric wire 21 is performed by obtaining the three-dimensional position while shifting the point of interest Q, that is, while moving the point P on the electric wire 21.
- the above repeating process is terminated. Thereby, the 3D image about the electric wire 21 is obtained.
- the color of the electric wire 22 is acquired from the color table, and the first reflected light image and the second reflected light are initially captured by the first camera and the second camera. The subsequent steps from the first line image extraction step are repeated for the optical image.
- the color table will be described in more detail.
- one RGB value is described for each type of linear object, but a plurality of RGB values are described for one type of linear object. If it is determined that the color is the same as the RGB value, the linear object may be determined.
- the color may be recorded in a color system other than RGB.
- L * , a * , and b * may be expressed based on the CIELAB color system formulated by the International Commission on Illumination (CIE). Even if the output from the stereo camera 11 is an RGB value, conversion between the color systems is easy.
- the difference between the RGB value of the pixel and the RGB value of the color table is equal to or less than a predetermined value, it is determined that the color of the pixel and the color of the table are the same, but it is determined that they are the same color.
- a range of colors to be used may be recorded in a color table. When recording a color range, it is more preferable that the color range is expressed by the value of L * a * b * because it is easy to set a threshold range that is robust to changes in the amount of light.
- the color table is preferably created based on the color of the image when the linear object is actually imaged in the actual measurement environment. Specifically, by holding a linear object with a hand or a robot hand and moving in various positions and orientations in front of the first or second camera, the color information of the linear object is obtained from the image. To do.
- the color of the linear object on the first and second reflected light images varies depending on various factors such as the type and arrangement of illumination in the measurement environment and the glossiness and orientation of the linear object.
- the stereo camera 11 is used to acquire the three-dimensional positions (3D images) of the electric wires 21 to 23.
- the image of the electric wires 21-23 is acquired using natural light or a normal illumination device.
- White powder called talc used in the manufacturing process may adhere to the surfaces of the electric wires 21 to 23.
- the first reflected light image 30 and the second reflected light image 40 in which the white portion to which talc is attached reflects more strongly than the other regions. Color unevenness may occur. Not only adhesion of talc but also coloration of individual electric wires may cause color unevenness in the first reflected light image 30 and the second reflected light image 40.
- color skipping may occur, making it difficult to identify whether or not the same linear object is present.
- ⁇ Repairing work such as removing talc adhering and repairing defective colored portions of the wires is complicated.
- the above-described repair work is a process of stopping a series of flows. It can be a factor that significantly reduces work efficiency.
- a transmitted light irradiation member 50 is provided at a position facing the stereo camera 11 with the wire harness W interposed therebetween, and the transmitted light irradiation member 50 is provided as a backlight (rear surface).
- an irradiation light irradiation member By using as an irradiation light irradiation member), an image in which the outline of a linear object can be obtained is obtained, thereby enabling correction of an image of a color skip portion.
- the transmitted light irradiation member 50 may be any device or member that can capture the silhouette of a linear object, and is a lighting device or a reflective material.
- the illumination device may be normal illumination, and surface illumination that can uniformly illuminate the field of view of the camera is particularly preferable.
- the reflecting material it is possible to use various materials such as paper, cloth, resin and the like whose surface is a diffuse reflecting surface. In particular, a reflector having a diffuse reflection characteristic that is nearly equal is preferable. As long as it is a reflective material having flexibility, it may be formed into a roll shape and the color can be switched. When not in use, a structure that can be retracted by sliding or rotating outside the visual field range may be used. When a reflective material that does not emit light itself is used, ambient light such as room lighting may be used as a light source. You may provide separately the illuminating device which irradiates light with respect to a reflecting material.
- the light irradiation from the transmitted light irradiation member includes both the case where the transmitted light irradiation member itself emits light and the case where the transmitted light irradiation member irradiates light indirectly with a reflector or the like.
- FIG. 13 is a functional block diagram illustrating a process of obtaining a three-dimensional shape (complementary 3D image) according to the present embodiment.
- the first reflected light image 30 and the second reflected light image 40 are acquired using the stereo camera 11.
- the 1st reflected light image 30 and the 2nd reflected light image 40 what is necessary is just to acquire in the state with which ambient light, such as room light and sunlight, was irradiated with respect to the linear object.
