Three-dimensional measurement method

• US 9,418,435 B2
• Filed: 11/10/2010
• Issued: 08/16/2016
• Est. Priority Date: 11/12/2009
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Hayashi, Tadashi
• Primary Examiner(s): Philippe, Gims
• Assistant Examiner(s): Pezzner, Benjamin
• Application Number:
  US13/508,902
• Publication Number:
  US 20120224033A1
• Time in Patent Office: 2,106 Days
• Field of Search: 348/47
• US Class Current: 1/1
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

A field of view available for stereo measurement is expanded using a field of view other than a common field of view. To this end, a plane (plane e) including a corresponding point (xa) on a sensor plane of a first camera, which corresponds to a feature point (X), a focal position (F1) of the first camera, and a focal position (F2) of the second camera is calculated; a first line (straight line E) that is a line of intersection of the plane (plane e) and a plane including a sensor plane of the second camera is calculated; a second line (straight line G) including a corresponding point group on the sensor plane of the second camera, which corresponds to a feature point group, is calculated; an intersection of the first and second lines is calculated as a corresponding point (xb) on the plane including the sensor plane of the second camera, which corresponds to the feature point (X); and three-dimensional coordinates of the feature point (X) are calculated based on the corresponding points (xa, xb).

Claims

1. A three-dimensional measurement method for measuring three-dimensional coordinates of a feature point of a measurement target using at least two cameras in accordance with a stereo measurement method, comprising the steps of:

capturing the feature point using a first camera, and capturing a feature point group continuous with the feature point using a second camera based on data of a predetermined shape of the measurement target, wherein the feature point is not within a field of view of the second camera;

calculating a plane including a corresponding point on a sensor plane of the first camera, the corresponding point corresponding to the feature point, a focal position of the first camera, and a focal position of the second camera, and calculating a first line that is a line of intersection of the calculated plane and a plane including a sensor plane of the second camera;

calculating a second line including a corresponding point group on the sensor plane of the second camera, the corresponding point group corresponding to the feature point group;

calculating a corresponding point on the plane including the sensor plane of the second camera, the corresponding point on the plane including the sensor plane of the second camera corresponding to the feature point, by determining an intersection of the first line and the second line; and

calculating a straight line extending through the corresponding point on the sensor plane of the first camera and the focal position of the first camera, and a straight line extending through the corresponding point group on the sensor plane of the second camera and the focal position of the second camera, and calculating an intersection of the calculated straight lines as three-dimensional coordinates of the feature point.

2. The three-dimensional measurement method according to claim 1, wherein a plurality of feature point groups are continuous with the feature point, wherein in the step of calculating a second line, a second line is calculated for each of a plurality of corresponding point groups on the sensor plane of the second camera, the plurality of corresponding point groups corresponding to the plurality of feature point groups, and

wherein in the step of calculating a corresponding point on the plane including the sensor plane of the second camera, the corresponding point is calculated from intersections of the first line and the plurality of second lines.

3. The three-dimensional measurement method according to claim 2, wherein an intersection of the first line and one of the second lines, the one of the second lines being a second line for which an angle defined with respect to the first line is largest, is set as a corresponding point on the sensor plane of the second camera, the corresponding point corresponding to the feature point.

4. The three-dimensional measurement method according to claim 2, wherein in the step of calculating a corresponding point on the plane including the sensor plane of the second camera, a centroid of the intersections of the first line and the plurality of second lines is calculated as the corresponding point.

5. The three-dimensional measurement method according to claim 1, wherein the second line comprises a straight line.

6. The three-dimensional measurement method according to claim 1, wherein the second line comprises a curve.

7. The three-dimensional measurement method according to claim 1, further comprising the step of:

determining whether or not a corresponding point corresponding to the feature point is included in each of images captured using the at least two cameras.

8. The three-dimensional measurement method according to claim 7, wherein in the step of determining, an outline that is an outline of a graphic pattern in each of the images captured using the at least two cameras, the graphic pattern corresponding to the measurement target, the outline including the feature point group, is calculated, and it is determined whether or not the calculated outline defines a closed area.

9. The three-dimensional measurement method according to claim 1, wherein a plurality of cameras capture a feature point group continuous with the feature point, and

wherein a camera capable of obtaining an image in which the second line has a longest length is selected as the second camera.

10. The three-dimensional measurement method according to claim 1, further comprising the step of:

calculating, based on second lines obtained by a plurality of second cameras, the plurality of second cameras being capable of obtaining an image in which the second line has a length larger than a predetermined value, a weighted centroid of a plurality of three-dimensional coordinate candidates of the feature point as true three-dimensional coordinates of the feature point.