JP2005031044A - Three-dimensional error measuring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To simply measure a three-dimensional deviation. <P>SOLUTION: The same characteristic point identification means 5 identifies the same characteristic point, in a visual field photographed from a different position from a characteristic point extracted with a characteristic point extraction means 2. A characteristic point three-dimensional position identification means 6 finds mutual position attitude relation of an imaging device 1 in each photography by the position attitude of the imaging device 1, in photographing in a reference coordinate system acquired with a photographic position attitude acquiring means 4. The position relation of the extraction characteristic point and the imaging device 1 is identified from the same identified characteristic point in a plurality of photographed visual field by using it, and a three-dimensional position is calculated in the reference coordinate system of the extracted characteristic point. Thereafter, a corresponding inter-point three-dimensional error measuring means 8 calculates three-dimensional errors in the reference coordinate system between the extraction characteristic point and a corresponding point on design information, from the design information stored to a design information storing means 7 and the calculated three-dimensional position. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a three-dimensional error measuring apparatus that measures a three-dimensional error from a design value of a measurement object.

  When measuring the 3D error from the design value of the measurement object, the current 3D shape of the measurement object is input to the computer using a 3D shape acquisition device such as a laser scanner, and the design is input in advance. Generally, the amount of deviation is detected by comparing reference information such as a position and the acquired three-dimensional shape.

In addition, a method has been proposed in which a measurement object is photographed by a fixed camera (that is, the position and orientation are known), and a deviation of the object in the field of view from the reference position is detected (for example, see Patent Document 1). .
JP-A-5-108126

  However, a general method using a three-dimensional shape acquisition device such as a laser scanner requires an expensive three-dimensional shape acquisition device such as a laser scanner, and the measurement procedure is complicated and time-consuming.

  In the method disclosed in Patent Document 1, the amount of deviation is obtained from the difference between the object image from the camera position whose position and orientation are known in advance and the projected image from the camera position of the design value of the object. . However, there are problems in that it is necessary to provide a plurality of reference points on the object in advance, and that only the image from one direction can be obtained because the camera position is fixed.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a three-dimensional error measuring apparatus capable of easily measuring a three-dimensional deviation amount by freely moving a camera position. To do.

In order to achieve the above object, a three-dimensional error measuring apparatus according to the invention described in claim 1 comprises:
An imaging device for photographing an object;
Means for extracting feature points from the field of view photographed by the imaging device;
Means for identifying the same feature points in the field of view taken from different positions using the imaging device, from the feature points extracted by the means for extracting the feature points respectively;
Means for acquiring a position and orientation of the imaging device in a reference coordinate system in at least one shooting;
Means for obtaining a mutual position and orientation relationship of the imaging device in each photographing from the acquired position and orientation;
Means for identifying a positional relationship between the extracted feature point and the imaging device from the identified same feature point in a plurality of captured fields of view using the mutual position and orientation relationship;
Comprising
Using the identified positional relationship, a three-dimensional error in a reference coordinate system between the extracted feature point and the corresponding point on the design value of the object corresponding to the feature point is measured.

  According to a second aspect of the present invention, in the three-dimensional error measurement device according to the first aspect of the present invention, the means for acquiring the position and orientation of the imaging device is a mechanical position and orientation detection mechanism. It is characterized by.

  According to a third aspect of the present invention, in the three-dimensional error measurement device according to the first aspect of the present invention, the means for acquiring the position and orientation of the imaging device is a magnetic position and orientation detection mechanism. It is characterized by.

  According to a fourth aspect of the present invention, in the three-dimensional error measuring apparatus according to the first aspect of the present invention, the means for acquiring the position and orientation of the imaging device is an optical position and orientation detection mechanism. It is characterized by.

  Further, the three-dimensional error measuring device according to the invention described in claim 5 is the three-dimensional error measuring device according to claim 1, wherein the means for obtaining the position and orientation of the imaging device is photographed by the imaging device. It is based on the marker contained in an image, It is characterized by the above-mentioned.

A three-dimensional error measuring apparatus according to the invention described in claim 6 is the three-dimensional error measuring apparatus according to any one of claims 2 to 5,
The means for identifying the positional relationship between the extracted feature point and the imaging device includes means for calculating a three-dimensional position of the feature point in a reference coordinate system,
Means for acquiring the position and orientation of the imaging device
Until the three-dimensional positions of three or more extracted feature points are acquired by the means for calculating the three-dimensional position, the position and orientation of the imaging device is acquired by the means according to any one of claims 2 to 5,
After obtaining the three-dimensional positions of three or more extracted feature points by the means for calculating the three-dimensional position, the three-dimensional positions of the plurality of extracted feature points, and the three-dimensional positions of the additional extracted and identified feature points The position and orientation of the imaging apparatus are obtained by any one of the means according to any one of claims 2 to 5 or a combination thereof.

