JP2003042732A - Surface shape measuring device and method, surface shape measuring program, and surface state mapping device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a surface shape measuring device capable of quickly measuring the surface shape or pattern of a measurement object such as archeological remains or a human body. SOLUTION: A measurement object 1 and a calibration object 11 which is arranged near the measurement object 1 and has a reference point in which a three-dimensional relative positional relationship is determined in advance. A stereo photographing unit 3 for performing stereo photographing from a plurality of directions, and extracting an image of a reference point of the calibration subject 11 from photographed image data photographed in stereo by the stereo photographing unit 3, and stereo photographing from the position of the reference point A photographing parameter calculating means 5 for calculating photographing parameters for each direction to be measured; a surface for obtaining a surface shape of the measuring object 1 from the photographing parameters and the image position of the measuring object 1 in the photographed image data from which the image of the reference point is extracted. And a shape measuring means 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surface shape measuring apparatus and a surface shape measuring method for three-dimensionally measuring non-contact surface shapes such as archaeological objects, human bodies, vehicles, mechanical structures, and soil volume measurement. . Furthermore, the present invention relates to a surface shape plotting apparatus for drawing the surface shape or pattern of a buried object or the like measured by a surface shape measuring apparatus.

[0002]

2. Description of the Related Art Conventionally, for example, when measuring the surface shape of earthenware, which is a typical example of archaeological objects, a person should sketch while measuring with a ruler, or trace the surface of the earthenware with a contact-type measuring instrument. I was measuring the shape. Further, a non-contact type surface profile measuring device which shoots with slit light and shoots with laser light is also used.

Also in the case of the human body, for example, in order to determine the size of clothes that matches the body type of the purchaser, a store clerk measures the body size of the purchaser with a tape measure at a clothing store. In the case of vehicles and machine structures, prototype inspection at the time of design, product inspection at the time of shipment, judgment of replacement time of replacement parts at regular inspection,
A surface profile measuring device is used. If you want to measure the soil volume further, prepare a fixed vessel and put the soil volume there,
I leveled on the soil and measured. In recent years, the position of the soil surface is measured with a light wave range finder, an ultrasonic range finder, etc.
In some cases, the amount of soil is measured by walking on the soil with S (Global Positioning System). In addition, the soil volume may be measured by the light section method using a large-scale device such as a laser.

[0004]

However, when the surface shape of the archaeological deposits is measured by the contact type or non-contact type surface shape measuring device, the conventional device has a problem that the equipment cost rises. In addition, for archaeological purposes, it is necessary to map the surface condition such as the pattern of archaeological reserves,
The conventional device has a problem that accurate plotting is difficult. Specifically, there are the following problems depending on the measurement mode of the archaeological reserves. When a person measures and sketches, it takes a lot of time and effort to draw a pattern and the like, but there is a problem that individual differences occur depending on the person who draws it, although skill is required. In addition, there is a problem that the dimensional accuracy is insufficient.

In the case of a contact-type measuring instrument, it takes time and effort to trace the surface of the archaeological deposit as an object in the measurement, and at the same time, after the measurement, the characteristics of the archaeological deposit surface are visualized and visualized. There is a need. With a non-contact type surface shape measuring device such as slit light or laser light, the surface of the archaeological site is measured in a non-contact manner. However, when plotting the surface shape and pattern of archaeological reserves,
There is a problem in that it is necessary to draw a diagram while comparing the actual surface shape and pattern with the measured data, and the accuracy of the positional relationship between the measured data and the surface shape or pattern is limited.

As common to the above items, since the results of drawing are grasped from an archeological point of view, there is a problem that the truth or falsehood cannot be known unless it is compared with a photograph of an actual object. It was In addition, archaeological surveys are carried out when buried cultural properties are discovered in public works and civil engineering construction work, but if the archeological survey period becomes long, the construction interruption period will be prolonged and the construction period of the civil engineering construction facility will be prolonged. Will be prolonged. Therefore, shortening the archeological survey period has become an urgent desire for contractors, and if the archaeological reserves can be mapped quickly, it will greatly contribute to the public interest.

Also, in the case of the human body, there are many buyers who do not feel that the shopper's body shape is measured by the clerk.
Therefore, it is conceivable to install a non-contact type human body surface profile measuring device in the retail store, but it is not popular because of the privacy issue of the purchaser and the amount of capital investment is high for the retail store. There are challenges.

Further, in the case of a vehicle or a mechanical structure, there is a problem that the surface profile measuring device becomes very large and the measurement also requires time. Especially in the product inspection at the time of shipment, the time required for the inspection affects the delivery time delivered to the customer, and in the case of the periodic inspection, it is important for the customer's equipment operation if the measurement is not performed quickly within the limited inspection period. There was a problem that it had a great influence.

Further, there are the following problems in soil volume measurement. When leveling on the soil, it takes time and accuracy. In the case of an optical distance meter or an ultrasonic distance meter, there is a problem that it takes too much time to measure the entire surface of the soil and it cannot be practically adopted. Therefore, in order to shorten the measurement time, some soil surfaces are measured, but there is a problem in that the accuracy is lost. In the case of GPS, it is troublesome because the worker has to walk with the GPS receiving terminal device.

A first object of the present invention is to solve the above-mentioned problems, and a surface shape measuring apparatus and a surface shape measuring method capable of quickly measuring the surface shape and pattern of a measuring object such as archaeological objects and human bodies. Is to provide. A second object of the present invention is to provide a surface shape plotting device capable of accurately drawing surface shapes and patterns of archaeological objects etc. measured by a surface shape measuring device.

[0011]

The surface profile measuring apparatus of the first invention achieves the first object and is shown in FIGS.
As shown in FIG. 1, a measurement object 1 and a calibration object 11 arranged in the vicinity of the measurement object 1 and having a reference point in which a three-dimensional relative positional relationship is determined in advance. From a plurality of directions, and a stereo image capturing unit 3 that captures a stereo image from a plurality of directions; The surface shape of the measurement target object 1 is determined from the shooting parameter calculation unit 5 for determining the shooting parameter for each shooting direction, the shooting parameter, and the image position of the measurement target object 1 in the captured image data in which the image of the reference point is extracted. The surface shape measuring means 6 is provided.

In the apparatus configured as described above, the measurement object 1 and the calibration subject 11 are simultaneously photographed by the stereo photographing unit 3. Since the stereo photographing unit 3 has a plurality of stereo photographing directions, it is possible to measure the surface shape of a wide range of the measuring object 1 as compared with the case of one direction. The shooting parameter for the shooting direction of the measurement object 1 is calculated from the image of the reference point of the calibration subject 11 that is simultaneously shot and the position of the reference point that is known in advance. Therefore, even if the measurement target 1 and the stereo imaging unit 3 are not positioned precisely, accurate surface shape measurement can be performed.

Preferably, as shown in FIG. 1, the stereo image pickup section 3 has a stereo image pickup unit for each direction of stereoscopic image pickup. The stereo image pickup unit has at least two image pickup devices 3R and 3L which are mounted in parallel with each other at a predetermined interval l (el), and can take a stereo image of the measurement object 1 at the same time. When the number of 1's is large and the amount of work for measuring the surface shape of the measuring object 1 is large, or when the measuring object 1 that vibrates or moves does not take images simultaneously, the measuring object 1
It is suitable when the stereo image of is not available.

Preferably, as shown in FIG. 15, the stereo photographing unit 3 photographs the object 1 to be measured with a plurality of monocular image pickup devices 10 and also takes a stereo image of an overlapping image pickup region between adjacent image pickup devices 10. It is better to handle as. Since the overlapping photographing area photographed by the adjacent monocular imaging devices 10 is handled as stereo imaging, the imaging device 10 is compared with the case where the stereo imaging unit is used.
The degree of freedom is increased in the installation position of.