- a reflected light irradiation member that irradiates light to a linear object.
- Ordinary illumination such as a lamp or LED can be used for the reflected light irradiation member. More preferably, it is diffused light illumination that can irradiate a linear object with uniform light from the same side as the stereo camera 11.
- the transmitted light irradiation member 50 is irradiated toward the stereo camera 11 to perform backlight photographing.
- the 1st transmitted light image 30a and the 2nd transmitted light image 40a with which the outline of the electric wire appeared clearly are obtained, and are memorize
- region where the linear thing in the 1st reflected light image 30 interrupted using the 1st reflected light image 30 and the 1st transmitted light image 30a was supplemented with the 1st transmitted light image 30a.
- a first complementary image 30A is obtained.
- a region where the linear object is interrupted in the second reflected light image 40 is complemented by the second transmitted light image 40a, and the second complement is obtained.
- An image 40A is obtained.
- the calculation unit 15 calculates the three-dimensional shape 60 of the linear object.
- the first camera and the second camera are monochrome cameras or color cameras.
- a color camera When using color information of an image when acquiring a three-dimensional shape of a linear object, it is preferable to use a color camera.
- the color of the light source used for the transmitted light irradiation member 50 may be irradiated with light of a color other than the color used for covering the wires 21 to 23.
- the transmitted light irradiation member 50 preferably has a function capable of changing the color of light applied to the linear object.
- RGB red, green, blue
- RGB red, green, blue
- control for gripping the uneven color portion may be performed based on the position information of the uneven color portion.
- the measurement method of the present embodiment can be applied to a writing tool such as a thread, a colored pencil / ballpoint pen replacement core, and other various linear objects in addition to a cable.
- the measurement method of the present embodiment does not exclude the combined use with a known matching method in the stereo system.
- a known matching method in the stereo system.
- 10 3D measuring device for linear object 11 stereo camera, 12 first camera, 13 second camera, 14 camera control unit, 15 arithmetic unit, 16 storage unit, 17 input / output unit, 21-23 electric wire (linear object ), 30 1st reflected light image, 30a 1st transmitted light image, 30A 1st complementary image, 31-33, image of electric wires 21-23 on the 1st reflected light image, 34 1st line image, 40 2nd reflected light Image, 40a second transmitted light image, 40A second complementary image, 41-43, image of wires 21-23 on second reflected light image, 44 second line image, 45 epipolar line, 50 transmitted light irradiation member, 60 3 Dimensional shape (complementary 3D image), P point on the electric wire 21, Q point P projected point on the first reflected light image (point of interest), R point P projected point on the second reflected light image (corresponding point) .