  A three-dimensional error measuring apparatus according to a seventh aspect of the present invention is the three-dimensional error measuring apparatus according to any one of the first to sixth aspects, wherein the same feature points in the field of view taken from the different positions are used. The means for identifying includes a means for continuously tracking extracted feature points between different fields of view.

  According to an eighth aspect of the present invention, there is provided a three-dimensional error measuring device according to any one of the first to seventh aspects, wherein the design value of the object corresponding to the extracted feature point is used. The upper corresponding point is characterized by being explicitly specified by the user.

  A three-dimensional error measuring apparatus according to the invention described in claim 9 is the three-dimensional error measuring apparatus according to any one of claims 1 to 7, wherein the design value of the object corresponding to the extracted feature point is used. The upper corresponding point is characterized by comparing and identifying surrounding pixels in the two-dimensional projection image including the extracted feature point.

  A three-dimensional error measuring apparatus according to the invention described in claim 10 is the three-dimensional error measuring apparatus according to any one of claims 1 to 7, wherein the design value of the object corresponding to the extracted feature point is used. The upper corresponding point is characterized by comparing and identifying the three-dimensional arrangement of surrounding points including the extracted feature point.

  A three-dimensional error measuring device according to an eleventh aspect of the present invention is the three-dimensional error measuring device according to any one of the first to seventh aspects, wherein the extracted feature points are connected by line segments. An error amount between an arbitrary point on the frame model and a corresponding point on the design value corresponding to the point can be measured.

  According to the present invention, there is provided a three-dimensional error measuring apparatus capable of easily measuring a three-dimensional deviation amount by freely moving a camera position and using feature points automatically extracted as features. can do.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram showing a configuration of a three-dimensional error measuring apparatus according to the first embodiment of the present invention. The three-dimensional error measuring apparatus includes an imaging device 1, a feature point extracting unit 2, an image, and an imaging device position. It consists of posture storage means 3, imaging device position / posture acquisition means 4, identical feature point identification means 5, feature point three-dimensional position identification means 6, design information storage means 7, and corresponding point three-dimensional error measurement means 8. .

  Here, the imaging apparatus 1 is a camera that photographs a measurement object. An image photographed by the imaging device 1 is given to the feature point extraction means 2 and is also stored in the image and imaging device position / posture storage means 3.

  The feature point extraction means 2 extracts feature points from the image (field of view) taken by the imaging device 1, and the extracted feature points are stored in the image and imaging device position / posture storage means 3. . The feature point here refers to a point with a large difference from the surroundings of the intensity (shading) of pixels in the image, a point with a large color difference, etc., such as the edge part, corner, and surface pattern of the object. It hits. Extraction methods include edge filters, corner detectors, and the like using differentiation, which are often used in image processing, but detailed description thereof is omitted here.

  The imaging device position / orientation acquisition unit 4 acquires the position / orientation of the imaging device 1 in the reference coordinate system in at least one photographing. The position and orientation of the imaging device 1 acquired by the imaging device position and orientation acquisition unit 4 are also stored in the image and imaging device position and orientation storage unit 3.

  The image and image pickup device position / orientation storage means 3 is composed of a semiconductor memory or a magnetic disk, and images taken from different positions using the image pickup apparatus 1 and each image ( The feature point extracted from within the field of view and at least one position and orientation acquired by the imaging device position and orientation acquisition means 4 can be stored.

  The same feature point identification means 5 is photographed from different positions using the image pickup device 1 from the feature points extracted by the feature point extraction means 2 respectively stored in the image and the image pickup device position / posture storage means 3. The same feature point in the field of view is identified.

  The feature point three-dimensional position identifying unit 6 is configured to store the image capturing apparatus 1 in each shooting based on the position and orientation acquired by the image capturing apparatus position and orientation acquiring unit 4 stored in the image and image capturing apparatus position and orientation storage unit 3. Find the mutual position and orientation relationship. Then, using the obtained mutual position and orientation relationship, the positional relationship between the extracted feature point and the imaging device is identified from the identified same feature point in a plurality of captured fields of view, and the The three-dimensional position of the extracted feature point in the reference coordinate system is calculated.

