METHOD OF CREATING THREE-DIMENSIONAL MODEL AND OBJECT RECOGNIZING DEVICE
First Claim
1. A method of creating a three-dimensional model of a target object to be recognized by executing a process of restoring three-dimensional information of a contour line through three-dimensional measurement using a stereo camera with respect to an actual model of the target object to be recognized while arbitrarily changing a positional relationship between the actual model and the stereo camera every time, aligning the three-dimensional information restored by the measurement of a plurality of times, and integrating each piece of the three-dimensional information after the alignment;
- wherein the steps of;
extracting information in an overlapped relationship by matching a plurality of pieces of three-dimensional information to be integrated with each other and calculating a difference amount between contour patterns represented by the extracted information,determining an evaluation value representing accuracy of integrated information including the plurality of pieces of three-dimensional information based on the difference amount, andoutputting the determined evaluation value, are executed before integrating or after integrating the plurality of pieces of three-dimensional information.
1 Assignment
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Accused Products
Abstract
This invention aims to ensure accuracy of a three-dimensional model to be registered. With information a of three-dimensional information a, b, c restored by measuring an actual model of a work, which is a target of three-dimensional recognition, from different directions as a reference, other three-dimensional information b, c are coordinate transformed so as to be aligned with the reference three-dimensional information, and three-dimensional information d including all of three-dimensional information b′, c′ after the transformation and the reference three-dimensional information a is created. The three-dimensional information d is temporarily registered as the three-dimensional model. A difference amount among the integrated three-dimensional information a, b′, c′ is calculated, and an evaluation index based on the difference value is displayed with an image view of a contour pattern represented by the three-dimensional model. A user checks the accuracy of the three-dimensional model on this display screen from a degree of variation of the contour line representing the same site and a value of the evaluation index, and determines whether or not to actually register the three-dimensional model d.
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Citations
10 Claims
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1. A method of creating a three-dimensional model of a target object to be recognized by executing a process of restoring three-dimensional information of a contour line through three-dimensional measurement using a stereo camera with respect to an actual model of the target object to be recognized while arbitrarily changing a positional relationship between the actual model and the stereo camera every time, aligning the three-dimensional information restored by the measurement of a plurality of times, and integrating each piece of the three-dimensional information after the alignment;
- wherein the steps of;
extracting information in an overlapped relationship by matching a plurality of pieces of three-dimensional information to be integrated with each other and calculating a difference amount between contour patterns represented by the extracted information, determining an evaluation value representing accuracy of integrated information including the plurality of pieces of three-dimensional information based on the difference amount, and outputting the determined evaluation value, are executed before integrating or after integrating the plurality of pieces of three-dimensional information. - View Dependent Claims (2, 3, 4, 5, 6)
- wherein the steps of;
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7. An object recognizing device comprising a three-dimensional measurement unit for restoring three-dimensional information of a contour line of a target object to be recognized through three-dimensional measurement using a stereo camera, a recognition processing unit for recognizing a position and an orientation of the target object to be recognized by matching the restored three-dimensional information with a three-dimensional model registered in advance, a three-dimensional model creating unit for aligning a plurality of pieces of three-dimensional information restored through the three-dimensional measurement executed by the three-dimensional measurement unit from different directions on an actual model of the target object to be recognized and creating a three-dimensional model to be used by the recognition processing unit by integrating each piece of the three-dimensional information after the alignment, and a three-dimensional model registering unit for registering the created three-dimensional model;
- wherein
the three-dimensional model creating unit includes, a difference amount calculating portion for extracting information in an overlapped relationship in each piece of the three-dimensional information by matching a plurality of pieces of three-dimensional information to be integrated with each other and calculating a difference amount between contour patterns represented by the extracted information, an evaluation value determining portion for determining an evaluation value representing accuracy of the integrated information including the plurality of pieces of three-dimensional information based on the difference amount calculated by the difference amount calculating portion, and an output portion for outputting the evaluation value determined by the evaluation value determining portion. - View Dependent Claims (8, 9, 10)
- wherein
Specification