STEREO IMAGE MEASURING METHOD AND INSTRUMENT FOR EXECUTING THE SAME

摘要

PROBLEM TO BE SOLVED: To solve a problem that there is a limit to accuracy and reliability in cases where a model is used while taking account of a point group of the entire shape of a measuring object satellite as a point group model used for an ICP, by a method based on a combination of stereo processing and an ICP algorithm which is one method in 3D model matching among point groups. SOLUTION: The stereo image measuring method includes: a step of finding the three-dimensional shape of a measuring object in the form of measured point groups by stereo-processing images in a plurality of cameras; a step of presupposing a visible part from known shape information on the measuring object, the relative position of a stereo camera, and its posture; a step of determining a model point group conformed to the spatial density of the point groups by using only shape information on the presupposed visible part; and a step of matching the measured point groups to the model point group by using the ICP algorithm to employ a position and posture corresponding to a model group whose evaluation function is the smallest as the result of measurement. COPYRIGHT: (C)2008,JPO&INPIT