  The design information storage means 7 is composed of a semiconductor memory or a magnetic disk, and stores design information of the measurement object. This design information is associated with the reference coordinates.

  The corresponding point-to-point three-dimensional error measuring means 8 is the design information of the measurement object stored in the design information storage means 7 and the reference of the extracted feature points calculated by the feature point three-dimensional position identifying means 6. The three-dimensional error in the reference coordinate system between the extracted feature point and the corresponding point on the design information of the object corresponding to the feature point is calculated from the three-dimensional position in the coordinate system. In addition, the corresponding point-to-point three-dimensional error measuring means 8 includes at least an output device and can output the calculated three-dimensional error.

  The imaging device position / orientation acquisition means 4 can be constituted by a mechanical position / orientation detection mechanism. For example, as shown in FIG. 2, an arm-type position / orientation detector 40 with a built-in encoder, to which a camera 10 as the imaging device 1 is attached, can be used.

  Alternatively, the imaging apparatus position / orientation acquisition unit 4 may be configured by a magnetic position / orientation detection mechanism or an optical position / orientation detection mechanism.

  Furthermore, the marker contained in the image image | photographed with the said imaging device 1 may be utilized. For information on how to obtain the position and orientation using this marker, see “Precise real-time estimation of rectangular marker position and orientation with a single eye for VR interface” (3D Image Conference '96 Proceedings pp.167-172 Akira Takahashi, Ishii Ikuo, Makino Hideo, Nakashizuka Makoto 1996), Japanese Patent Application Laid-Open No. 2001-118187, Japanese Patent Application Laid-Open No. 2001-126051, etc., and the description thereof is omitted here.

  Next, the operation of the three-dimensional error measuring apparatus configured as described above will be described with reference to the flowchart of FIG.

  That is, first, the measurement object is photographed by the imaging device 1 (step S11). The captured image is stored in the image and imaging device position / orientation storage unit 3 as a frame 1.

  Thereafter, it is determined whether or not three or more feature points whose three-dimensional positions have already been calculated have been extracted (step S12).

  If three or more feature points have not yet been extracted, the imaging device position / orientation acquisition unit 4 acquires the position / orientation of the imaging device 1 in the reference coordinate system, and the acquired position / orientation is represented by the above image. And it memorize | stores in the imaging device position and orientation memory | storage means 3 (step S13). Further, the feature point extraction means 2 extracts the feature point from the image (field of view) photographed by the imaging device 1 (step S14). The extracted feature points are stored in the image and imaging device position / posture storage means 3.

  Thereafter, it is determined whether or not photographing has been performed a plurality of times (step S15). If the image has not been taken only once, the image pickup apparatus 1 is moved (step S16), and the process returns to step S11.

  Thus, the imaging device 1 captures a second image, and the captured image is stored as a frame 2 in the image and imaging device position / posture storage means 3 (step S11). Thereafter, in the same manner as described above, the position and orientation in the reference coordinate system of the imaging apparatus 1 at that time are acquired by the imaging apparatus position and orientation acquisition means 4 (step S13), and the feature points are extracted by the feature point extraction means 2 (Step S14), the acquired position and orientation and the extracted feature points are stored in the image and imaging device position and orientation storage means 3.

  Then, this time, in step S15, it is determined that a plurality of shootings have been performed. In this case, among the feature points extracted by the feature point extraction unit 2 stored in the image and the imaging device position / posture storage unit 3 by the same feature point identification unit 5, the imaging device 1 is used. The same feature points appearing in a plurality of frames taken from different positions, that is, in both frames 1 and 2, are identified (step S17). Thereafter, the image pickup device 1 in each photographing is obtained from the position and orientation acquired by the image pickup device position and orientation acquisition means 4 stored in the image and image pickup device position and orientation storage means 3 by the feature point three-dimensional position identification means 6. , That is, the movement amount (base line length of two fields of view) of the imaging device 1 in a plurality of frames, that is, frames 1 and 2 is calculated (step S18). Then, using the obtained mutual position and orientation relationship, the positional relationship between the extracted feature point and the imaging device 1 from the identified same feature point in a plurality of fields of view taken, that is, the frames 1 and 2. And the three-dimensional position of the extracted feature point in the reference coordinate system is calculated (step S19).

