Three-dimensional information processing apparatus and method
First Claim
1. A three-dimensional information processing apparatus for obtaining three-dimensional information from an object having a three-dimensional shape, and performing predetermined information processing, comprising:
- image sensing means for sensing images of the object from a plurality of coordinate positions using an image sensing system having one or a plurality of optical systems;
information extraction means for extracting a plurality of depth information from the images sensed by said image sensing means at the plurality of coordinate positions;
conversion/unification means for converting and unifying the plurality of depth information extracted by said depth information extraction means into depth information expressed by a unified coordinate system, and generating three-dimensional information on the basis of the depth information expressed by the unified coordinate system;
reliability determination means for determining reliability of the converted/unified three-dimensional information based on the images sensed by said image sensing means; and
correcting means for correcting the three-dimensional information generated by said conversion and unification means by using a reliability determined by said reliability determination means.
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Abstract
A three-dimensional information processing apparatus for obtaining three-dimensional information from an object having a three-dimensional shape, and performing predetermined information processing, comprises: a camera for sensing images of the object from a plurality of coordinate positions using an image sensing system having one or a plurality of optical systems. A plurality of depth information are extracted from image sensing related information sensed by the camera at the plurality of coordinate positions, and the plurality of extracted depth information are converted and unified into depth information expressed by a unified coordinate system.
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Citations
32 Claims
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1. A three-dimensional information processing apparatus for obtaining three-dimensional information from an object having a three-dimensional shape, and performing predetermined information processing, comprising:
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image sensing means for sensing images of the object from a plurality of coordinate positions using an image sensing system having one or a plurality of optical systems;
information extraction means for extracting a plurality of depth information from the images sensed by said image sensing means at the plurality of coordinate positions;
conversion/unification means for converting and unifying the plurality of depth information extracted by said depth information extraction means into depth information expressed by a unified coordinate system, and generating three-dimensional information on the basis of the depth information expressed by the unified coordinate system;
reliability determination means for determining reliability of the converted/unified three-dimensional information based on the images sensed by said image sensing means; and
correcting means for correcting the three-dimensional information generated by said conversion and unification means by using a reliability determined by said reliability determination means. - View Dependent Claims (2, 3, 4)
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5. A three-dimensional information processing method for obtaining three-dimensional information from an object having a three-dimensional shape, and performing pre-determined information processing, comprising:
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the first step of sensing images of the object from a plurality of coordinate positions using an image sensing system having one or a plurality of optical systems;
the second step of extracting a plurality of depth information from the images sensed at the plurality of coordinate positions in the first step;
the third step of converting and unifying the plurality of depth information extracted by said depth information extraction means into depth information expressed by a unified coordinate system, and generating three-dimensional information on the basis of the depth information expressed by the unified coordinate system;
the fourth step of determining reliability of the converted and unified three-dimensional information based on the images sensed by said image sensing means; and
the fifth step of correcting the three-dimensional information generated in said conversion and unification steps by using a reliability determined in said fourth step. - View Dependent Claims (6, 7, 8)
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9. A three-dimensional information processing apparatus for obtaining three-dimensional information from an object having a three-dimensional shape, and performing predetermined information processing, comprising:
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image sensing means for sensing images of the object using an image sensing system having one or a plurality of optical systems;
three-dimensional shape extraction means for extracting three-dimensional shape information of the object from the images sensed by said image sensing means;
reliability determination means for determining reliability of the three-dimensional shape information extracted by said three-dimensional shape extraction means based on the images sensed by said image sensing means; and
correcting means for correcting the three-dimensional shape information of the object by using the reliability determined by said reliability determination means. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A three-dimensional information processing apparatus for obtaining three-dimensional information from an object having a three-dimensional information from an object having a three-dimensional shape, and performing predetermined information processing comprising:
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image sensing means for sensing images of the object using an image sensing system having one or a plurality of optical systems;
three-dimensional shape extraction means for extracting three-dimensional shape information of the object from the images sensed by said image sensing means;
reliability determination means for determining reliability of the three-dimensional shape information extracted by said three-dimensional shape extraction means based on the images sensed by said image sensing means;
informing means for informing a reliability determination result of said reliability determination means; and
correcting means for correcting the three-dimensional shape information of the object by using the reliability determination result. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. A three-dimensional information processing apparatus for obtaining three-dimensional information from an object having a three-dimensional shape, and performing predetermined information processing, comprising:
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image sensing means for sensing images of the object using an image sensing system having one or a plurality of optical systems;
three-dimensional shape extraction means for extracting three-dimensional shape information of the object from the images sensed by said image sensing means;
reliability determination means for determining reliability of the three-dimensional shape information extracted by said three-dimensional shape extraction means based on the images sensed by said image sensing means; and
display means for correcting the three-dimensional shape information in accordance with a reliability determination result of said reliability determination means, and displaying the corrected three-dimensional shape information. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32)
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Specification