Image processing device, image processing method, and program

摘要

Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing. An image processing device mainly consists of a projector serving as a projection means, a camera as a photographing means, and an image processing means consisting of, for example, a personal computer. The image processing means acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector and the camera. The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.

主权项

1. An image processing apparatus comprising:
a light projection unit using a light source,
said light source projecting a plane shaped light pattern, projecting a first pattern and a second pattern on an object,said first pattern being arranged to fulfill a first common constraint, andsaid second pattern being arranged to make intersections with said first pattern and fulfill a second common constraint; an image capturing unit obtaining a 2D image by capturing a reflected pattern on said object,
said reflected pattern being a projection of said plane shaped light pattern; and an image processing unit reconstructing a 3D shape of said object using said 2D image comprising:
a first calculation unit configured to obtain intersection points between a first captured pattern and a second captured pattern on said 2D image,
said first captured pattern being observed as a reflected pattern of said first pattern, andsaid second captured pattern being observed as a reflected pattern of said second pattern; anda second calculation unit configured to calculate a first solution of a first undetermined plane and a second undetermined plane by using a constraint, said first common constraint, said second common constraint, and a first relative positional information;
said first solution including a degree of freedom,said first undetermined plane being a plane including said first captured pattern,said second undetermined plane being a plane including said second captured pattern,said constraint being that said intersection points are included by said first undetermined plane and said second undetermined plane, andsaid first relative positional information being a relative positional information between said light projection unit and said image capturing unit, wherein in said second calculation unit, said first solution including a degree of freedom is calculated by solving a first equation a second equation and a third equation; said first solution being a solution of said intersection points, said first undetermined plane, or said second undetermined plane, said first equation being derived from an image coordinate of said intersection points, a parameter of said first undetermined plane, and a parameter of said second undetermined plane, said second equation derived from said first common constraint and said first relative positional information, and said third equation derived from said second common constraint and said first relative positional information.