  Thereafter, the corresponding point-to-point three-dimensional error measuring means 8 calculates from the design information of the measurement object stored in the design information storage means 7 and the calculated three-dimensional position of the extracted feature point in the reference coordinate system. A three-dimensional error in the reference coordinate system between the extracted feature point and the corresponding point on the design information of the object corresponding to the feature point is calculated (step S20).

  As described above, the three-dimensional error is measured. For example, when the imaging apparatus position / orientation acquisition unit 4 is configured by a mechanical position / orientation detection mechanism as shown in FIG. 2, first, an image is captured at a position A (frame 1), and an object in the field of view is captured. The feature points I to IV are extracted from the real image 11 and the position and orientation of the camera 10 at that time are obtained from the detector 40. Next, the camera 10 is moved to the position B, and similarly, photographing (frame 2), extraction, and position / posture acquisition are performed. Now, pay attention to the feature point I. By determining that the feature points I extracted in both frames are the same point, the screen coordinates (ua, va), (ub, vb) of the frames and the camera positions and orientations A, B at that time are obtained. By using it, the three-dimensional position of the feature point I with respect to the detector 40 can be obtained. Then, the three-dimensional error measurement can be performed by comparing the coordinates of the corresponding point I 'on the three-dimensional model 71 created from the design information with the coordinates of the feature point I obtained above.

  Note that the frames 1 and 2 are taken continuously, but it is needless to say that errors can be calculated by batch processing after taking discrete shots.

  Thus, after measuring the three-dimensional error, when measuring an error when viewed from another direction (step S21), the process returns to step 16 to further move the imaging apparatus 1, and then the step S11. Return to and repeat the above operation. However, in this case, since the frame 3 is further obtained, the above processing is performed for the frames 2 and 3 instead of the frames 1 and 2.

  If the three-dimensional positions of three or more feature points have been calculated (step S12), the three-dimensional coordinates and the imaging device coordinates of the three or more calculated feature points of the extracted three-dimensional positions. The position and orientation of the imaging apparatus 1 are calculated from (the uv coordinates in the captured screen) (step S22). That is, it is possible to calculate the position and orientation of the imaging apparatus 1 only from the calculated feature points without using the imaging apparatus position and orientation acquisition unit 4.

  Of course, when three or more feature points are extracted, the imaging device position / orientation acquisition unit 4 may be used, or a combination of both methods may be used.

[Second Embodiment]
Next, a second embodiment of the present invention will be described.

  In the present embodiment, the same feature point identification means 5 identifies the same feature point in the field of view photographed from different positions by using a method of continuously tracking the extracted feature point between different fields of view. It is a thing.

  As a technique for continuously tracking extracted feature points between different fields of view, for example, as disclosed in US 2002/0191862 A1 and Proc. Of IEEE VRAIS '98 pp148-155 (1998) An NF (natural feature point) tracking method is known.

  When such an NF tracking method is used, each feature point is used in a procedure as shown in FIG. 4B using a known shape M of the position and orientation as shown in FIG. Can be calculated.

  That is, first, the position and orientation of the camera 10 is calculated by recognizing the known shape M at the initial position 1, and the camera 10 is continuously moved from the initial position 1 while keeping the known shape M on the screen (field of view). Then, when the camera 10 moves to the position 2 and similarly recognizes the known shape M, the position and orientation of the camera 10 at the position 2 are calculated (step S101). Since the baseline length 1 between the position 1 and the position 2 can be estimated from the calculated position and orientation of the camera 10 at the calculated positions 1 and 2, the triangulation principle of FIG. A three-dimensional position of each feature point indicated by a black circle in A) is calculated (step S102).

  After that, when the camera 10 is continuously moved from the position 2 and moved to the position 3, the known shape M cannot be captured on the screen, but from the calculated positions of the respective black circle feature points, Even at the position 3 where the known shape M is not captured on the screen, the camera position and orientation can be calculated (step S103). Therefore, the baseline length 2 between the position 2 and the position 3 can be calculated, and the three-dimensional position can also be calculated for the feature points that are not captured on the screen at the position 1 as indicated by white circles in FIG. (Step S104).

  Using the three-dimensional position of each feature point calculated in this manner, the three-dimensional error with the design information can be calculated by the corresponding-point three-dimensional error measuring means 8 as in the first embodiment.

[Third Embodiment]
Next, a third embodiment of the present invention will be described.

