Three-dimensional shape input device

• US 7,454,054 B2
• Filed: 05/03/2005
• Issued: 11/18/2008
• Est. Priority Date: 05/07/2004
• Status: Expired due to Fees

• Current Assignee: Konica Minolta Sensing, Inc. (Konica Minolta Inc.)
• Original Assignee: Konica Minolta Sensing, Inc. (Konica Minolta Inc.)
• Inventors: Fukumoto, Tadashi
• Primary Examiner(s): Bella; Matthew C
• Assistant Examiner(s): LIEW, ALEX KOK SOON
• Application Number:
  US11/121,333
• Publication Number:
  US 20050249400A1
• Time in Patent Office: 1,295 Days
• Field of Search: None
• US Class Current: 382/154
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object

Abstract

A three-dimensional shape input device for entering a three-dimensional shape of an object by a light projection method is provided, which includes a light projecting portion for projecting detection light onto an object, and an imaging portion for receiving reflected light from the object. The device includes a storage portion for storing a parameter that is used for computing the three-dimensional shape, a computing portion for computing the three-dimensional shape of the object by using image data delivered from the imaging portion and the parameter, and a dividing portion for dividing an imaging surface of an image sensor into plural areas. The storage portion stores parameters each of which is to be applied to each of the areas. The computing portion performs computation for each of the areas by using a parameter to be applied to each of the areas.

Claims

1. A three-dimensional shape input device for entering a three-dimensional shape of an object by a light projection method, the device comprising:

a light projecting portion for projecting detection light onto an object;

an imaging portion for receiving reflected light from the object;

a dividing portion for dividing an imaging surface of an image sensor into a plurality of areas;

a storage portion for storing a plurality of calibration parameters corresponding to the respective areas;

a computing portion for computing and determining the three-dimensional shape of the object by using image data delivered from the imaging portion and the calibration parameters; and

wherein the computing portion computes and determines the three-dimensional shape for each of the areas by using the respective calibration parameter applied to each of the plurality of areas.

2. The device according to claim 1, wherein the computing portion performs computation by using a camera sight line equation and a detection light plane equation.

3. The device according to claim 2, wherein the computing portion performs the computation for each of the areas by using a the respective calibration parameter to be applied to each of the areas as a camera parameter that is used for the camera sight line equation.

4. The device according to claim 2, wherein the computing portion performs the computation for each of the areas by using the respective calibration parameter to be applied to each of the areas as a light projecting optical system parameter that is used for the detection light plane equation.

5. The device according to claim 4, wherein the light projecting portion projects fixed slit light as the detection light.

6. The device according to claim 4, wherein the light projecting portion scans the object by deflecting projected slit light, and the computing portion performs the computation by using the respective calibration parameter to be applied to each of the areas that includes an angular velocity parameter of a deflecting mirror for deflecting the slit light.

7. The device according to claim 4, wherein the light projecting portion projects stripe pattern light as the detection light.

8. The device according to claim 1, wherein the respective calibration parameters are interpolated values so that a value of the respective calibration parameter is continuous at a boundary of the areas.

9. A three-dimensional shape input device for measuring and entering a three-dimensional shape of an object by a light projection method in accordance with image data that are obtained by receiving reflected light from the object by an imaging portion when detection light is projected onto the object, the device comprising:

a storage portion for storing a plurality of calibration parameters that are used for computing the three-dimensional shape; and

a computing portion for computing the three-dimensional shape of the object by using the image data and the respective calibration parameters,

wherein the storage portion stores a calibration parameter corresponding to each of respective divided areas of an imaging surface of an image sensor, and the computing portion computes and determines the three-dimensional shape for each of the divided areas by using the corresponding calibration parameter applied to each of the areas.

10. The device according to claim 9, wherein the computing portion performs computation by using a camera sight line equation that is expressed by a camera parameter and a detection light plane equation that is expressed by a light projecting optical system parameter.

11. A three-dimensional shape input device for measuring and entering a three-dimensional shape of an object by a light projection method in accordance with image data that are obtained by receiving reflected light from the object by an imaging portion when detection light is projected onto the object, the device comprising:

a dividing portion for dividing an imaging surface of an image sensor into a plurality of areas;

an information adding portion for adding area division information that is information for discriminating an area to which each of the image data belong;

a storage portion for storing a plurality of calibration parameters to be applied to each of the respective areas for computing the three-dimensional shape; and

an output portion for delivering the image data and the respective calibration parameter.

12. A three-dimensional shape input device for entering a three-dimensional shape of an object by a light projection method, the device comprising:

a light projecting portion for projecting detection light onto an object;

an imaging portion for receiving reflected light from the object;

a storage portion for storing a parameter that is used for computing the three-dimensional shape;

a computing portion for computing and determining the three-dimensional shape of the object by using image data delivered from the imaging portion and the parameter; and

a dividing portion for dividing an imaging surface of an image sensor into plural areas,

wherein the storage portion stores parameters each of which is to be applied to each of the areas for use in a camera sight line equation, and the computing portion computes and determines the three-dimensional shape for each of the areas by using a parameter to be applied to each of the areas using the camera sight line equation and a detection light plane equation.