It is preferable that the photographing parameters include at least one of a baseline length of the stereo photographing unit 3 in the photographing direction, a photographing position of the stereo photographing unit 3, and a tilt of the stereo photographing unit 3. The photographing parameter is a parameter for converting a pair of images photographed by the stereo imaging unit 3 into a deviation corrected image. Since the stereo image converted to the deviation correction image is in a state where it can be viewed stereoscopically,
The unevenness of the surface of the measuring object 1 is accurately calculated from the parallax of the stereo image. When the stereo photographing unit 3 has a stereo photographing unit for each stereo photographing direction, the photographing parameters are a base line length, a photographing position, and a tilt of each stereo photographing unit. When the stereoscopic imaging unit 3 treats an overlapping imaging area between the adjacent imaging devices 10 as stereo imaging, the imaging parameters are the adjacent imaging devices 10.
These are the baseline length, the shooting position, and the inclination between each other.

Preferably, a means for forming an orthographic projection image of the measurement object 1 from at least one of the stereo image taken by the stereo imaging section 3 and the image position of the measurement object 1 is preferably provided. By reconstructing a stereo image from the surface shape measurement data of the measurement object 1 into an orthographic projection image, an image in which the dimensions are reflected can be created from an actual captured image. Further, since the orthographic projection image reflects accurate dimensions in the image itself without being drawn, it is possible to judge the actual situation and the dimensional accuracy is high, and the value as an image is high.

Preferably, as shown in FIGS. 16 and 17, the relative position changing unit 4 for relatively moving the positional relationship between the measuring object 1 and the stereo photographing unit 3, and the measuring object by the relative position changing unit 4. A stereo image capturing control unit 12 that moves at least one of the object 1 and the stereo image capturing unit 3 to capture the object 1 to be measured by the stereo image capturing unit 3 from a plurality of directions. It is preferable to obtain a stereo image from the direction and obtain the surface shape of the measuring object 1.

The surface shape measuring method of the second invention achieves the first object, and as shown in FIG. 7, a three-dimensional relative positional relationship is predetermined in the vicinity of the object to be measured. Place the calibration subject on which the reference point is placed (S
1) The stereo photographing unit performs stereo photographing from a plurality of directions so that both the measurement object 1 and the calibration subject 11 are photographed (S2), and the stereo image photographed by the stereo photographing unit is used for the above The image of the reference point is extracted, the photographing parameter is obtained from the position of the reference point (S3), and the photographing parameter and the measuring object from the image position of the measuring object 1 in the stereo image in which the image of the reference point is extracted. There is a step (S3) of measuring the surface shape of the article 1.

The surface profile measuring apparatus of the third invention achieves the first object, and as shown in FIG. 18, is a measuring object 1 and a calibration object arranged near the background of the measuring object 1. The subject 11, which is a calibration subject 11 having a reference point for which a three-dimensional relative positional relationship is determined in advance,
A stereo photographing unit 9 for stereo photographing from a predetermined direction, a relative position changing unit 4 for relatively moving the positional relationship between the measurement object 1 and the stereo photographing unit 9, and the relative position changing unit 4 for measuring the object 1 or the stereo. From at least one of the image capturing unit 9 is moved, the stereo image capturing control unit 12 that causes the stereo image capturing unit 9 to capture images of the measurement target 1 from a plurality of directions, and the captured image data captured in stereo by the stereo image capturing control unit 12 are used to obtain the Shooting parameter calculation means 5 for extracting the image of the reference point and obtaining shooting parameters for each direction of stereo shooting from the position of the reference point, the shooting parameter, and the measurement in the shot image data in which the image of the reference point is extracted. A surface shape measuring unit 6 for obtaining the surface shape of the measurement object 1 from the image position of the object 1 is provided.

It is preferable that the calibration subject has a fixed relative positional relationship with the stereo photographing unit while the stereo photographing unit performs stereo photographing from the plurality of directions.

The surface profile measuring apparatus of the fourth invention achieves the first object, and as shown in FIG. 19, is a measuring object 1 and a calibration object arranged near the background of the measuring object 1. The subject 11, which is a calibration subject 11 having a reference point for which a three-dimensional relative positional relationship is determined in advance,
A monocular imaging device 10 for photographing, a relative position changing unit 4 that relatively moves the positional relationship between the measurement object 1 and the imaging device 10, and a relative relationship between the measurement object 1 and the imaging device 10 by the relative position changing unit 4. Is moved to control the stereo unidirectional control unit 13 that controls the imaging device 10 to perform stereo imaging using the first imaging direction and the second imaging direction, and the measurement target 1 by the relative position changing unit 4. Alternatively, at least one of the image pickup devices 10 is moved, and the image pickup direction is controlled by the stereo unidirectional control unit 13 so as to perform stereoscopic image pickup, so that the image pickup device 10 stereoscopically picks up the measurement object 1 from a plurality of directions. An image of the reference point is extracted from the captured image data captured in stereo by the control unit 12 and the imaging device 10, and the stereo image is captured in each direction from the position of the reference point. A photographing parameter calculating means 5 for obtaining a photographing parameter, a photographing parameter, and a surface shape measuring means for obtaining a surface shape of the measuring object 1 from the image position of the measuring object 1 in the photographed image data in which the image of the reference point is extracted. 6 and.

The surface state plotting apparatus of the fifth invention achieves the second object, and the surface shape measurement is performed according to any one of claims 1 to 6 or 9 to 11. A plotting device 8 for plotting the surface state of the measuring object 1 from a stereo image of the measuring object 1 measured by the device is provided. Preferably, the measurement object 1 is used for plotting.
It is advisable to use an artificial intelligence engine that is suitable for the purpose of visualizing the surface state of. For example, if the measurement object 1 is a buried cultural property, the measured surface condition can be appropriately corrected by archaeological knowledge to remove mere scratches and deposits and extract archaeologically valuable information.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a main part configuration diagram for explaining a first embodiment of the present invention, and shows a positional relationship between a measurement target object, a calibration subject, and a stereo imaging unit. In the figure, a measurement object 1 is an object for three-dimensionally measuring the surface shape and pattern of archaeological objects, human bodies, vehicles, mechanical structures and the like in a non-contact manner. The calibration subject 11 has a reference point mark as a reference point for which a three-dimensional relative positional relationship is determined in advance, and the details will be described later. The table 2 is a table on which the measurement object 1 and the calibration subject 11 are simultaneously installed, and may be a stage.

The stereo image pickup section 3 takes a stereo image of the measuring object 1 and the calibration subject 11 placed on the table 2, and has a stereo image pickup unit for each stereo image pickup direction. Each stereo shooting unit has a CCD (Charg
Two image pickup devices 3R and 3L such as an e-coupled device), a digital camera, a photographic film type camera, etc. are attached to a rod body (not shown) as an image pickup device attachment body at an interval l. The optical axes of the two imaging devices 3R and 3L are adjusted so as to be substantially parallel to the measurement target 1, and the distance d to the measurement target 1 is also preferably set to be substantially the same. Furthermore, when it is desired to obtain the values with high accuracy, the imaging devices 3R and 3L that have undergone camera calibration are used as stereo imaging units. Here, the camera calibration refers to accurately obtaining the focal length, principal point position, and distortion of the camera.

