THREE-DIMENSIONAL MEASUREMENT APPARATUS AND CONTROL METHOD THEREFOR
First Claim
1. A three-dimensional measurement apparatus comprising:
- a geometric model holding unit configured to hold a geometric model of a measurement object;
a coarse position/orientation holding unit configured to hold information indicating a coarse position and orientation of the measurement object;
a projection unit configured to project a plurality of types of patterns constituted by bright/dark contrast onto the measurement object;
an imaging unit configured to image the measurement object onto which a pattern has been projected by the projection unit;
a projection position calculation unit configured to compute coordinate values of the pattern on a captured image acquired by the imaging unit, based on the geometric model and the information indicating the coarse position and orientation;
a distance calculation unit configured to search for a captured pattern on the captured image based on the coordinate values computed by the projection position calculation unit, and derive a distance between the imaging unit and a surface of the measurement object by corresponding the captured pattern with the projected pattern; and
a position/orientation calculation unit configured to estimate the position and orientation of the measurement object using the distance derived by the distance calculation unit and the geometric model held in the geometric model holding unit, and update the information on the coarse position and orientation held in the coarse position/orientation holding unit.
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Accused Products
Abstract
A three-dimensional measurement apparatus generates patterns to be projected onto the measurement object, images the measurement object using an imaging unit after projecting a plurality of types of generated patterns onto the measurement object using a projection unit, and computes the coordinate values of patterns on a captured image acquired by the imaging unit, based on the projected patterns, a geometric model of the measurement object, and information indicating the coarse position and orientation of the measurement object. Captured patterns on the captured image are corresponded with the patterns projected by the projection unit using the computed coordinate values, and the distances between the imaging unit and the patterns projected onto the measurement object are derived. The position and orientation of the measurement object are estimated using the derived distances and the geometric model of the measurement object, and the information on the coarse position and orientation is updated.
124 Citations
8 Claims
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1. A three-dimensional measurement apparatus comprising:
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a geometric model holding unit configured to hold a geometric model of a measurement object; a coarse position/orientation holding unit configured to hold information indicating a coarse position and orientation of the measurement object; a projection unit configured to project a plurality of types of patterns constituted by bright/dark contrast onto the measurement object; an imaging unit configured to image the measurement object onto which a pattern has been projected by the projection unit; a projection position calculation unit configured to compute coordinate values of the pattern on a captured image acquired by the imaging unit, based on the geometric model and the information indicating the coarse position and orientation; a distance calculation unit configured to search for a captured pattern on the captured image based on the coordinate values computed by the projection position calculation unit, and derive a distance between the imaging unit and a surface of the measurement object by corresponding the captured pattern with the projected pattern; and a position/orientation calculation unit configured to estimate the position and orientation of the measurement object using the distance derived by the distance calculation unit and the geometric model held in the geometric model holding unit, and update the information on the coarse position and orientation held in the coarse position/orientation holding unit. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A control method for a three-dimensional measurement apparatus comprising:
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a geometric model holding step of holding a geometric model of a measurement object in a geometric model holding unit; a coarse position/orientation holding step of holding information indicating a coarse position and orientation of the measurement object in a coarse position/orientation holding unit; a projection step of using a projection unit to project a plurality of types of patterns constituted by bright/dark contrast onto the measurement object; an imaging step of using an imaging unit to image the measurement object onto which a pattern has been projected in the projection step; a projection position calculation step of computing coordinate values of the pattern on a captured image acquired in the imaging step, based on the geometric model and the information indicating the coarse position and orientation; a distance calculation step of searching for a captured pattern on the captured image based on the coordinate values computed in the projection position calculation step, and deriving a distance between the imaging unit and a surface of the measurement object by corresponding the captured pattern with the projected pattern; and a position/orientation calculation step of estimating the position and orientation of the measurement object using the distance derived in the distance calculation step and the geometric model held in the geometric model holding unit, and updating the information on the coarse position and orientation held in the coarse position/orientation holding unit. - View Dependent Claims (8)
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Specification