Source: http://www.google.com/patents/US7206080?ie=ISO-8859-1
Timestamp: 2014-12-25 02:42:07
Document Index: 427852245

Matched Legal Cases: ['art 3', 'art 4', 'art 3', 'art 3', 'art 4', 'art 3', 'art 3', 'art 3', 'art 4', 'art 5', 'art 6', 'art 7']

Patent US7206080 - Surface shape measurement apparatus, surface shape measurement method ... - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA surface shape measuring apparatus, comprising: a stereo-photographing part 3 for photographing an object 1 in stereo; a relative position changing part 4 for changing the positional relation between the stereo-photographing part 3 and the object 1; means 5 for storing stereo-photographing parameters...http://www.google.com/patents/US7206080?utm_source=gb-gplus-sharePatent US7206080 - Surface shape measurement apparatus, surface shape measurement method, surface state graphic apparatusAdvanced Patent SearchPublication numberUS7206080 B2Publication typeGrantApplication numberUS 10/485,276PCT numberPCT/JP2002/007710Publication dateApr 17, 2007Filing dateJul 30, 2002Priority dateJul 30, 2001Fee statusPaidAlso published asEP1422495A1, EP1422495A4, US20040234122, WO2003012368A1Publication number10485276, 485276, PCT/2002/7710, PCT/JP/2/007710, PCT/JP/2/07710, PCT/JP/2002/007710, PCT/JP/2002/07710, PCT/JP2/007710, PCT/JP2/07710, PCT/JP2002/007710, PCT/JP2002/07710, PCT/JP2002007710, PCT/JP200207710, PCT/JP2007710, PCT/JP207710, US 7206080 B2, US 7206080B2, US-B2-7206080, US7206080 B2, US7206080B2InventorsNobuo Kochi, Hitoshi Otani, Satoru NiimuraOriginal AssigneeTopcon CorporationExport CitationBiBTeX, EndNote, RefManPatent Citations (18), Referenced by (21), Classifications (32), Legal Events (2) External Links: USPTO, USPTO Assignment, EspacenetSurface shape measurement apparatus, surface shape measurement method, surface state graphic apparatusUS 7206080 B2Abstract A surface shape measuring apparatus, comprising: a stereo-photographing part 3 for photographing an object 1 in stereo; a relative position changing part 4 for changing the positional relation between the stereo-photographing part 3 and the object 1; means 5 for storing stereo-photographing parameters in a plurality of directions from which the stereo-photographing part 3 photographs the object 1; a stereo-image generating means 6 for controlling the stereo-photographing part 3 to photograph the object 1 from the plurality of directions with the stored stereo-photographing parameters and generating stereo images of the object 1; and a surface shape processing means 7 for measuring the surface shape of the object 1 based on the stereo images of the object 1. Images(40) Claims(12)
TECHNICAL FIELD This invention relates to an apparatus and a method for three-dimensionally measuring the surface shape or pattern of a trove, human body, vehicle, machine structure or the like in a non-contact manner. This invention also relates to a surface shape plotting apparatus for plotting the surface shape or pattern of a trove or the like measured with the surface shape measuring apparatus.
BACKGROUND ART To measure the surface shape of a trove such as a clay pot, a person makes a sketch of it, measuring it with a ruler or the like, or a contact type measuring instrument which measures the surface shape of the object by tracing the contour of the object is used. A non-contact type measuring instrument which photographs the object using a slit light source or measures the object using a laser beam is also used.
DISCLOSURE OF THE INVENTION The surface shape measuring apparatus of the first invention, which accomplished the first object, comprises, as shown in FIG. 1, a stereo-photographing unit 90 for photographing an object 1 in stereo; a relative position changing part 4 for changing the positional relation between the stereo-photographing unit 90 and the object 1; a parameter storing part 5 for storing stereo-photographing parameters in a plurality of directions from which the stereo-photographing unit 90 photographs the object 1; a stereo-image generating part 6 for controlling the stereo-photographing unit 90 to photograph the object 1 from the plurality of directions with the stored stereo-photographing parameters and generating stereo images of the object 1; and a surface shape processing part 7 for measuring the surface shape of the object 1 based on the stereo images of the object 1.
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a block diagram illustrating the structure of a first embodiment of this invention;
F ( κ 1 , ϕ 1 , κ 2 , ϕ 2 , ω 2 ) =  Y 1 Z 1 Y 2 Z 2  = Y 1 Z 2 - Y 2 Z 1 = 0 ( 5 ) The following relationship for converting coordinates holds true between the model coordinate system XYZ and the camera coordinate systems xyz.
( X 1 Y 1 Z 1 ) = ( cos ϕ 1 0 sin ϕ 1 0 1 0 - sin ϕ 1 0 cos ϕ 1 ) ( cos κ 1 - sin κ 1 0 sin κ 1 cos κ 1 0 0 0 1 ) ( x 1 y 1 - c ) ( 6 ) ( X 2 Y 2 Z 2 ) = ( 1 0 0 0 cos ω 2 - sin ω 2 0 sin ω 2 cos ω 2 ) ( cos ϕ 2 0 sin ϕ 2 0 1 0 - sin ϕ 2 0 cos ϕ 2 ) ( 7 ) ( cos κ 2 - sin κ 2 0 sin κ 2 cos κ 2 0 0 0 1 ) ( x 2 y 2 - c ) + ( 1 0 0 ) Using the equations (4), (5), (6) and (7) above, unknown parameters are obtained according to the following process.
C ( a , b ) = ∑ m1 = 0 N1 - 1 ∑ n1 = 0 N1 - 1 { I ( a , b ) ( m 1 , n 1 ) - I _ } { T ( m 1 , n 1 ) - T _ } I σ ab T σ ( 11 ) where I _ = 1 N1 2 ∑ m1 = 0 N1 - 1 ∑ n1 = 0 N1 - 1 I ( a , b ) ( m 1 , n 1 ) ( 12 ) T _ = 1 N1 2 ∑ m1 = 0 N1 - 1 ∑ n1 = 0 N1 - 1 T ( m 1 , n 1 ) ( 13 ) I σ ab = 1 N1 2 ∑ m1 = 0 N1 - 1 ∑ n1 = 0 N1 - 1 { I ( a , b ) ( m 1 , n 1 ) - I _ } 2 ( 14 ) T σ = 1 N1 2 ∑ m1 = 0 N1 - 1 ∑ n1 = 0 N1 - 1 { T ( m 1 , n 1 ) - T _ } 2 ( 15 ) I(a,b) (m1, n1): a partial image in the object image, and T(m1, n1): the template image.
INDUSTRAIAL APPLICABILITY 1) Effects Accomplished by First to Fourth Embodiments
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