APPARATUS, METHOD AND PROGRAM FOR THREE-DIMENSIONAL-SHAPE DETECTION
First Claim
1. A three-dimensional-shape detection apparatus comprising:
- a projection unit that projects a plurality of types of pattern lights formed of a series of alternate light and dark patterns, onto an object in a time series;
an imaging unit that takes an image of the object onto which each pattern light is projected by the projection unit;
a luminance image generation unit that generates a plurality of luminance images by calculating the luminance of each pixel from the image taken by the imaging unit;
a code image generation unit that generates a code image having certain codes assigned to the pixels in accordance with a result of threshold processing of the plurality of luminance images generated by the luminance image generation unit with respect to a certain threshold;
a three-dimensional-shape calculation unit that calculates the three-dimensional shape of the object by utilizing the code image generated by the code image generation unit;
a first-pixel detection unit that detects a first pixel that is adjacent to a pixel having a code of interest and that has a code different from the code of interest, in a detection position in a direction crossing the pattern light in the code image;
a luminance image extraction unit that extracts a luminance image having a light-dark boundary in a position corresponding to the first pixel detected by the first-pixel detection unit, from the plurality of luminance images;
a pixel area determination unit that determines a pixel area that includes a pixel in a certain area adjacent to the first pixel;
an approximate expression calculation unit that calculates an approximate expression that expresses a change in luminance in the extracted luminance image in the pixel area determined by the pixel area determination unit; and
a boundary coordinate detection unit that calculates a position having a certain luminance threshold in the approximate expression calculated by the approximate expression calculation unit and detecting the boundary coordinates of the code of interest in accordance with the result of calculation, wherein the three-dimensional-shape calculation unit calculates the three-dimensional shape of the object in accordance with the boundary coordinates detected by the boundary coordinate detection unit by using the code image.
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Abstract
The present invention relates to three-dimensional shape detection. In the present invention, a plurality of types of pattern lights formed of a series of alternate light and dark patterns are projected onto an object in a time series, an image of the object onto which each pattern light is projected is taken, a plurality of luminance images are generated, a code image having certain codes assigned to the pixels is generated in accordance with a result of threshold processing of the plurality of luminance images with respect to a certain threshold; and the three-dimensional shape of the object is calculated. Further, in the invention, a first pixel that is adjacent to a pixel having a code of interest and that has a code different from the code of interest is detected, in a detection position in a direction crossing the pattern light in the code image, a luminance image having a light-dark boundary in a position corresponding to the first pixel is extracted, from the plurality of luminance images, a pixel area that includes a pixel in a certain area adjacent to the first pixel is determined, an approximate expression that expresses a change in luminance in the extracted luminance image in the pixel area is calculated, a position having a certain luminance threshold in the approximate expression and detecting the boundary coordinates of the code of interest in accordance with the result of calculation is calculated, and the three-dimensional shape of the object is calculated in accordance with the boundary coordinates detected by the boundary coordinate detection unit by using the code image.
57 Citations
10 Claims
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1. A three-dimensional-shape detection apparatus comprising:
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a projection unit that projects a plurality of types of pattern lights formed of a series of alternate light and dark patterns, onto an object in a time series;
an imaging unit that takes an image of the object onto which each pattern light is projected by the projection unit;
a luminance image generation unit that generates a plurality of luminance images by calculating the luminance of each pixel from the image taken by the imaging unit;
a code image generation unit that generates a code image having certain codes assigned to the pixels in accordance with a result of threshold processing of the plurality of luminance images generated by the luminance image generation unit with respect to a certain threshold;
a three-dimensional-shape calculation unit that calculates the three-dimensional shape of the object by utilizing the code image generated by the code image generation unit;
a first-pixel detection unit that detects a first pixel that is adjacent to a pixel having a code of interest and that has a code different from the code of interest, in a detection position in a direction crossing the pattern light in the code image;
a luminance image extraction unit that extracts a luminance image having a light-dark boundary in a position corresponding to the first pixel detected by the first-pixel detection unit, from the plurality of luminance images;
a pixel area determination unit that determines a pixel area that includes a pixel in a certain area adjacent to the first pixel;
an approximate expression calculation unit that calculates an approximate expression that expresses a change in luminance in the extracted luminance image in the pixel area determined by the pixel area determination unit; and
a boundary coordinate detection unit that calculates a position having a certain luminance threshold in the approximate expression calculated by the approximate expression calculation unit and detecting the boundary coordinates of the code of interest in accordance with the result of calculation, wherein the three-dimensional-shape calculation unit calculates the three-dimensional shape of the object in accordance with the boundary coordinates detected by the boundary coordinate detection unit by using the code image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A three-dimensional-shape detection method comprising:
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a projection step of projecting a plurality of types of pattern lights formed of a series of alternate light and dark patterns, onto an object in a time series;
an imaging step of taking an image of the object onto which each pattern light is projected in the projection step;
a luminance image generation step of generating a plurality of luminance images by calculating the luminance of each pixel from each image taken in the imaging step;
a code image generation step of generating a code image having certain codes assigned to the pixels in accordance with a result of threshold processing of the plurality of luminance images generated in the luminance image generation step with respect to a certain threshold;
a three-dimensional-shape calculation step of calculating the three-dimensional shape of the object by utilizing the code image generated in the code image generation step;
after the code image generation step, a first-pixel detection step of detecting a first pixel that is adjacent to a pixel having a code of interest and that has a code different from the code of interest, in a detection position in a direction crossing the pattern light in the code image;
a luminance image extraction step of extracting a luminance image having a light-dark boundary in a position corresponding to the first pixel detected in the first-pixel detection step, from the plurality of luminance images;
a pixel area determination step of determining a pixel area that includes a pixel in a certain area adjacent to the first pixel;
an approximate expression calculation step of calculating an approximate expression that expresses a change in luminance in the extracted luminance image in the pixel area determined in the pixel area determination step; and
a boundary coordinate detection step of calculating a position having a certain luminance threshold in the approximate expression calculated in the approximate expression calculation step and detecting the boundary coordinates of the code of interest in accordance with the result of calculation, wherein the three-dimensional-shape calculation step calculates the three-dimensional shape of the object in accordance with the boundary coordinates detected in the boundary coordinate detection step by using the code image.
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10. A computer usable medium having computer readable instructions stored thereon, which, when executed by a computer, are configured to:
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project a plurality of types of pattern lights formed of a series of alternate light and dark patterns, onto an object in a time series;
take an image of the object onto which each pattern light is projected;
generate a plurality of luminance images by calculating the luminance of each pixel from the taken image;
generate a code image having certain codes assigned to the pixels in accordance with a result of threshold processing of the plurality of luminance images with respect to a certain threshold;
calculate the three-dimensional shape of the object by utilizing the code image;
detect a first pixel that is adjacent to a pixel having a code of interest and that has a code different from the code of interest, in a detection position in a direction crossing the pattern light in the code image;
extract a luminance image having a light-dark boundary in a position corresponding to the first pixel, from the plurality of luminance images;
determine a pixel area that includes a pixel in a certain area adjacent to the first pixel;
calculate an approximate expression that expresses a change in luminance in the extracted luminance image in the pixel area; and
calculate a position having a certain luminance threshold in the approximate expression and detecting the boundary coordinates of the code of interest in accordance with the result of calculation, wherein the three-dimensional shape of the object is calculated in accordance with the boundary coordinates detected by using the code image.
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Specification