THREE-DIMENSIONAL MODELING APPARATUS, THREE-DIMENSIONAL MODELING METHOD AND COMPUTER-READABLE RECORDING MEDIUM STORING THREE-DIMENSIONAL MODELING PROGRAM
First Claim
1. A three-dimensional modeling apparatus comprising:
- an image obtaining section that obtains image sets picked up by a stereoscopic camera;
a generating section that generates three-dimensional models of an object based on each of the obtained image sets;
a three-dimensional model selecting section that selects a first three-dimensional model and a second three-dimensional model to be superimposed on the first three-dimensional model among the generated three-dimensional models;
an extracting section which extracts first feature points from the selected first three-dimensional model and second feature points from the selected second three-dimensional model;
a feature-point selecting section that selects feature points having a closer distance to the stereoscopic camera from the extracted first feature points and the extracted second feature points, respectively;
a parameter obtaining section that obtains a transformation parameter for transforming a coordinate of the second three-dimensional model into a coordinate in a coordinate system of the first three-dimensional model based on the selected first and second feature points;
a transforming section that transforms the coordinate of the second three-dimensional model into the coordinate in the coordinate system of the first three-dimensional model using the transformation parameter; and
a superimposing section that superimposes the second three-dimensional model having a transformed coordinate on the first three-dimensional model.
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Accused Products
Abstract
In three-dimensional modeling apparatus, an image obtaining section obtains image sets picked up by stereoscopic camera. A generating section generates three-dimensional models. A three-dimensional model selecting section selects a first three-dimensional model and a second three-dimensional model to be superimposed on the first three-dimensional model among generated three-dimensional models. A extracting section extracts first and second feature points from the selected first and second three-dimensional model. A feature-point selecting section selects feature points having a closer distance to stereoscopic camera from the extracted first and second feature points. A parameter obtaining section obtains a transformation parameter for transforming a coordinate of the second three-dimensional model into a coordinate system of the first three-dimensional model. A transforming section transforms the coordinate of the second three-dimensional model into the coordinate system of the first three-dimensional model. And a superimposing section superimposes the second three-dimensional model on the first three-dimensional model.
37 Citations
8 Claims
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1. A three-dimensional modeling apparatus comprising:
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an image obtaining section that obtains image sets picked up by a stereoscopic camera; a generating section that generates three-dimensional models of an object based on each of the obtained image sets; a three-dimensional model selecting section that selects a first three-dimensional model and a second three-dimensional model to be superimposed on the first three-dimensional model among the generated three-dimensional models; an extracting section which extracts first feature points from the selected first three-dimensional model and second feature points from the selected second three-dimensional model; a feature-point selecting section that selects feature points having a closer distance to the stereoscopic camera from the extracted first feature points and the extracted second feature points, respectively; a parameter obtaining section that obtains a transformation parameter for transforming a coordinate of the second three-dimensional model into a coordinate in a coordinate system of the first three-dimensional model based on the selected first and second feature points; a transforming section that transforms the coordinate of the second three-dimensional model into the coordinate in the coordinate system of the first three-dimensional model using the transformation parameter; and a superimposing section that superimposes the second three-dimensional model having a transformed coordinate on the first three-dimensional model. - View Dependent Claims (2, 3)
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4. A three-dimensional modeling apparatus comprising:
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an obtaining section that obtains a first image and a second image obtained by imaging an object at different positions; an extracting section which extracts first feature points on the first image and second feature points on the second image corresponding to the first feature points, respectively; a selecting section that selects a combination of the first feature point and the second feature point having a closer distance to a camera at a time of imaging among the first feature points and the second feature points corresponding to the first feature points; a parameter obtaining section that obtains a transformation parameter indicating a positional relationship of a position at which the first image is imaged and a position at which the second image is imaged based on the selected combination of the first and second feature points; an information obtaining section that obtains pieces of three-dimensional information of the first feature points and the second feature points extracted by the extracting section based on the transformation parameter; and a generating section that generates a three-dimensional model based on the three-dimensional information.
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5. A three-dimensional modeling method comprising:
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obtaining image sets picked up by a stereoscopic camera; generating three-dimensional models of an object based on each of the obtained image sets; selecting a first three-dimensional model and a second three-dimensional model to be superimposed on the first three-dimensional model among the generated three-dimensional models; extracting first feature points from the selected first three-dimensional model and second feature points from the selected second three-dimensional model; selecting feature points having a closer distance to the stereoscopic camera from the extracted first feature points and the extracted second feature points, respectively; obtaining a transformation parameter for transforming a coordinate of the second three-dimensional model into a coordinate in a coordinate system of the first three-dimensional model based on the selected first and second feature points; transforming the coordinate of the second three-dimensional model into the coordinate in the coordinate system of the first three-dimensional model using the transformation parameter; and superimposing the second three-dimensional model having a transformed coordinate on the first three-dimensional model.
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6. A three-dimensional modeling method comprising:
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obtaining a first image and a second image obtained by imaging an object at different positions; extracting first feature points on the first image and second feature points on the second image corresponding to the first feature points, respectively; selecting a combination of the first feature point and the second feature point having a closer distance to a camera at a time of imaging among the first feature points and the second feature points corresponding to the first feature points; obtaining a transformation parameter indicating a positional relationship of a position at which the first image is imaged and a position at which the second image is imaged based on the selected combination of the first and second feature points; obtaining pieces of three-dimensional information of the extracted first feature points and the extracted second feature points based on the transformation parameter; and generating a three-dimensional model based on the three-dimensional information.
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7. A computer-readable recording medium having stored therein a program executable by a computer, the program causing the computer to realize functions of:
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obtaining image sets picked up by a stereoscopic camera; generating three-dimensional models of an object based on each of the obtained image sets; selecting a first three-dimensional model and a second three-dimensional model to be superimposed on the first three-dimensional model among the generated three-dimensional models; extracting first feature points from the selected first three-dimensional model and second feature points from the selected second three-dimensional model; selecting feature points having a closer distance to the stereoscopic camera from the extracted first feature points and the extracted second feature points, respectively; obtaining a transformation parameter for transforming a coordinate of the second three-dimensional model into a coordinate in a coordinate system of the first three-dimensional model based on the selected first and second feature points; transforming the coordinate of the second three-dimensional model into the coordinate in the coordinate system of the first three-dimensional model using the transformation parameter; and superimposing the second three-dimensional model having a transformed coordinate on the first three-dimensional model.
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8. A computer-readable recording medium having stored therein a program executable by a computer, the program causing the computer to realize functions of:
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obtaining a first image and a second image obtained by imaging an object at different positions; extracting first feature points on the first image and second feature points on the second image corresponding to the first feature points, respectively; selecting a combination of the first feature point and the second feature point having a closer distance to a camera at a time of imaging among the first feature points and the second feature points corresponding to the first feature points; obtaining a transformation parameter indicating a positional relationship of a position at which the first image is imaged and a position at which the second image is imaged based on the selected combination of the first and second feature points; obtaining pieces of three-dimensional information of the extracted first feature points and the extracted second feature points based on the transformation parameter; and generating a three-dimensional model based on the three-dimensional information.
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Specification