SYNTHESIS-PARAMETER GENERATION DEVICE FOR THREE-DIMENSIONAL MEASUREMENT APPARATUS

摘要

A plurality of units (4) constituted by a projector (6) that projects a periodic lattice onto a measurement target (1) and a camera (8) that images the projected lattice are included around the measurement target (1), and three-dimensional coordinates measured by the respective units (4) are composited by coordinate conversion. A first lattice that is displayed on a reference surface (42) is imaged, and phases with respect to the first lattice are obtained for respective pixels of the cameras (8) and stored. A second lattice is projected from the projector (6) onto the reference surface (42) and imaged, and three-dimensional coordinates of the reference surface (42) are stored for respective pixels of the cameras (8). The phases of the respective pixels of the cameras (8) are interpolated, and sub-pixels whose phases match each other between the cameras (8) are generated. Three-dimensional coordinates of the respective sub-pixels are obtained, and a compositing parameter is generated so that the three-dimensional coordinates of sub-pixels having the same phases match each other between the units (4). The accuracy of the compositing parameter for coordinate conversion is improved.

主权项

1. A compositing parameter generation device (22) that generates a compositing parameter for a three-dimensional measurement apparatus (2) that includes a plurality of units (4) that surround a measurement target (1) and are constituted by a projector (6) that projects a periodic lattice onto the measurement target (1) and a camera (8) that images the projected lattice, measures three-dimensional coordinates of a surface of the measurement target (1) using the respective units (4), and composites the measured three-dimensional coordinates by coordinate conversion between the units (4), the compositing parameter being for use for the coordinate conversion and being generated by the cameras (8) of the respective units (4) imaging a first lattice, which is displayed on a predetermined reference surface (42), the compositing parameter generation device (22) being characterized by:
means for storing, for respective pixels of the cameras (8), phases with respect to the first lattice, the phases being obtained from images in which the first lattice is captured by the cameras (8) of the respective units (4); means for storing, for respective pixels of the cameras (8), three-dimensional coordinates of the reference surface (42) in coordinate systems of the respective cameras (8), the three-dimensional coordinates being obtained when a second lattice is projected from the projectors (6) of the respective units (4) onto the reference surface (42) and imaged by the cameras (8) of the respective units (4); means (32) for interpolating phases of the respective pixels of the cameras (8), generating sub-pixels whose phases match each other between the cameras (8), and obtaining three-dimensional coordinates of the respective sub-pixels in the coordinate systems of the respective cameras (8); and means (38) for generating a compositing parameter for converting the coordinate systems of the respective cameras (8) into a reference coordinate system that is common between the units (4) such that three-dimensional coordinates of sub-pixels having the same phases match each other between the units (4) in the reference coordinate system that is common between the units (4).