FIG. 2 is a block diagram of the essential parts for explaining the first embodiment of the present invention, which illustrates the signal processing function of an image captured in stereo by the stereo imaging unit. The photographing parameter calculation means 5 extracts the image of the reference point of the calibration subject 11 from the photographed image data of each stereo photographing direction which is stereo-photographed by the stereo photographing unit of the stereo photographing unit 3 and stereo from the position of the reference point. The shooting parameters are obtained for each shooting direction. The shooting parameters are images shot by the stereo shooting unit, and are used to adjust the stereoscopic viewing by correcting the deviation of a pair of stereo shot images in the right shooting direction and the left shooting direction. In the stereo photographing unit 3 having a stereo photographing unit for each stereo photographing direction as shown in FIG. 1, the base line length, photographing position, and inclination of each stereo photographing unit correspond.

The surface shape measuring means 6 of the measuring object 1 photographed together with the image of the reference point of the calibration subject 11 in the photographing parameters obtained by the photographing parameter calculating means 5 and the photographed image data for which the photographing parameters are obtained. From the image position,
The surface shape of the measuring object 1 is obtained. 3A and 3B are explanatory views of a pair of images obtained by stereoscopically photographing the measurement object and the calibration subject, where FIG. 3A shows the left photographing direction and FIG. 3B shows the right photographing direction. As shown in FIG. 3, the measurement object and the calibration subject are simultaneously captured in a pair of stereo-captured images of the left and right shooting directions, which are obtained from the calibration subject 11. The imaging parameters can also be applied to the image of the measuring object 1.

Object 1 to be measured by the surface shape measuring means 6
The surface shape measurement is performed by using a calculation method of measuring the surface shape unevenness by a stereo image used in aerial photogrammetry and the like. Here, the stereo image refers to a set of images captured by the stereo image capturing unit 3 which are stereo-captured in the right and left capturing directions and are adjusted so as to be stereoscopically viewed. The surface shape measuring means 6 extracts the characteristic points of the measuring object 1, finds the positions of these characteristic points, and measures the overall surface shape of the measuring object 1 based on the obtained positions of the characteristic points. Good.

The display / visualization unit 8 is a display device such as a CRT or a liquid crystal for displaying the surface shape of the measuring object 1 measured by the surface shape measuring means 6, a plotter or printer for drawing a figure on a paper surface, and a stereoscopic device. A digital plotter or the like is used to acquire specific impression data. The display / visualization unit 8 may be a stereo monitor capable of stereoscopic viewing. By using the stereo monitor, not only can the actual measurement object 1 be reproduced as a stereoscopic image, but also measurement and plotting can be easily performed while viewing the image. The photographing parameter calculation means 5, the surface shape measurement means 6, and the display / plotting section 8 can be configured in a digital plotter or a personal computer.

4A and 4B are perspective views showing the configuration of a calibration subject used for calculation of photographing parameters. FIG. 4A is a frame body having a rectangular cross section, and FIG. 4B is a frame body having a hexagonal cross section. C) shows another aspect of the frame body having a rectangular cross section, and (D) shows another aspect of the frame body having a hexagonal cross section. The frame body is used when shooting, measuring, and plotting from each side direction that is each shooting direction,
This is so that the surface of the measuring object 1 can be captured without being interrupted by the calibration subject 11. Calibration subject 11
Is used to determine a coordinate system that serves as a reference when the deviation is corrected to a stereo image, and to obtain the positions and inclinations of the two imaging devices 3R and 3L that form the stereo photographing unit 3. It is desirable that the size of the calibration subject 11 is slightly larger than that of the measurement target 1, and the accuracy in correcting the deviation to a stereo image is improved.

As shown in FIG. 4A, in the case of a frame body having a rectangular cross section, four reference side faces 1 are provided on the calibration subject 11.
11 is provided. On each reference side surface 111, reference point marks 113 are formed at at least six locations along the frame. This is because at least 6 known points are required to determine the posture and coordinates of one plane. The reference point mark 113 is, for example, a white mark on a black background, a black mark on a white background, or a mark that reflects like a retrorefractive target, and a sticker on which the reference point mark 113 is printed is attached to each reference side surface 111. Alternatively, the reference point mark 113 may be directly printed on each reference side surface 111.

As shown in FIG. 4B, in the case of a frame body having a hexagonal cross section, the calibration subject 11B is provided with six reference side surfaces 111B. At least six reference point marks 113B are formed on each reference side surface 111B, and information necessary for determining the posture and coordinates of one plane is secured.

Further, in order to distinguish each reference side surface 111 provided on the calibration subject 11, a direct reference point mark 113 is provided.
Alternatively, the side reference target 112 may be formed on each reference side 111. Here, the side reference target 112
Has a function as a reference point mark 113, in addition to a function of distinguishing each reference side surface 111 provided on the calibration subject 11. In the case of a frame body having a rectangular cross section, as shown in FIG. 4C, five reference point marks 113 and one side reference target 11 are provided on each reference side surface 111.
2a and 112b are formed. In the case of a frame body having a hexagonal cross section, as shown in FIG.
Six reference side surfaces 111D are provided in 1D. Each reference side surface 111D has five reference point marks 113B and one side surface reference target 112c, 112d, 11
2e is formed.

4 (C) and 4 (D), one side reference target 112 different for each reference side 111 of the calibration subject 11 is shown as an example. The reference point mark 113 of 111 may be the same as the side reference target 112 in whole or in part. Further, as the side reference target 112,
The size of the mark may be different or the color may be changed. Also, by changing the color of each reference side surface 111,
The reference side surfaces 111 provided on the calibration subject 11 may be distinguished.

5A and 5B are explanatory views of the reference point mark and the side reference target formed on the calibration subject. FIG. 5A shows the reference point mark and FIG. 5B shows the side reference target. The reference point mark includes, for example, a strike mark (A
1), a white circle (A2), a black circle (A3), such as a pattern, a figure, or a symbol that can clearly grasp the three-dimensional position of the reference point is used. The side reference target is used for distinguishing each reference side 111 provided on the calibration subject 11, and includes a hexagon (B1), a white cross (B2),
Rhombus (B3), Number 1 (B4), Number 2 (B5), Number 3 (B6), Black Square (B7), Diagonal Square (B
8), patterns such as lattice squares (B9), figures, symbols, etc. are used.

Reference point mark 113 on the calibration subject 11
The position of is measured in advance using a three-dimensional coordinate system by a precise device. FIG. 6 is an explanatory diagram of the three-dimensional coordinate system xyz that describes the position of the reference point mark. Three-dimensional coordinate system xyz
When the calibration subject 11 is a frame body having a rectangular cross section, the coordinates of the reference point marks 113 of the entire calibration subject 11 are determined using the arbitrary reference side surface 111 as a reference surface. For example, the xz plane is assigned with the arbitrary reference side surface 111 set to the 0 ° direction, and the other three reference side surfaces 111 are set to 90 ° and 1 respectively.
Distinguish between the directions of 80 ° and 270 °. And 90
The zy plane is assigned to the reference side surface 111 in the 270 ° and 270 ° directions, and the xz plane is assigned to the reference side surface 111 in the 180 ° direction.

In the present embodiment, stereo photography is performed on each reference side surface 111 of the calibration subject 11, so stereo photography is performed for the number of reference side surfaces 111. The stereo image capturing direction is the direction in which each of the reference side surfaces 111 is stereo imaged by the stereo image capturing unit 3, and it is preferable that the direction is approximately the same as the normal direction of each reference side surface 111. Therefore, it is preferable to determine the number of reference side surfaces 111 of the calibration subject 11 by the number of surfaces that divide the entire peripheral surface of the measuring object 1. If the measurement target 1 is to be measured in detail, the number of divided surfaces of the reference side surface 111 of the calibration subject 11 is increased. For example, as shown in FIG. 3B, the reference side surface 11 of the calibration subject 11
The number of faces of 1 is 6.

