Information processing apparatus that performs three-dimensional shape measurement, information processing method, and storage medium

摘要

Information processing apparatus that performs three-dimensional shape measurement with high accuracy at high speed while taking into account lens distortion of a projection device. An image input unit of an information processing apparatus inputs image data of a measurement object photographed by a camera in a state where a predetermined pattern light is projected by a projector. An association unit calculates associations between coordinates on the image data of the measurement object and coordinates on image data of the predetermined pattern light. A three-dimensional coordinate calculation unit calculates a viewing vector of the camera from which lens distortion thereof has been eliminated and a viewing vector of the projector to which lens distortion thereof has been added. The calculation unit calculates coordinates of a point, in a three-dimensional space, of intersection between the camera viewing vector and the projector viewing vector, for each association.

主权项

1. An information processing apparatus comprising:
an input unit configured to input image data of a target object, onto which a pattern has been projected by a projection apparatus and which has then been photographed by an imaging apparatus, wherein the pattern varies in luminance only in a predetermined direction; an association unit configured to associate a two-dimensional coordinate (x′c, y′c) on the image data of the target object with a one-dimensional coordinate (yp) in the predetermined direction on image data of the pattern based on the input image data; a first correction unit configured to obtain a first corrected two-dimensional coordinate (xc, yc) on the image data of the target object by correcting the two-dimensional coordinate (x′c, y′c) on the image data of the target object based on a first distortion model which expresses an influence of distortion, by a lens of the imaging apparatus, to a reflected light reflected by the target object when the reflected light passes through the lens of the imaging apparatus; a first viewing vector-deriving unit configured to derive a first viewing vector which is through the first corrected two-dimensional coordinate (xc, yc) on the image data of the target object and an optical center of the imaging apparatus; a second correction unit configured to obtain a second corrected two-dimensional coordinate (x′p, y′p) on the image data of the pattern based on an equation derived from (i) the one-dimensional coordinate (yp) in the predetermined direction on the image data of the pattern and (ii) a second distortion model which expresses an influence of distortion, by a lens of the projection apparatus, to an emitted light emitted from a light source of the projection apparatus, when the emitted light passes through the lens of the projection apparatus, and the first viewing vector, wherein the second corrected two-dimensional coordinate (x′p, y′p) is obtained directly from the equation without processing of projecting a three-dimensional coordinate onto the image data of the pattern; a second viewing vector-deriving unit configured to derive a second viewing vector which is through the second corrected two-dimensional coordinate (x′p, y′p) on the image data of the pattern and an optical center of the projection apparatus; and an intersection coordinate-deriving unit configured to derive coordinates of a point, in a three-dimensional space, of intersection between the first viewing vector and the second viewing vector.