  FIG. 5 is a block diagram showing the configuration of the three-dimensional error measuring apparatus according to the third embodiment. The three-dimensional error measuring apparatus according to the present embodiment is the same as that of the three-dimensional error measuring apparatus according to the first embodiment. In addition to the configuration, it is characterized by having corresponding point extraction means 9.

  The corresponding point extracting means 9 is a measuring object stored in the design information storage means 7 with corresponding points on the design value of the object corresponding to the extracted feature points calculated by the feature point three-dimensional position identifying means 6. This is extracted from the design information of the object. There are two types of methods for extracting the corresponding points: extraction by artificial association by the user and extraction by automatic association by shape recognition.

  First, extraction by artificial association by the user will be described.

  In an actual object, the point where the deviation is to be measured usually has some characteristic. In other words, the amount of displacement that is usually desired to be measured is not the featureless portion such as the middle of the wall but the feature such as the boundary between the ceiling and the floor. Therefore, there is a high probability that the location is extracted as a feature point in the NF tracking algorithm, for example. That is, if it is a feature point in the algorithm, the 3D position with respect to the known shape M (home position) which is the reference marker at that point is obtained. A deviation (three-dimensional coordinate value) between this and the same point (designated by the user) in the design 3D information can be obtained. Specifically, the corner and tip of the part are specified by the input device, and if there is the same feature point on the two-dimensional coordinate (camera field of view) at that time, the three-dimensional created from the three-dimensional coordinate value and design information Compare the three-dimensional coordinate values on the model.

  This will be described with reference to the flowchart of FIG. This flowchart can be implemented as a subroutine of step S20 in the first embodiment. In this case, the corresponding point extraction unit 9 includes a display device and an input device (not shown).

  That is, the corresponding point extraction unit 9 calculates the three-dimensional position of the extracted feature point by the feature point three-dimensional position identification unit 6, and then displays the image and the object stored in the imaging device position / posture storage unit 3 on the display device. While displaying a real image, a three-dimensional model created from design information stored in the design information storage means 7 is displayed superimposed on the real image, and among the extracted feature points on the real image of the object, The user is allowed to designate a point P for which an error is to be obtained by using the input device (step S20A). For example, as shown in FIG. 7, real images 111 and 112 and three-dimensional models 711 and 712 for the first and second objects are superimposed and displayed. In this case, the real image 111 of the first object and the three-dimensional model 711 are displayed without being overlapped, and accordingly, the coordinates (Xa, Ya, Za) of the extracted feature point A on the real image 111 and the three-dimensional model 711 are displayed. It does not deviate from the coordinates (Xa ′, Ya ′, Za ′) of the corresponding point A ′ above. On the other hand, the real image 112 of the second object and the three-dimensional model 712 are separated from each other, and thus the coordinates (Xb, Yb, Zb) of the extracted feature point B on the real image 112 and the three-dimensional model are overlapped. It is deviated from the coordinates (Xb ′, Yb ′, Zb ′) of the corresponding point B ′ on the model 712. Therefore, the user designates the feature point B on the actual image 112 by the input device in order to obtain the error of the point B.

  Next, the corresponding point extracting unit 9 similarly causes the user to specify the corresponding point P ′ on the design information (step S20B). That is, in the example of FIG. 7, the corresponding point B ′ on the three-dimensional model 712 created from the design information is designated.

  If the feature point P and the corresponding point P ′ are designated in this way, the corresponding feature point P (in FIG. In the example, the three-dimensional error between the feature point B) and the corresponding point P ′ (feature point B ′ in the example of FIG. 7) is calculated (step S20C).

  Next, a method for extracting corresponding points by automatic association by shape recognition will be described.

  In this method, points to be obtained are designated in advance on the design information. Then, the design (CAD) information is two-dimensionally projected from the position and orientation of the imaging apparatus 1 when the image is taken, and a template is created by extracting, for example, 15 × 15 pixels around the desired point on the design information. Thereafter, the captured images are compared in a 15 × 15 pixel window, and the pixel having the highest similarity is used as the corresponding point. If the corresponding point is an extracted feature point and a threshold value, for example, within 2 pixels, position information is compared with that point on the design information.

  This will be described with reference to the flowchart of FIG. This flowchart can be implemented as a subroutine of step S20 in the first embodiment.

  That is, the corresponding point extracting means 9 includes the extracted feature points P on the object in one frame (frame 1 or frame 2) after the three-dimensional position calculation of the extracted feature points by the feature point three-dimensional position identifying means 6. The feature degree S of surrounding pixels (for example, 15 × 15) is calculated (step S20a). This is a known similarity comparison method. The calculation of the feature S is to obtain the Eigen value in the window.

