Patent ID: 7724379
Filing Date: 2010-05-25
Classification: G01B,G06T

Abstract:
1. A measuring method using a pattern projector and an image capturing device having a fixed relative positional relationship to each other, said measuring method comprising: emitting a pattern light to a target object by said pattern projector; obtaining one or more images by capturing the pattern light by said image capturing device as an input; estimating an internal parameter of said pattern projector, an internal parameter of said image capturing device, and a relative positional relationship between said pattern projector and said image capturing device from the pattern of the captured image by using an epipolar constraint of said pattern projector and said image capturing device; estimating 3D coordinates representing the surface of said target object by a principle of triangulation using the captured pattern light and the estimated internal parameters of said pattern projector and said image capturing device, and the estimated relative positional relationship therebetween; and measuring a 3D shape based on the estimated 3D coordinates representing the surface of said target object and the estimated internal parameters of said pattern projector and said image capturing device and the estimated relative positional relationship therebetween, wherein the 3D coordinates of the surface of said target object are estimated without providing a specific assumption as to said pattern projector and said image capturing device and without previously measuring the internal parameters of said pattern projector and said image capturing device and the relative positional relationship therebetween.