Three-dimensional distance measurement apparatus and method therefor

摘要

A three-dimensional imaging unit includes a plurality of image pickup devices that image an image and a rotation drive device which rotates the image pickup devices and adjusts optical axes such that reflections of an object to be measured in a space to be measured have a predetermined amount of overlap. An association calculating unit calculates position association information of pixels when a required measurement point is mapped onto a plurality of images. A three-dimensional shape calculating unit calculates a three-dimensional shape of the object to be measured using the position association information and rotational information of the rotation drive device. A three-dimensional shape estimation calculating unit estimates, from the three-dimensional shape, a three-dimensional shape of a region of the object to be measured where the three-dimensional shape is not obtained. A three-dimensional measurement coordinates calculating unit calculates, from an estimation result, three-dimensional coordinates of two distance measurement points designated on the object to be measured. A distance calculating unit calculates a distance between the two points using the three-dimensional coordinates.

主权项

1. A three-dimensional distance measurement apparatus, comprising:
a three-dimensional imaging unit, implemented by circuitry, including a plurality of image pickup devices and a rotation drive device which rotates the image pickup devices to adjust optical axes thereof such that reflections of an object obtained with the plurality of image pickup devices have at least a predetermined amount of overlap; and an association calculating unit, implemented by the circuitry, that calculates position association information, the position association information associating pixel positions of a required measurement point on a plurality of the images obtained with the plurality of image pickup devices; a three-dimensional shape calculating unit, implemented by the circuitry, that calculates a three-dimensional shape using the position association information and rotational information obtained from the rotation drive device; a three-dimensional shape estimation calculating unit, implemented by the circuitry, that estimates an estimated three-dimensional shape of a region that is not obtained with the three-dimensional shape calculated with the three-dimensional shape calculating unit; a three-dimensional measurement coordinates calculating unit, implemented by the circuitry, that calculates three-dimensional coordinates of two distance measurement points from at least one of the three-dimensional shape and the estimated three-dimensional shape; and a distance calculating unit, implemented by the circuitry, that calculates a distance between the two distance measurement points with the three-dimensional coordinates obtained from the three-dimensional measurement coordinates calculating unit.