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Abstract
Description
他の形態においては、上記透過光照射部材は、上記線状物に照射する光の色の変更が可能な機能を有する。
図1および図2を参照して、本実施の形態の線状物の3次元計測方法、および、線状物の3次元計測装置について説明する。図1は、3次元計測装置の機能ブロック図、図2は、3次元計測方法を説明するための第1図である。
図12に例示した色テーブルは、線状物の種類毎に1つのRGB値が記載されたものであったが、線状物1種類に対して複数のRGB値を記載しておき、いずれかのRGB値と同色と判断されれば、当該線状物であると判断してもよい。色はRGB以外の表色系で記録されていてもよい。例えば、国際照明委員会(CIE)が策定したCIELAB表色系に基づいてL*、a*、b*で表現されていてもよい。ステレオカメラ11からの出力がRGB値であっても、表色系間の換算は容易である。
図2に示したように、ステレオカメラ11を用いて電線21~23の3次元位置(3D画像)を取得する。ここで、第1反射光画像30および第2反射光画像40を取得する場合には、自然光または普通照明装置を用いて電線21~23の画像を取得している。電線21~23の表面には、製造工程で用いられるタルクと呼ばれる白い粉が付着している場合がある。
上記実施の形態においては、ワイヤーハーネスWを構成する電線21~23が、赤、青、黄の被覆を有する場合には、透過光照射部材50の光源には、普通の照明光を用いることで、電線21~23のシルエットを得ることができる。しかしながら、例えば、電線が白色の場合には、うまくシルエットを得ることができない場合も考えられる。
Claims (9)
- 線状物を撮像するステレオカメラと、
前記線状物を挟んで前記ステレオカメラの対向に位置する透過光照射部材と、
前記線状物の3次元形状を取得する演算部と、
を有し、
前記ステレオカメラは、前記透過光照射部材から光が照射された前記線状物の透過光画像を取得し、
前記演算部は、前記透過光画像に基づいて前記線状物の3次元形状を取得する、
線状物の3次元計測装置。 - 前記ステレオカメラは、
前記透過光照射部材から光を照射せずに撮像した前記線状物の反射光画像を取得し、
前記演算部は、前記透過光画像および前記反射光画像に基づいて前記線状物の3次元形状を取得する、
請求項1に記載の線状物の3次元計測装置。 - 前記ステレオカメラは、第1カメラ、および、第2カメラを含み、
前記透過光照射部材から光が照射されていない状態で、前記第1カメラを用いて撮像された前記線状物の第1反射光画像、および、前記第2カメラを用いて撮像された前記線状物の第2反射光画像を取得し、
前記透過光照射部材から前記線状物に光が照射された状態で、前記第1カメラを用いて撮像された前記線状物の第1透過光画像、および、前記第2カメラを用いて撮像された前記線状物の第2透過光画像を取得し、
前記演算部は、
前記第1反射光画像および前記第1透過光画像を用いて、第1補完画像を取得し、
前記第2反射光画像および前記第2透過光画像を用いて、第2補完画像を取得し、
前記第1補完画像および前記第2補完画像を用いて、前記線状物の3次元形状を取得する、請求項1または請求項2に記載の線状物の3次元計測装置。 - 前記第1カメラおよび前記第2カメラがカラーカメラである、
請求項1から請求項3のいずれか1項に記載の線状物の3次元計測装置。 - 前記透過光照射部材は、前記線状物に照射する光の色の変更が可能な機能を有する、
請求項4に記載の線状物の3次元計測装置。 - 前記ステレオカメラは、前記透過光照射部材から前記線状物の色と異なる色の光を照射して、前記第1透過光画像および前記第2透過光画像を取得する、
請求項5に記載の線状物の3次元計測装置。 - 第1の位置に配置された第1カメラを用いて撮像された線状物の第1反射光画像、および、第1の位置とは異なる第2の位置に配置された第2カメラを用いて撮像された前記線状物の第2反射光画像を取得する工程と、
前記線状物を挟んで、前記第1カメラおよび第2カメラの対向に位置する透過光照射部材より光を前記線状物に照射した状態で、前記第1カメラを用いて撮像された前記線状物の第1透過光画像、および、前記第2カメラを用いて撮像された前記線状物の第2透過光画像を取得する工程と、
前記第1反射光画像および前記第1透過光画像を用いて、第1補完画像を取得する工程と、
前記第2反射光画像および前記第2透過光画像を用いて、第2補完画像を取得する工程と、
前記第1補完画像および前記第2補完画像を用いて、前記線状物の3次元形状を取得する工程と、
を備える、線状物の3次元計測方法。 - 前記線状物が複数の線体を有し、
前記透過光照射部材は、前記複数の線体のいずれの色とも異なる色の光を照射する、請求項7に記載の線状物の3次元計測方法。 - 前記透過光照射部材は、カラー照明である、
請求項7または請求項8に記載の線状物の3次元計測方法。
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CN201980022176.8A CN111919086A (zh) | 2018-03-30 | 2019-03-11 | 线状物的三维测量装置和线状物的三维测量方法 |
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- 2019-03-11 CN CN201980022176.8A patent/CN111919086A/zh active Pending
- 2019-03-11 JP JP2020509820A patent/JPWO2019188198A1/ja active Pending
- 2019-03-11 KR KR1020207031454A patent/KR20200137003A/ko active Search and Examination
- 2019-03-11 WO PCT/JP2019/009721 patent/WO2019188198A1/ja active Application Filing
- 2019-03-11 US US17/042,888 patent/US20210025698A1/en not_active Abandoned
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US20210025698A1 (en) | 2021-01-28 |
TW201942540A (zh) | 2019-11-01 |
JPWO2019188198A1 (ja) | 2021-03-25 |
CN111919086A (zh) | 2020-11-10 |
EP3779355A4 (en) | 2021-12-01 |
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