The measurement of the surface shape of the measuring object 1 in the apparatus thus constructed will be described below. FIG. 7 is a flowchart for generally explaining the whole measuring procedure of the measuring object using the apparatus of FIGS. 1 and 2. First, the measurement object 1 and the calibration subject 11 are placed on the table 2 (S1).
At this time, the calibration subject 11 is placed at an appropriate place to prevent the measuring object 1 from being shaded. Next, each reference side surface 111 of the calibration subject 11 is captured by the stereo photographing unit 3.
A stereo image is taken for (S2). Each reference side surface 111
4A, stereo imaging is performed, so in the case of a frame body having a rectangular cross section shown in FIG.
The total number of captured images is 8 as a monaural image.
Further, in the case of the frame body having a hexagonal cross section shown in FIG. 4B, the total number of images taken by the imaging devices 3R and 3L is 12 monaural images.

Next, the photographing parameters obtained from the reference points of the calibration subject 11 are applied to the images photographed in stereo in each stereo photographing direction, and the stereoscopic image of the measuring object 1 is three-dimensionally applied. A measurement process is performed (S3). Then, an image product is created from the three-dimensional measurement result of the measurement object 1 (S4). For example, a contour image, a bird's-eye view, a sectional view, an orthographic image, etc. are created.

In case of plotting the three-dimensional measurement result, plotting is performed by the orthographic projection image of the measuring object 1 created by the three-dimensional measurement (S5). If not drawn, this step S5 may be skipped. Then, the three-dimensional measurement result of the measurement object 1 is output as data (S6). For data output, print the output as a drawing with a printer,
A file may be output as DXF data, and in that case, it may be processed by another CAD.

Next, the three-dimensional measurement process of S3 will be described in detail with reference to the flowchart of FIG. First, all the photographed images are read as photographed image data by the photographing parameter calculation means 5 and the surface shape measuring means 6 (S).
10). Next, each read photographed image data is associated with each reference side surface 111 of the calibration subject 11 (S2).
0). In addition, in the case of measuring and plotting a single reference side surface 111, the process of S20 is not necessary. When the process of S20 is performed manually by the worker, the image is displayed on the display / visualization unit 8 and the stereo pair is manually determined. At that time, features such as the shape, pattern, or color of the side reference target 112 are useful.

The process of S20 is suitable for automatic execution in image processing. That is, the side reference target 112 on each reference side 111 is identified by image processing. For example, the side reference target 112 image on each reference side 111 is used as a template image to identify which mark by image correlation processing. For the correlation processing, a sequential residual test method (SSDA method), a normalized correlation method, or the like is used. In this case, the normalized correlation processing can be more reliably stopped. As shown in FIG. 9, which will be described later, the template image is an image having a size of N1 × N1, and the M1 × M1 image area is searched using each type of template. In the case of the normalized correlation method, the template having the highest correlation coefficient as a result is set as the corresponding reference side surface 111. The details of the normalized correlation method will be described later. Further, the side reference target 112 may be identified not by the image correlation method but by feature extraction or another pattern identification method.

Next, the stereo pair on each reference side surface 111 is determined (S30). In this case, if the operator makes a decision while confirming the display on the display / charging unit 8, it is possible to eliminate an error in mechanically applying the pattern recognition method. In this case, it is easy to identify the left and right images by determining the shooting order from left to right during shooting.

Subsequently, the barycentric position of the side reference target 112 and the reference point mark 113 is detected for two images of the stereo pair on the single reference side 111 (S40). The side reference target 112 and the reference point mark 113 are also simply called targets. The position of each reference point mark is roughly detected by, for example, a correlation method, and the barycentric position is calculated more accurately. The position may be detected accurately from the beginning, but in that case a great deal of time is required for the arithmetic processing. Here, the residual sequential test method will be described below as the process for detecting the approximate position.

[Correlation Method] For high-speed processing, the residual sequential test method (SSDA method) or the like is used. FIG. 9 is a diagram for explaining the relationship between the template image used in the residual sequential test method and the left and right images. For example, the image of N1 × N1 pixels in the left image is adopted as the template image to be searched from the right image. Then, the image of N1 × N1 pixels in the left image is searched on the same line of the right image. Then, the point where the residual R (a, b) defined by the following equation 1 becomes the minimum is the position of the image to be obtained.

[0045]

[Equation 1]

In order to speed up the processing, when the value of R (a, b) exceeds the minimum value of the past residuals in the addition of equation 1, the addition is aborted and the next (a, b) is moved. Perform calculation processing. When the approximate position can be detected as described above, the barycentric position of the reference point mark is further accurately detected. Here, the normalized correlation method, the moment method, the edge detection method, etc. can be used,
Optimal processing is used depending on the shape and accuracy of the reference point mark. For example, when the reference point mark is a circular target, the center of gravity is detected by the moment method, and when it is a strike mark, the center of gravity is detected by edge extraction. Here, the moment method will be described.

[Moment Method] FIG. 10 is an explanatory diagram of the moment method, in which the vertical axis represents the measured value f (x, y) and the horizontal axis represents the spatial distribution X.
It represents Y. In the figure, the measured value f (x,
For the points having y), the following formula is applied. However, FIG.
Is a one-dimensional display for simplicity, but it is actually a two-dimensional display. xg = {Σx × f (x, y)} / Σf (x, y) ...... yg = {Σy × f (x, y)} / Σf (x, y) ...... where (xg, yg) : Coordinates of the center of gravity position, f (x,
y): The density value on the (x, y) coordinates.

Although the correlation method and the moment method have been described as the initialization measurement processing, various other methods are known as methods for obtaining the shooting parameter in the direction of stereo shooting. Therefore, as long as the shape of the reference point mark or the calibration subject can be easily detected, an equal method that exhibits the same function as the correlation method or the moment method can be appropriately adopted.

Next, the reference point mark of which the barycentric position of the two images has been detected is associated with the reference point mark whose coordinates are precisely measured in advance (S50). For example, when there are 6 reference point marks, only 6 points on the reference side surface 111 are associated. Since the position of the reference point mark is known in advance, it is possible to predict in advance which position is photographed. Further, if each reference point mark is different from other reference point marks, the association becomes clearer.

Next, the orientation calculation is performed, and the photographing parameters such as the three-dimensional position, the inclination, the distance between cameras (baseline length: 1) of the photographed image pickup devices 3R and 3L are set with the coordinate system of the calibration subject 11 as a reference. Ask (S60). In addition, here, a case where the imaging device is a camera will be described as an example. [Orientation Calculation Formula] Then, the details of the orientation calculation will be described. The orientation calculation is used in aerial photogrammetry, etc., and the positions of the left and right imaging devices are obtained by the orientation calculation. The imaging parameters are calculated by the following coplanar conditional expressions.

FIG. 11 is a diagram for explaining the orientation calculation using the model coordinate system XYZ and the left and right camera coordinate systems xyz.
Taking the origin O of the model coordinate system XYZ as the projection center on the left side,
The line connecting the projection centers on the right side is taken as the X axis. The scale is based on the unit length of the baseline length l. The parameters to be obtained at this time are the rotation angle κ1 of the left camera, the rotation angle φ1 of the Y axis, the rotation angle κ2 of the Z axis of the right camera, the rotation angle φ2 of the Y axis, and the rotation angle ω2 of the X axis. There are two rotation angles.

[0052]

[Equation 2]

In this case, the rotation angle ω1 of the X axis of the left camera
Is 0, so there is no need to consider it. Under these conditions, the coplanar conditional expression becomes as shown in the equation, and each parameter can be obtained by solving this equation.