  Thereafter, the corresponding point extraction unit 9 projects the design information stored in the design information storage unit 7 two-dimensionally from the imaging device position in the frame 1 or 2 (step S20b). Then, a feature value Sn (n is 1 to the number of pixels of the projection screen) in a window of 15 × 15 pixels around each pixel in the projection screen is obtained, and the center pixel of the feature value Sn closest to the feature degree S is the corresponding feature. Point P ′ is set (step S20c).

  If the feature point P and the corresponding point P ′ are designated in this way, the corresponding feature point P and the corresponding point P are designated by the corresponding point-to-corresponding three-dimensional error measuring unit 8 subsequent to the corresponding point extracting unit 9. 'Is calculated (step S20d).

  Although the present invention has been described above based on the embodiments, the present invention is not limited to the above-described embodiments, and various modifications and applications are naturally possible within the scope of the gist of the present invention.

  For example, in the above embodiment, the point at which the error amount is calculated is described as an extracted feature point such as a corner of the object, but any point on the wire frame model created by connecting the extracted feature points with line segments, The amount of error with the corresponding point on the design value corresponding to the point may be measurable.

(Appendix)
The invention having the following configuration can be extracted from the specific embodiment.

(1) an imaging device for photographing an object;
Means for extracting feature points from the field of view photographed by the imaging device;
Means for identifying the same feature points in the field of view taken from different positions using the imaging device, from the feature points extracted by the means for extracting the feature points respectively;
Means for acquiring a position and orientation of the imaging device in a reference coordinate system in at least one shooting;
Means for obtaining a mutual position and orientation relationship of the imaging device in each photographing from the acquired position and orientation;
Means for identifying a positional relationship between the extracted feature point and the imaging device from the identified same feature point in a plurality of fields of view taken using the mutual positional posture relationship;
Comprising
Using the identified positional relationship, a three-dimensional error is measured in a reference coordinate system between the extracted feature point and the corresponding point on the design value of the object corresponding to the feature point. Original error measuring device.

(Corresponding embodiment)
The first to third embodiments correspond to the embodiment relating to the three-dimensional error measuring apparatus described in (1).
(Function and effect)
The three-dimensional error measuring device described in (1) uses the positional relationship between the identified extracted feature point and the imaging device, and the extracted feature point and the corresponding point on the design value of the object corresponding to the feature point, Measure the three-dimensional error in the reference coordinate system between.
Therefore, according to the three-dimensional error measuring apparatus described in (1), it is possible to easily measure the three-dimensional deviation amount by freely moving the position of the imaging apparatus.

  (2) The three-dimensional error measurement apparatus according to (1), wherein the means for acquiring the position and orientation of the imaging apparatus is based on a mechanical position and orientation detection mechanism.

(Corresponding embodiment)
The first and third embodiments correspond to the embodiment relating to the three-dimensional error measuring apparatus described in (2).

  (3) The three-dimensional error measuring apparatus according to (1), wherein the means for acquiring the position and orientation of the imaging apparatus is based on a magnetic position and orientation detection mechanism.

(Corresponding embodiment)
The first and third embodiments correspond to the embodiment relating to the three-dimensional error measuring apparatus described in (3).

  (4) The three-dimensional error measuring apparatus according to (1), wherein the means for acquiring the position and orientation of the imaging apparatus is based on an optical position and orientation detection mechanism.

(Corresponding embodiment)
The first and third embodiments correspond to the embodiment relating to the three-dimensional error measuring apparatus described in (4).

  (5) The three-dimensional error measurement device according to (1), wherein the means for acquiring the position and orientation of the imaging device is based on a marker included in an image captured by the imaging device.

(Corresponding embodiment)
The first to third embodiments correspond to the embodiment relating to the three-dimensional error measuring apparatus described in (5).

(6) The means for identifying the positional relationship between the extracted feature point and the imaging device includes a means for calculating a three-dimensional position of the feature point in a reference coordinate system,
Means for acquiring the position and orientation of the imaging device
Until the three-dimensional position of three or more extracted feature points is acquired by the means for calculating the three-dimensional position, the position and orientation of the imaging device is acquired by the means according to any one of (2) to (5). ,
After obtaining the three-dimensional positions of three or more extracted feature points by the means for calculating the three-dimensional position, the three-dimensional positions of the plurality of extracted feature points, and the three-dimensional positions of the additional extracted and identified feature points The position and orientation of the image pickup device are acquired by any one of the means described in any one of (2) to (5) or a combination thereof, or any one of (2) to (5) 3D error measuring device.

