Patent ID: 9672630
Date: 2017-06-06
CPC Classifications: B25J,G01B,G05B,G06K,G06T,H04N,Y10S

Claim:
1. A contour line measurement apparatus comprising: a first camera and a second camera which capture a picture of an object to obtain a first object picture and a second object picture, respectively; an epipolar plane generation unit for generating, on the basis of a position and posture of the first camera and the second camera, a plurality of epipolar planes so as to cross the object; an epipolar line calculation unit for calculating a plurality of first epipolar lines in which the plurality of epipolar planes are projected on an imaging surface of the first camera and a plurality of second epipolar lines in which the plurality of epipolar planes are projected on an imaging surface of the second camera; a reference contour line setting unit for setting a three dimensional reference contour line of the object; a reference contour line image calculation unit for calculating a first reference contour line image and a second reference contour line image in which the reference contour line is projected on the imaging surface of the first camera and the imaging surface of the second camera, respectively; an edge line extraction unit which sets a first picture processing region in the vicinity of the first reference contour line image and extracts, from the first object picture in the first picture processing region, a first edge line which is an image of a contour line of the object, while setting a second picture processing region in the vicinity of the second reference contour line image and extracting, from the second object picture in the second picture processing region, a second edge line which is an image of the contour line of the object; an edge point generation unit for generating a plurality of first edge points which are intersections of the first edge line and the plurality of first epipolar lines and a plurality of second edge points which are intersections of the second edge line and the plurality of second epipolar lines; a corresponding point selection unit for selecting, from the plurality of first edge points and the plurality of second edge points, a pair of edge points consisting of the first edge point and the second edge point which are generated by using the same epipolar plane and correspond to the same portion of the reference contour line; and a three dimensional point calculation unit for calculating a three dimensional point on the contour line of the object on the basis of a visual line of the first camera and a visual line of the second camera which pass the pair of edge points.