[0054]

[Equation 3]

Here, the following relational expression of coordinate conversion holds between the model coordinate system XYZ and the camera coordinate system xyz.

[Equation 4]

The unknown parameters are obtained by the following procedure using the above equations ,. S601: The initial approximation value is usually 0. S602: The coplanar conditional expression is Taylor-expanded around the approximate value and the value of the differential coefficient when linearized is obtained by the expression and an observation equation is formed. S603: The least squares method is applied to obtain the correction amount for the approximate value. S604: Correct the approximate value. S605: From S602 to S using the corrected approximate value
The operations up to 605 are repeated until they converge.

By the above calculation processing, the three-dimensional position and tilt of each camera are obtained in the coordinate system of the calibration subject.
Since it becomes possible to create a stereoscopically corrected deviation correction image based on these imaging parameters, it is possible to perform three-dimensional measurement by the stereo method. Stereoscopically viewable refers to an image in which vertical parallax is removed and which is parallel to and vertical to the object.

Then, from the obtained photographing parameters,
The stereo image of the actual measurement object 1 is subjected to the deviation correction processing,
The image is reconstructed into a stereoscopically visible image (S70). The deviation corrected image is an image in which the vertical parallax of each image is removed (the horizontal lines are equal) and the distortion of each image is removed, as shown in FIG. FIG. 12 is a diagram showing an example of the deviation correction process, and illustrates the left and right images before and after the process. By the displacement correction processing, the vertical parallax of the left and right images is removed, the horizontal lines are made equal, and the displacement corrected image in which the distortion of each image is removed is obtained.

Next, on each measurement surface of the measuring object 1,
The contours and characteristic points of the measuring object 1 are measured (S80). Note that each measurement surface of the measuring object 1 is closely related to each reference side surface 111 of the calibration subject 11. The contours and characteristic points of the measuring object 1 are measured by pointing the corresponding points of the left and right images with a mouse or the like while looking at the display image of the stereo image of the display / charging unit 8. In the measurement processing of S80, since the deviation correction image parallel to the measurement object 1 can be created from the imaging parameters of each image, only the corresponding points of the left and right images are designated, and the position of that position is determined by the principle of the stereo method. Three-dimensional coordinates can be obtained.

[Stereo Method] FIG. 13 is a diagram for explaining the principle of the stereo method. Here, for simplification, two same cameras are used, each optical axis is parallel, and the distance a from the principal point of the camera lens to the CCD surface where the images 1 and 2 are formed is a.
Are equal, and the CCD is placed at right angles to the optical axis. Further, the distance between the two optical axes (base line length) is l. Then, points P1 (x1, y1) and P2 (x2, y on the object
There is the following relationship between the coordinates of 2).

X1 = ax / z --- (8) y1 = y2 = ay / z --- (9) x2-x1 = al / z --- (10) However, the whole coordinate system (x, y , Z) is the origin of the lens of the camera 1. Then, z is obtained from the equation (10), and using this, x and y are obtained from the equation (8) and the equation (9).
Is required.

When performing automatic measurement in S90,
By specifying the contour of the measuring object 1 in S80,
The automatic measurement range will be set. Therefore, the feature points may not be measured, but only the outline (automatic measurement range) may be designated for each image for the automatic measurement in S90. The automatic measurement range can be automatically set by using distance information to the measurement target 1 and image processing such as feature point extraction processing. When the characteristic points are measured, these data are also used as initial values for automatic measurement. Further, when it is not necessary to perform three-dimensional measurement of the entire measurement surface and only measurement of the characteristic points is necessary, only the data measured in S80 may be used without performing the processing of the next S90. However, if the process of S90 is not performed, an accurate image product cannot be created.

Subsequently, automatic measurement (stereo matching)
Is performed (S90). Area-based matching using normalized correlation processing is used for the stereo matching processing. If the characteristic points are measured in S80, those pieces of information are also used. This makes it possible to acquire dense three-dimensional coordinates on the surface of the object.

[Normalized Correlation Method] Next, the normalized correlation processing will be described. As shown in FIG. 9, for example, an image of N1 × N1 pixels in the left image is used as a template image to be searched from the right image, and the search is performed on the same line of the right image. Then, the point where the correlation coefficient C (a, b) defined by the equation 5 becomes maximum is the position of the image to be obtained.

[0065]

[Equation 5]

From the corresponding point coordinates calculated by the automatic measurement, the three-dimensional coordinates of the position are expressed by the equations (8), (9),
It is calculated by (10). Then, when the processing of the stereo pair on each measurement surface of the measuring object 1 is completed, the processing is ended (S100). If not, S40
The processes from S90 to S90 are performed on the stereo pair images of the respective measurement surfaces of the measuring object 1.

By using these measured three-dimensional coordinates, it is possible to create an image product. Since the image product is created based on the three-dimensional coordinate value, the more the three-dimensional coordinate value is, the more accurate the image product can be created. Further, since the coordinate system on each measurement surface is the coordinate system of the calibration subject 11, it is possible to simply integrate the images of the measurement surfaces of the measurement object 1 as they are,
An image of the measuring object 1 viewed from the entire circumference is created.

Next, the visualization of S5 in FIG. 7 will be described. For example, if three-dimensional coordinates are obtained, an orthographic projection image can be created based on these. FIG. 14 is a diagram for explaining the difference between the central projection image and the orthographic projection image.
The image captured by the lens is a central projection because the subject is captured from the principal point of the lens, and the image is distorted. On the other hand, an orthographic projection image is an image in which a subject is parallel-projected by a lens located at infinity, and accurate dimensions of the subject appear in the image itself like a map.

Therefore, if an orthographic projection image is created, it is possible to easily create a drawing by tracing over the orthographic projection image when plotting the measurement object 1. Compared to the conventional work of visualizing an actual object such as a buried cultural property while looking at it, orthographic projection images can save a lot of labor, and at the same time, its dimensional accuracy can be accurate. . That is, anyone can easily and accurately plot. Moreover, since it is possible to reproduce and plot the measuring object 1 from a stereo image or an orthographic projection image at any time without making it into a drawing, it is very useful even if saved as a stereo image or an orthographic projection image. high.

FIG. 15 is a main part configuration diagram for explaining the second embodiment of the present invention, and shows the positional relationship between the measurement object, the calibration object, and the stereo photographing section. In the first embodiment, the stereo photographing unit 3 has a stereo photographing unit for each stereo photographing direction, and each of the two image pickup devices 3R and 3L forms a set as a stereo photographing unit. On the other hand, in the second embodiment, the stereo image pickup unit 3 has the image pickup devices 10A and 10A arranged independently.
B, ..., 10H. Calibration subject 11
Since a frame body having a rectangular cross section is used as, the eight imaging devices are arranged as the stereo imaging unit 3 so as to obtain four stereo imaging directions.

Image pickup devices 10A, 10B, ..., 10H
Are arranged clockwise with reference to the reference azimuth (for example, the azimuth N of the north star) at respective arrangement angles θA, θB, ..., θH, and the distances to the measurement object 1 are dA, dB ,. It is located at. Then, the imaging devices 10A, 10B, ...
10H simultaneously captures the object 1 to be measured and the calibration subject 11, and the adjacent imaging devices 10A, 10B,
It is advisable that the photographing parameter calculation means 5 and the surface shape measuring means 6 handle the overlapping photographing areas of 10H as image data photographed in stereo.

Even if the stereo image pickup unit configured as described above is used, the same processing steps as those in the first embodiment are performed by using the signal processing function of the image taken in stereo by the stereo image pickup unit in FIG. The surface shape of the measurement target 1 is obtained.