(Corresponding embodiment)
The first to third embodiments correspond to the embodiment relating to the three-dimensional error measuring apparatus described in (6).
(Function and effect)
The three-dimensional error measuring device described in (6) identifies the positional relationship between the extracted feature point and the imaging device by calculating the three-dimensional position of the feature point in the reference coordinate system, and extracts three or more extracted features. Until the three-dimensional position of the point is acquired, the position and orientation of the imaging device is acquired by the means described in any one of (2) to (5), and after acquiring the three-dimensional positions of three or more extracted feature points, Imaging by three-dimensional positions of a plurality of extracted feature points, three-dimensional positions of additional extracted and identified feature points, any of the means described in any one of (2) to (5), or a combination thereof Acquire the position and orientation of the device.
Therefore, after acquiring the three-dimensional positions of three or more extracted feature points, the position and orientation of the imaging device can be acquired without necessarily using any of the means described in any of (2) to (5). It becomes possible to do.

  (7) The means for identifying the same feature point in the field of view taken from different positions includes means for continuously tracking the extracted feature point between different fields of view (1) to (6) The three-dimensional error measuring device according to any one of the above.

(Corresponding embodiment)
The second embodiment corresponds to the embodiment relating to the three-dimensional error measuring apparatus described in (7).
(Function and effect)
The three-dimensional error measurement apparatus described in (7) is a technique for continuously identifying extracted feature points between different fields of view, for example, for identifying the same feature points in fields of view taken from different positions, for example, NF tracking. Use a technique.

  (8) The three-dimensional according to any one of (1) to (7), wherein the user explicitly specifies the corresponding point on the design value of the object corresponding to the extracted feature point Error measuring device.

(Corresponding embodiment)
The third embodiment corresponds to the embodiment relating to the three-dimensional error measuring apparatus described in (8).
(Function and effect)
In the three-dimensional error measuring apparatus described in (8), since the user explicitly designates the corresponding point on the design value of the object corresponding to the extracted feature point, the third order for the feature point desired by the user is obtained. The original error can be measured.

  (9) The corresponding point on the design value of the object corresponding to the extracted feature point is identified by comparing surrounding pixels in the two-dimensional projection image including the extracted feature point. The three-dimensional error measuring device according to any one of the above.

(Corresponding embodiment)
The third embodiment corresponds to the embodiment relating to the three-dimensional error measuring apparatus described in (9).
(Function and effect)
The three-dimensional error measuring apparatus described in (9) compares and identifies the corresponding points on the design value of the object corresponding to the extracted feature points by comparing surrounding pixels in the two-dimensional projection image including the extracted feature points. Because it is done, it is done automatically and takes less time.

  (10) The corresponding points on the design value of the object corresponding to the extracted feature points are identified by comparing three-dimensional arrangements of peripheral points including the extracted feature points (1) to (7) The three-dimensional error measuring device according to any one of the above.

(Corresponding embodiment)
The third embodiment corresponds to the embodiment relating to the three-dimensional error measuring apparatus described in (10).
(Function and effect)
The three-dimensional error measurement apparatus according to (10) compares and identifies the corresponding points on the design value of the object corresponding to the extracted feature points by comparing the three-dimensional arrangement of peripheral points including the extracted feature points. Because it is done, it is done automatically and takes less time.

  (11) It is possible to measure an error amount between an arbitrary point on a wire frame model created by connecting the extracted feature points with a line segment and a corresponding point on a design value corresponding to the point (1) to ( 7) The three-dimensional error measuring apparatus according to any one of the above.

(Function and effect)
The three-dimensional error measuring apparatus described in (11) is an error amount between an arbitrary point on a wire frame model created by connecting extracted feature points with line segments and a corresponding point on a design value corresponding to the point. Can be measured, so that errors can be measured at various points.

