THREE-DIMENSIONAL MEASURING APPARATUS, THREE-DIMENSIONAL MEASURING METHOD, AND THREE-DIMENSIONAL MEASURING PROGRAM
First Claim
1. A three-dimensional measuring apparatus comprising:
- a projector configured to project slit light onto a work;
a first camera configured to capture an image of the work projected by the slit light;
a second camera configured to capture an image of the work projected by the slit light from a position different from that of the first camera; and
a control apparatus configured to store a three-dimensional plane equation of a light-section plane of the slit light, identify a correspondence among a bright line generated on a first image captured by the first camera by projecting the slit light, a bright line generated on a second image captured by the second camera by projecting the slit light, and the three-dimensional plane equation of the light-section plane, and perform three-dimensional measuring of the work by a principle of triangulation by using a correspondence relationship among any of the bright line on the first image, the bright line on the second image, and the light-section plane.
1 Assignment
0 Petitions
Accused Products
Abstract
A three-dimensional measuring apparatus 1 projects slit light from a projector 7 onto a work 2 and a stereo camera 5 captures an image of the work projected by the slit light. A control apparatus 10 of the three-dimensional measuring apparatus 1 temporarily identifies a correspondence between a bright line 4j on a first image of the captured stereo image and a light-section plane 6Pj and projects the bright line 4j onto the light-section plane 6Pj. The bright line projected onto the light-section plane 6Pj is projected onto a second image. The control apparatus 10 calculates the level of similarity between a bright line 4jX projected onto the second image and a bright line on the second image and determines a result of identified correspondence relationship between the bright line 4jX and the bright line on the second image.
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Citations
7 Claims
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1. A three-dimensional measuring apparatus comprising:
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a projector configured to project slit light onto a work; a first camera configured to capture an image of the work projected by the slit light; a second camera configured to capture an image of the work projected by the slit light from a position different from that of the first camera; and a control apparatus configured to store a three-dimensional plane equation of a light-section plane of the slit light, identify a correspondence among a bright line generated on a first image captured by the first camera by projecting the slit light, a bright line generated on a second image captured by the second camera by projecting the slit light, and the three-dimensional plane equation of the light-section plane, and perform three-dimensional measuring of the work by a principle of triangulation by using a correspondence relationship among any of the bright line on the first image, the bright line on the second image, and the light-section plane. - View Dependent Claims (2, 3, 4)
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5. A three-dimensional measuring method in which slit lights are projected from a projector onto a work and three-dimensional measuring of the work is performed by using a captured image of the work projected by the slit lights and three-dimensional plane equations of light-section planes of the plurality of slit lights, the method comprising:
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an image acquisition step in which an arithmetic unit acquires a first image and a second image of the work projected by the plurality of slit lights, which are captured from different positions; a step of identifying a set of corresponding bright lines in which the arithmetic unit determines an identification of a correspondence among each bright line on the first and the second images and the three-dimensional plane equations of the light-section planes; and a measuring step in which the arithmetic unit performs three-dimensional measuring of the work by a principle of triangulation by using a correspondence relationship between any of the bright line on the first image, the bright line on the second image, and the light-section planes. - View Dependent Claims (6, 7)
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Specification