FIG. 16 is a block diagram showing the configuration of a third embodiment of the present invention. In the first embodiment, the stereoscopic imaging unit 3 is an imaging device 3 capable of simultaneously imaging the measurement object 1 and the calibration subject 11 in each stereoscopic imaging direction.
The case where a plurality of sets of stereo imaging units including R and 3L are prepared is shown. In the second embodiment, as the stereo image capturing unit 3, the image capturing apparatuses 10A and 10A capable of simultaneously capturing the measurement object 1 and the calibration subject 11 in each image capturing direction.
10 shows the case where B, ..., 10H are prepared. However, if the number of stereo image capturing directions increases, it becomes difficult in terms of equipment to secure the required number of image capturing devices. In addition, there is a considerable demand for a device that captures the measurement target 1 and the calibration subject 11 in each stereo image capturing direction with a small number of image capturing devices. The third embodiment shows an apparatus that performs shooting in each stereo shooting direction by a pair of stereo shooting units.

In FIG. 16, the measurement object 1 and the calibration subject 11 are simultaneously installed on the table 2. The relative position changing unit 4 has a mechanism that rotates the table 2 in the ζ direction, and includes a rotation driving unit 41 such as a motor, a table rotation shaft 42 that rotates the table 2 by the driving force of the rotation driving unit 41, and a stereo. The imaging unit connecting rod 43 is provided. The stereo image capturing unit connecting rod 43 holds the distance d between the table 2 and the stereo image capturing unit 9 at a constant value, and the two image capturing devices 9R, 9 mounted on the image capturing device mounting body 91.
L is held in a position facing the direction of the table 2. In addition,
The rotary drive unit 41 may be a handle or a handle rotated by an operator as long as it has a driving force capable of positioning the table 2 with an accuracy of about several degrees.

The stereo photographing unit 9 includes a CCD (Charg
Two image pickup devices 9R and 9L such as an e-coupled device), a digital camera, and a photographic film type camera are attached to a rod body 91 as an image pickup device attachment body at an interval l. The optical axes of the two imaging devices 9R and 9L are the measurement target 1
It is adjusted to be almost parallel to. The direction θ in which the stereoscopic photographing unit 9 photographs the measuring object 1 is
It is sent as a measurement signal of a rotation angle sensor provided on the table rotation shaft 42 to the photographing parameter calculation means 5 and the surface shape measuring means 6, or is associated with stereo photographed image data as photographing angle information.

The calibration subject 11 may be of the form shown in FIG. 4, or may have a three-dimensional reference point mark 113E in which the reference point mark 113 is displaced in a concave-convex manner with respect to the reference side surface 111. The stereoscopic calibration subject 11E may be used. In the stereoscopic calibration subject 11E, at least six three-dimensional reference point marks 113E are provided on the front surface as the single reference side surface 111. The stereoscopic imaging control unit 12 rotates the table 2 on which the measurement target 1 is placed by the rotation driving unit 41, and causes the stereoscopic imaging unit 9 as the stereo imaging unit 3 to image the measurement target 1 from a plurality of directions. The control program is mounted on a PLC (programmable logic controller), for example.

FIG. 17 is a structural block diagram showing a modified example of the relative position changing unit in the third embodiment. The relative position changing unit 4 is provided with a rotation driving unit 41, a support shaft 44 of the table 2 and a stereo photographing unit rotating rod 45 here. The stereo photographing unit rotary rod 45 holds the distance d between the table 2 and the stereo photographing unit 9 at a constant value, and also holds the two image pickup devices 9R and 9L attached to the image pickup device attachment 91 in the table 2 direction. is doing. The stereoscopic imaging control unit 12 rotates the stereoscopic imaging unit rotating rod 45 with the support shaft 44 of the table 2 as the center of rotation by the rotation driving unit 41, thereby moving the imaging direction of the stereoscopic imaging unit 9 and measuring object. 1 is imaged from a plurality of directions by the stereo imaging unit 9.

FIG. 16 and FIG. 17 configured in this way
The measurement procedure in the device will be described. The flow of the measurement procedure is the same as the flowchart that generally describes the entire measurement procedure of the measurement object illustrated in FIG. 7. Especially S2
At the time of performing stereo imaging on each measurement surface of the measurement object 1 by the stereo imaging unit 9, the table 2 or the stereo imaging is performed so that the imaging direction of the stereo imaging unit 9 faces each measurement surface of the measurement object 1. Rotate the unit 9. The rotation angle θ of the table 2 or the stereo imaging unit 9 is determined manually depending on the number of measurement surfaces of the measurement object 1 and is performed manually or automatically. Other processes are the same as those in the first embodiment.

The flowchart of the three-dimensional measurement process is also the same as the flowchart for explaining the three-dimensional measurement process shown in FIG. Note that S20 and S30
8 may be the process shown in FIG. 8, but by providing the angle detection mechanism in the rotation drive unit 41, the process of associating each image in S20 with the measurement surface is performed by the rotation angle θ without performing image processing. It is possible to determine the correspondence between the surfaces. Further, in the stereo pair determination in S30, the measurement target 1
If the shooting order is set to, for example, left-right image on each measurement surface of the
It is possible to process even if 2 is not provided. However, if the side surface reference target 112 is provided on the calibration subject 11, the reference side surface 111 is surely recognized.

FIG. 18 is a configuration block diagram for explaining the fourth embodiment of the present invention. In the third embodiment, the measurement target 1 and the calibration subject 1 are placed on the table 2.
1 shows the case where the measurement object 1 is placed at the same time, but when the measurement object 1 is photographed from various photographing directions, the measurement object 1 becomes a shadow of the calibration subject 11, or the photographing direction is changed. It was necessary to change the installation position of the calibration subject 11 each time.

In the fourth embodiment, as the relative position changing unit 4, the rotary drive unit 41, the table rotary shaft 42,
In addition, a stereo photographing unit / calibrator connecting rod 47 is provided. The stereo photographing unit / calibrator connecting rod 47 is the table 2
The distance d between the stereo photographing unit 9 and the stereo photographing unit 9 is kept constant, and the distance d between the table 2 and the stereoscopic calibration subject 11E is d.
1 is held at a constant value, and the two image pickup devices 9R and 9L attached to the image pickup device attachment 91 are held in a posture facing the table 2 direction. Stereo shooting control unit 12
The rotation driving unit 41 rotates the table 2 on which the measurement target 1 is placed, and the stereoscopic imaging unit 9 as the stereo imaging unit 3 images the measurement target 1 from a plurality of directions.

In the apparatus configured as described above, even if the table 2 on which the measuring object 1 is placed is rotated in the ζ direction by the relative position changing section 4, the image taken by the stereoscopic photographing unit 9 still shows the measuring object. As a background of 1, the front surface of the stereoscopic calibration subject 11E is always photographed. In this case, the front surface of the stereoscopic calibration subject 11E is captured in the image captured by the stereoscopic imaging unit 9, regardless of the direction in which the measurement target 1 is captured. Therefore, in the stereoscopic calibration subject 11E, the three-dimensional reference point mark 113E is provided on the single reference side surface 111, but the relative position changing unit 4 rotates the table 2 on which the measurement target 1 is placed in the ζ direction. Then, the three-dimensional reference point mark 113E becomes the same as that arranged so as to virtually surround the measuring object 1.

