| 摘要 |
A three-dimensional measurement method three-dimensionally restores an edge having a cross angle close to parallel to an epipolar line. Edges e2L, e3L and e4L on the same plane of a work are selected, and among these edges, at least two edges e2L and e4L residing in a predetermined angle range with reference to the cross angle of 90° crossing the epipolar line are three-dimensionally restored by a stereo method. Then, a three-dimensional plane P1 including these three-dimensionally restored e2L and e4L is found, and the edge e3L residing beyond a predetermined angle range with reference to the cross angle of 90° crossing the epipolar line is projected to this three-dimensional plane P1, thus three-dimensionally restoring the edge e3L. |
| 主权项 |
1. Three-dimensional measurement method, comprising the steps of:
acquiring, by an arithmetic unit, a stereo image of a work taken by first and second cameras; extracting, by the arithmetic unit, edges from the acquired stereo image; selecting, by the arithmetic unit, edges existing on a same plane of the work from the edges extracted on the stereo image; three-dimensionally restoring, by the arithmetic unit, at least two first edges among the edges existing on the same plane by a stereo method, the first edges residing in a predetermined angle range with reference to a cross angle of 90° made by crossing with an epipolar line; calculating, by the arithmetic unit, a three-dimensional plane including the three-dimensionally restored first edges using the three-dimensionally restored at least two first edges; and three-dimensionally restoring, by the arithmetic unit, a second edge among the edges existing on the same plane as the first edges by projecting the second edge on the three-dimensional plane, the second edge residing beyond a predetermined angle range with reference to a cross angle of 90° made by crossing with an epipolar line. |
