Method and apparatus for performing three-dimensional measurement
First Claim
1. A three-dimensional measurement method in which a plurality of cameras are disposed while a positional relationship and optical axis directions are fixed such that visual fields of the cameras overlap within a predetermined range, particular one camera of the plurality of cameras is set at a reference camera, and three-dimensional measurement is performed to a measuring object by performing a first step, a second step, a third step, and a fourth step predetermined times, the measuring object entering a range where visual fields of the plurality of cameras overlap being taken by the cameras in the first step, a representative point of the measuring object being extracted from a reference image produced by the reference camera in the second step, a point corresponding to the representative point on the reference image side being searched in an image produced by a camera except for the reference camera in the third step, a three-dimensional coordinate corresponding to a coordinate being obtained using the coordinate of each point correlated by the search of the third step in the fourth step,wherein, when three-dimensional measurement processing is performed to one measuring object, a shift amount at the corresponding point obtained by the search of the third step to an epipolar line based on a predetermined relationship between the camera and the coordinate of the representative point in the reference image is computed for at least one representative point, evaluation information indicating accuracy of three-dimensional measurement result is set based on the computed shift amount, and the evaluation information is supplied along with the three-dimensional measurement result of the measuring object.
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Abstract
A control processing unit simultaneously drives cameras to produce images of a measuring object, the control processing unit searches corresponding point on a comparative image produced by one of the cameras for a representative point in a reference image produced by the other camera, and the control processing unit computes a three-dimensional coordinate corresponding to a coordinate using the coordinate of each point correlated by the search. The control processing unit also obtains a shift amount at the corresponding point specified by the search to an epipolar line specified based on a coordinate of a representative point on the reference image side or a parameter indicating a relationship between the cameras, and the control processing unit supplies the shift amount as an evaluation value indicating accuracy of three-dimensional measurement along with three-dimensional measurement result.
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Citations
5 Claims
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1. A three-dimensional measurement method in which a plurality of cameras are disposed while a positional relationship and optical axis directions are fixed such that visual fields of the cameras overlap within a predetermined range, particular one camera of the plurality of cameras is set at a reference camera, and three-dimensional measurement is performed to a measuring object by performing a first step, a second step, a third step, and a fourth step predetermined times, the measuring object entering a range where visual fields of the plurality of cameras overlap being taken by the cameras in the first step, a representative point of the measuring object being extracted from a reference image produced by the reference camera in the second step, a point corresponding to the representative point on the reference image side being searched in an image produced by a camera except for the reference camera in the third step, a three-dimensional coordinate corresponding to a coordinate being obtained using the coordinate of each point correlated by the search of the third step in the fourth step,
wherein, when three-dimensional measurement processing is performed to one measuring object, a shift amount at the corresponding point obtained by the search of the third step to an epipolar line based on a predetermined relationship between the camera and the coordinate of the representative point in the reference image is computed for at least one representative point, evaluation information indicating accuracy of three-dimensional measurement result is set based on the computed shift amount, and the evaluation information is supplied along with the three-dimensional measurement result of the measuring object.
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3. A three-dimensional measurement apparatus comprising:
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an image input unit into which an image of a measuring object entering a range where visual fields of a plurality of cameras overlap is individually fed from the plurality of cameras, the plurality of cameras being disposed while a positional relationship and optical axis directions are fixed such that the visual fields of the cameras overlap within a predetermined range; a representative point extraction unit which extracts a representative point of the measuring object from a reference image produced by a reference camera while particular one camera of the plurality of cameras is set at the reference camera; a corresponding point search unit which searches a point corresponding to the representative point on the reference image side in an image produced by a camera except for the reference camera; a three-dimensional coordinate computation unit which obtains a three-dimensional coordinate corresponding to a coordinate using the coordinate of each point correlated by the search processing of the corresponding point search unit; and an output unit which supplies three-dimensional measurement result information based on the three-dimensional coordinates computed for predetermined representative points extracted by the representative point extraction unit, wherein the three-dimensional measurement apparatus further comprises a shift amount computation unit which computes a shift amount at the corresponding point obtained by the search of the corresponding point search unit to an epipolar line based on a predetermined relationship between the camera and the coordinate of the representative point in the reference image is computed for at least one representative point when three-dimensional measurement processing is performed to one measuring object, and the output unit sets evaluation information indicating accuracy of three-dimensional measurement result based on the shift amount computed by the shift amount computation unit and supplies the evaluation information along with the three-dimensional measurement result of the measuring object. - View Dependent Claims (4, 5)
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Specification