It is a block diagram which shows the structure of the three-dimensional error measuring apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows the imaging device position and orientation acquisition means by a mechanical position and orientation detection mechanism. It is a figure which shows the operation | movement flowchart of the three-dimensional error measuring apparatus which concerns on 1st Embodiment. (A) is a schematic diagram for demonstrating the mode of measurement by the three-dimensional error measuring device which concerns on 2nd Embodiment of this invention, (B) is the three-dimensional in the 3D error measuring device which concerns on 2nd Embodiment. It is a figure which shows the operation | movement flowchart of a position calculation. It is a block diagram which shows the structure of the three-dimensional error measuring apparatus which concerns on 3rd Embodiment of this invention. (A) And (B) is a figure which shows the operation | movement flowchart of the three-dimensional error calculation in the three-dimensional error measuring apparatus which concerns on 3rd Embodiment, respectively. It is a figure which shows the example of a display for demonstrating operation | movement of the corresponding point extraction means of the three-dimensional error measuring apparatus which concerns on 3rd Embodiment.

Explanation of symbols

    DESCRIPTION OF SYMBOLS 1 ... Imaging device, 2 ... Feature point extraction means, 3 ... Image and imaging device position and orientation storage means, 4 ... Imaging device position and orientation acquisition means, 5 ... Same feature point identification means, 6 ... Feature point three-dimensional position identification means, 7 ... Design information storage means, 8 ... Three-dimensional error measurement means between corresponding points, 9 ... Corresponding point extraction means, 10 ... Camera, 11, 111, 112 ... Real image, 40 ... Arm type position and orientation detector, 71,711 712 ... Three-dimensional model.

Claims (11)

An imaging device for photographing an object;
Means for extracting feature points from the field of view photographed by the imaging device;
Means for identifying the same feature points in the field of view taken from different positions using the imaging device, from the feature points extracted by the means for extracting the feature points respectively;
Means for acquiring a position and orientation of the imaging device in a reference coordinate system in at least one shooting;
Means for obtaining a mutual position and orientation relationship of the imaging device in each photographing from the acquired position and orientation;
Means for identifying a positional relationship between the extracted feature point and the imaging device from the identified same feature point in a plurality of captured fields of view using the mutual position and orientation relationship;
Comprising
Using the identified positional relationship, a three-dimensional error is measured in a reference coordinate system between the extracted feature point and the corresponding point on the design value of the object corresponding to the feature point. Original error measuring device.   The three-dimensional error measurement apparatus according to claim 1, wherein the means for acquiring the position and orientation of the imaging apparatus is based on a mechanical position and orientation detection mechanism.   The three-dimensional error measurement apparatus according to claim 1, wherein the means for acquiring the position and orientation of the imaging apparatus is based on a magnetic position and orientation detection mechanism.   The three-dimensional error measurement apparatus according to claim 1, wherein the means for acquiring the position and orientation of the imaging apparatus is based on an optical position and orientation detection mechanism.   2. The three-dimensional error measurement apparatus according to claim 1, wherein the means for acquiring the position and orientation of the imaging apparatus is based on a marker included in an image captured by the imaging apparatus. The means for identifying the positional relationship between the extracted feature point and the imaging device includes means for calculating a three-dimensional position of the feature point in a reference coordinate system,
Means for acquiring the position and orientation of the imaging device
Until the three-dimensional positions of three or more extracted feature points are acquired by the means for calculating the three-dimensional position, the position and orientation of the imaging device is acquired by the means according to any one of claims 2 to 5,
After obtaining the three-dimensional positions of three or more extracted feature points by the means for calculating the three-dimensional position, the three-dimensional positions of the plurality of extracted feature points, and the three-dimensional positions of the additional extracted and identified feature points The three-dimensional error according to any one of claims 2 to 5, wherein the position and orientation of the imaging device is acquired by any one of the means according to any one of claims 2 to 5 or a combination thereof. measuring device.   The means for identifying the same feature point in the field of view photographed from the different positions includes means for continuously tracking the extracted feature point between different fields of view. The three-dimensional error measuring apparatus described.   The three-dimensional error measuring apparatus according to claim 1, wherein a corresponding point on a design value of an object corresponding to the extracted feature point is explicitly specified by a user.   The corresponding point on the design value of the object corresponding to the extracted feature point is identified by comparing surrounding pixels in a two-dimensional projection image including the extracted feature point. The three-dimensional error measuring apparatus described.   The corresponding point on the design value of the object corresponding to the extracted feature point is identified by comparing the three-dimensional arrangement of peripheral points including the extracted feature point. The three-dimensional error measuring apparatus described.   The error amount between an arbitrary point on the wire frame model created by connecting the extracted feature points with line segments and a corresponding point on a design value corresponding to the point can be measured. The three-dimensional error measuring device described in 1.

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