That is, when the table 2 is rotated by, for example, 0 °, 90 °, 180 °, 270 ° by the stereoscopic photographing control section 12 and the measuring object 1 is photographed from four directions, the image photographed by the stereoscopic photographing unit 9 is taken. The three-dimensional calibration subject 11E shown in FIG. 4 is substantially equivalent to the one obtained by mounting a frame body having a rectangular cross section as the calibration subject 11 as shown in FIG. In addition, the table 2 is set to 0 °, 60 °, 120 °, 18 by the stereo photographing control unit 12, for example.
When the measurement target 1 is photographed from 6 directions by rotating it by 0 °, 240 °, and 300 °, the stereoscopic calibration subject 11E shown in the image photographed by the stereo photographing unit 9 is substantially the same as that shown in FIG. This is equivalent to photographing with a frame body having a hexagonal cross section placed as the calibration subject 11 as shown in FIG.

FIG. 19 is a block diagram showing the configuration of the fifth embodiment of the present invention. In the fifth embodiment,
The functions of the stereoscopic imaging unit 9 in the fourth embodiment are the same as those of the monocular imaging device 10 and the stereo unidirectional controller 13.
It is realized by using. The stereo unidirectional control unit 13
The table 2 is rotated by the rotation driving unit 41 of the relative position changing unit 4 to move the positional relationship between the measurement target 1 and the imaging device 10, and the imaging device 10 sets the first imaging direction and the second imaging direction.
The stereoscopic shooting is controlled by using the shooting direction of. The stereoscopic imaging control unit 12 controls the imaging direction of the imaging device 10 so that the stereo unidirectional control unit 13 performs stereo imaging so that the imaging device 10 stereoscopically images the measurement target 1 from a plurality of directions.

FIG. 20 is a plan view showing another example of the calibration subject used in the third to fifth embodiments. Third
It is sufficient for the stereoscopic calibration subject 11E used in the fifth embodiment as long as a single reference lateral direction can be measured, and thus the folding screen calibration subject 11F may be used. The folding screen type calibration subject 11F is the reference side surface 11 in the center.
1F and inclined side surfaces 111H provided on the left and right of the reference side surface 111F. Six reference point marks 113F are arranged on the reference side surface 111F. The reference point marks 113H are respectively formed on the left and right inclined side surfaces 111H.
Individually arranged. With reference to the reference point mark 113F, the reference point mark 113H has a three-dimensionally protruding shape.

FIG. 21 is a diagram for explaining an image of a measuring object using a folding screen type calibration subject. The measurement object 1 and the folding screen type calibration subject 11F are simultaneously captured in the captured image data captured by the stereoscopic imaging unit 9. Since the folding screen type calibration subject 11F has the reference point mark 113F and the reference point mark 113H having steps, the measurement object 1
Not only the front shape but also the side shape can be measured.

FIG. 22 is a perspective view for explaining an equivalent frame body of a folding screen type calibration subject in the fourth or fifth embodiment. In the fourth or fifth embodiment, a folding screen type calibration subject 11F is used instead of the stereoscopic calibration subject 11E.
Put on table 2. Then, the table 2 is set to 0
When the measuring object 1 is photographed from four directions by rotating the object at 1 °, 90 °, 180 °, and 270 °, the folding screen type calibration subject 11F shown in the image photographed by the stereo photographing unit 9 or the imaging device 10 is substantially the same. 22 is equivalent to the case where a frame body having a star-shaped cross section is placed as a photographic subject 11G for calibration as shown in FIG.

In the first to fifth embodiments, the case where stereo photography is performed from a plurality of directions has been described, but stereo photography may be performed from a single direction. For example, the measurement object 1 can be applied to an application such as a sediment carrier that measures a particle load. There are many cases where overloading is carried out in a sediment carrier, but if an overloaded sediment carrier is allowed to travel on an elevated road,
It has a serious impact on the life of elevated roads. Therefore,
There is an application to measure the volume of sediment loaded by a sediment carrier.

FIG. 23 is a block diagram showing the configuration of a sixth embodiment of the present invention. Stereo shooting unit 9
Is installed on the upper side of the earth and sand carrier as the measurement object 1. A plurality of sets of the stereo photographing units 9 are provided in the paper surface direction, and stereo photographing is performed from the plural directions. Note that a plurality of stereo photographing units 9 may be provided in a direction other than the plane of the drawing, and stereo photographing may be performed.
On the other hand, at least six three-dimensional reference point marks 113E are installed on the ground surface. An aggregate of the three-dimensional reference point marks 113E becomes a calibration subject. Here, the three-dimensional reference point mark 113E is divided into a right side and a left side, and three places are provided on each of the right side and the left side so that the earth and sand carrier can easily travel.

In the apparatus configured as described above, the earth and sand carrier is run between the right and left three-dimensional reference point marks 113E, and the stereo photographing unit 9 performs stereo photographing. Then, if the stereoscopically photographed image is processed by the photographing parameter calculating means 5 and the surface shape measuring means 6, the surface shape of the earth and sand loaded on the earth and sand carrier can be measured. Therefore, by integrating the measured surface shape of the earth and sand by an appropriate method for the earth and sand carrier, the amount of earth loaded on the earth and sand carrier can be measured.

In the first to fifth embodiments, the case where the image of the measuring object 1 viewed from the entire circumference like the buried cultural property is required has been described, but the present invention is not limited to this. However, it is necessary to accurately measure the surface shape of the front and left and right side surfaces, such as the human body and mechanical structures, but it is necessary for applications where the back surface needs to be roughly understood. It is only necessary to appropriately select a plurality of shooting angles θ at which a stereo image in a range to be obtained is obtained.

Further, in the third, fourth and sixth embodiments, the case where the measurement object 1 and the calibration object 11 are simultaneously imaged from the right and left imaging directions using the stereoscopic imaging unit 9 is shown. However, as in the fifth embodiment, a monocular imaging device 10 is used instead of the stereo imaging unit 9.
Alternatively, the measurement object 1 and the calibration subject 11 may be sequentially photographed from the right photographing direction and the left photographing direction by using, and stereo photographing may be performed.

[0093]

As described above, according to the surface profile measuring apparatus of the present invention, the measurement object and the calibration subject arranged in the vicinity of the measurement object have a three-dimensional relative positional relationship in advance. A stereo shooting unit that stereo-shoots a calibration subject having a predetermined reference point from multiple directions, and an image of the reference point of the calibration subject is extracted from the captured image data captured in stereo by the stereo shooting unit. Then, from the position of the reference point, shooting parameter calculation means for obtaining a shooting parameter for each direction for stereo shooting, the shooting parameter, and the image position of the measurement object in the shot image data from which the image of the reference point is extracted, are measured. Since the surface shape measuring means for determining the surface shape of the object is provided, an accurate surface can be obtained even if positioning of the object to be measured and the stereo imaging unit is not strictly performed. Jo measurement can be carried out.

Further, as in the invention described in claim 5,
Creating an orthographic projection image of an object to be measured makes it possible to reproduce the surface shape of the object to be measured using the orthographic image, which increases the value of constructing a database as image information and is extremely useful. Becomes

[Brief description of drawings]

FIG. 1 is a configuration diagram of main parts for explaining a first embodiment of the present invention, showing a positional relationship between a measurement target object, a calibration subject, and a stereo imaging unit.

FIG. 2 is a block diagram of a main configuration for explaining the first embodiment of the present invention, which illustrates a signal processing function of an image captured in stereo by a stereo capturing unit.

FIG. 3 is an explanatory view of a pair of images obtained by stereo-photographing a measurement target and a calibration subject, where (A) is a left photographing direction and (B) is a diagram.
Indicates the right shooting direction.

FIG. 4 is a configuration perspective view illustrating a calibration subject used to calculate a shooting parameter.

FIG. 5 is an explanatory diagram of reference point marks and side reference targets formed on a calibration subject.

FIG. 6 is an explanatory diagram of a three-dimensional coordinate system xyz that describes the position of a reference point mark.

