Three-dimensional distance measurement apparatus, three-dimensional distance measurement method, and non-transitory computer-readable storage medium

摘要

A three-dimensional distance measurement apparatus comprising: a distance information calculation unit configured to calculate distance information of a measurement object based on a captured image of the measurement object on which pattern light is projected; and a local pattern setting unit configured to adaptively set a spatial resolution of measurement points of the pattern light for each local region, wherein the local pattern setting unit sets the spatial resolution of the measurement points of the pattern light based on information about an arithmetic amount of the distance information calculation unit.

主权项

1. A three-dimensional distance measurement apparatus comprising:
a pattern light generation unit configured to generate pattern light; a position and orientation recognition unit configured to recognize coarse position and orientation of a measurement object; a model storage unit configured to store, as model information of the measurement object, a spatial resolution of distance information for each local region to be measured in the measurement object; a distance information calculation unit configured to calculate distance information of local regions of the measurement object based on a captured image of the measurement object on which the pattern light is projected; and a local pattern setting unit configured to adaptively set a spatial resolution of measurement points of the pattern light for each local region, wherein said local pattern setting unit sets the spatial resolution of the measurement points of the pattern light to substantially uniform arithmetic amounts for the respective local regions executed by said distance information calculation unit and based on a coarse position and orientation recognition result of the measurement object recognized in advance and the model information stored in said model storage unit.