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METHOD AND DEVICE FOR THREE DIMENSIONAL MEASUREMENT USING FEATURE QUANTITY 新技術説明会

外国特許コード F190009836
整理番号 S2017-0187-C0
掲載日 2019年7月24日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2018JP017592
国際公開番号 WO 2018207720
国際出願日 平成30年5月7日(2018.5.7)
国際公開日 平成30年11月15日(2018.11.15)
優先権データ
  • 特願2017-092144 (2017.5.8) JP
発明の名称 (英語) METHOD AND DEVICE FOR THREE DIMENSIONAL MEASUREMENT USING FEATURE QUANTITY 新技術説明会
発明の概要(英語) A relationship between spatial coordinates and a plurality of feature quantities obtained on the basis of patterns projected from a plurality of projection units and/or a change of the patterns is previously obtained, and using the relationship between the feature quantities and the spatial coordinates, the spatial coordinates of a surface of a subject to be measured are obtained on the basis of feature quantities obtained on the basis of patterns projected on the surface from the projection units or a change of the patterns.
従来技術、競合技術の概要(英語) BACKGROUND ART
Three-dimensional shape measurement using a camera 3, 1980 in a number of years have been made to study abroad. In the field of robot vision, also without the need for calibration of a camera has been proposed. Taken from multiple directions from the image restoring a three-dimensional shape 3 has been proposed is a method, a boundary portion on the image feature points used for matching, the shape of a smooth surface cannot be measured, the analysis takes time.
In recent years, the interior of the reactor by a robot arm or mobile robot such as decontamination activity, the position and shape of the obstacle or the projection or the like are accurately detected in real time, a method of measuring is demanded. In addition, disaster relief in the robot, in order to protect the survivors, the positional relationship between the human body and an obstacle with high precision needs to be measured.
However in many cases due to the rough road, a conventional stereo system, the relationship between the position of the camera is shifted to a reduction in measurement accuracy. After calibration for a fixed optical system is required, the zoom and focus adjustment is not possible, in the conventional common sense.
May be in the form of flat surfaces and curved surfaces 3 as a method of accurately measuring the three-dimensional shape, a grid pattern projected on the surface of the object to be measured, the projection in a direction different from the object to be measured from the grating pattern projected onto the surface using an image obtained by photographing the three-dimensional measurement in order to perform 3, the projection phase of the lattice analysis method for performing research has been carried out.
Japan, a Fourier-transform phase analysis using Takeda et al. proposes a method and, a practical three-dimensional measurement device 3 yoshizawa et al. have developed. Is in a foreign country, the United States using Song Zhang et al. the three-dimensional measurement of a super high-speed 3 DMD(Digital Micro-mirror Device) studies are being energetically advanced. As a recent trend, the speed of the three-dimensional shape measuring 3 has attracted attention. However, in environments of outdoor or vibration of the use of three-dimensional measurement device 3 is not hardly conceivable.
In addition, in order to improve the measurement accuracy of the calibration method for small studies, in particular no systematic error 3 does not enter the three-dimensional measurement method, both the proposed overseas person other than the operator has not been proposed. Further, only the projection portion 3 can be seen that the three-dimensional measurement can be calibration studies, both domestic and overseas not missing.
The inventors have discovered that, to this systematic error shown in Fig. 1 does not enter the 'entire space table (see Patent Document 1) a method' has been proposed, and development of the basic techniques have been studies for many applications. Grid projection technique, the projection 3 and the phase of the lattice 1 the correspondence relationship between the pair of two-dimensional coordinates can be 1. By using the relationship between the phase value for each pixel of the camera 3 to produce a table of the three-dimensional coordinates such as the lens distortion does not enter any systematic error, the three-dimensional measurement 3 may be accuracy without distortion becomes possible.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • UNIVERSITY OF FUKUI
  • 発明者(英語)
  • FUJIGAKI Motoharu
  • AKATSUKA Yuichi
  • TAKATA Daishi
国際特許分類(IPC)
指定国 National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DJ DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS JO KE KG KH KN KP KR KW KZ LA LC LK LR LS LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG
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