FIG. 7 is a flowchart for generally explaining an entire measuring procedure of a measuring object using the apparatus of FIGS. 1 and 2.

FIG. 8 is a flowchart illustrating a three-dimensional measurement process.

FIG. 9 is a diagram illustrating a relationship between a template image used in a residual sequential test method and a normalized correlation method and left and right images.

FIG. 10 is an explanatory diagram of the method of moments, in which the vertical axis represents the measured value f
(x, y), the horizontal axis represents the spatial distribution X, Y.

FIG. 11 is a diagram illustrating orientation calculation using a model coordinate system XYZ and left and right camera coordinate systems xyz.

FIG. 12 is a diagram showing an example of the deviation correction process, and illustrates the left and right images before and after the process.

FIG. 13 is a diagram illustrating the principle of the stereo method.

FIG. 14 is a diagram illustrating a difference between a central projection image and an orthographic projection image.

FIG. 15 is a main-part configuration diagram for explaining a second embodiment of the present invention, showing a positional relationship between a measurement target object, a calibration subject, and a stereo imaging unit.

FIG. 16 is a configuration block diagram illustrating a third embodiment of the present invention.

FIG. 17 is a configuration block diagram showing a modified example of the relative position changing unit in the third embodiment.

FIG. 18 is a configuration block diagram illustrating a fourth embodiment of the present invention.

FIG. 19 is a configuration block diagram illustrating a fifth embodiment of the present invention.

FIG. 20 is a plan view showing another example of the calibration subject used in the third to fifth embodiments.

FIG. 21 is a diagram illustrating an image of a measurement target using a folding screen type calibration subject.

FIG. 22 is a perspective view illustrating an equivalent frame body of a folding screen calibration subject.

FIG. 23 is a configuration block diagram illustrating a sixth embodiment of the present invention.

[Explanation of symbols]

1 Object to be measured 2 tables 3 Stereo shooting section 4 Relative position change section 5 Shooting parameter calculation means 6 Surface shape measuring means 8 Display / Plot 9 Stereo shooting unit 10 Imaging device 11 Calibration subject

Continued front page    F term (reference) 2F065 AA53 BB05 CC11 CC16 FF04                       JJ03 JJ05 JJ26 QQ31 RR03                 5B057 AA01 BA02 BA13 BA19 CA08                       CA13 CA16 CB08 CB13 CB16                       CD01 DA07 DB03 DB09 DC05                       DC06 DC09 DC32 DC34                 5L096 AA09 BA03 CA05 FA09 FA60                       FA69 GA32 HA07 JA03 JA09

Claims (12)

[Claims] 1. An object to be measured and a subject to be calibrated which is arranged in the vicinity of the object to be measured and which has a reference point for which a three-dimensional relative positional relationship is determined in advance, A stereo photographing unit for stereo photographing from a plurality of directions; a photographing parameter for each direction for stereo photographing from the position of the reference point by extracting an image of the reference point from photographed image data stereo-photographed by the stereo photographing unit And a means for determining the surface shape of the measurement target from the image position of the measurement target in the captured image data in which the image of the reference point is extracted; . 2. The surface profile measuring apparatus according to claim 1, wherein the stereo photographing unit has a stereo photographing unit for each stereo photographing direction. 3. The surface shape according to claim 1, wherein the stereo image capturing unit captures the measurement object with a plurality of monocular image capturing devices and handles an overlapping image capturing area between adjacent image capturing devices as stereo image capturing. measuring device. 4. The surface shape measuring apparatus according to claim 1, wherein the imaging parameter includes at least one of a baseline length of the stereo imaging unit, a shooting position of the stereo imaging unit, and an inclination. 5. The surface profile measuring apparatus according to claim 1, further comprising: the at least one of a stereo image captured by the stereo capturing unit and an image position of the measurement target. Means for forming an orthographic projection image of the object; a profilometer. 6. The surface profile measuring apparatus according to claim 1, further comprising: a relative position changing unit that relatively moves a positional relationship between the measurement object and the stereo imaging unit; A stereo image capturing control unit configured to move at least one of the measurement target object and the stereo image capturing unit by the relative position changing unit to cause the stereo image capturing unit to capture images of the measurement target object from a plurality of directions; A surface shape measuring apparatus that obtains stereo images from a plurality of directions controlled by a control unit and obtains the surface shape of the measurement object. 7. A calibration subject having a reference point whose stereoscopic relative positional relationship is determined in advance is disposed near the measurement target; both the measurement target and the calibration subject are photographed. As described above, the stereo photographing unit performs stereo photographing from a plurality of directions; the image of the reference point is extracted from the stereo image photographed by the stereo photographing unit, and the photographing parameter is obtained from the position of the reference point. Measuring the surface shape of the measurement object from the imaging parameter and the image position of the measurement object in the stereo image in which the image of the reference point is extracted; 8. A computer for measuring the surface shape of an object to be measured; means for storing an arrangement position of a reference point provided on a calibration subject arranged in the vicinity of the object to be measured; And a photographing direction control means for causing the stereo photographing unit to perform stereo photographing from a plurality of directions so that both the calibration subject and the calibration subject are photographed; an image of the reference point is formed from the stereo image photographed by the stereo photographing unit. A means for extracting and obtaining an imaging parameter from the position of the reference point; measuring the surface shape of the measurement object from the imaging parameter and the image position of the measurement object in the stereo image in which the image of the reference point is extracted. A program for measuring the surface shape of a measuring object to function as a means for performing. 9. An object to be measured and the object to be calibrated, which is arranged near the background of the object to be measured and has a reference point for which a three-dimensional relative positional relationship is determined in advance. A stereo photographing unit for stereo photographing from a predetermined direction; a relative position changing unit for relatively moving a positional relationship between the measurement object and the stereo photographing unit; the measurement object or the stereo by the relative position changing unit A stereo image capturing control unit that moves at least one of the image capturing units to capture images of the measurement object from a plurality of directions by the stereo image capturing unit; Means for extracting an image and obtaining shooting parameters for each direction of stereo shooting from the position of the reference point; A surface shape measuring device comprising: a shadow parameter; and means for obtaining a surface shape of the measuring object from the image position of the measuring object in the captured image data in which the image of the reference point is extracted. 10. The relative positional relationship between the calibration subject and the stereo photographing unit is fixed while stereo photographing is performed by the stereo photographing unit from the plurality of directions. 9. The surface profile measuring device according to item 9. 11. An object to be measured and the object to be calibrated arranged near the background of the object to be measured, the object to be calibrated having a reference point having a three-dimensional relative positional relationship defined in advance. A monocular imaging device for photographing; a relative position changing unit that relatively moves the positional relationship between the measurement object and the imaging device; and a relative position changing unit that changes the positional relationship between the measurement object and the imaging device. A stereo unidirectional control unit that moves and controls the imaging device to perform stereo imaging using the first imaging direction and the second imaging direction; and the relative position changing unit to measure the object or the stereo object. While moving at least one of the imaging devices, the stereo unidirectional control unit controls the imaging direction so as to perform stereo imaging so that the imaging device can measure the object to be measured by a plurality of people. A stereo image capturing control unit for performing stereo image capturing from the direction; an image of the reference point is extracted from captured image data captured in stereo by the image capturing device, and image capturing parameters for each stereo shooting direction are obtained from the position of the reference point. And a means for determining the surface shape of the measurement target from the image position of the measurement target in the captured image data in which the image of the reference point is extracted; 12. The object to be measured from a stereo image of the object to be measured, which is measured by the surface shape measuring apparatus according to claim 1. Description: Surface condition plotting device for plotting the surface condition of the surface.