Patent Document ID: 9197880
Application ID: 14579252
Patent Status: 1

Claim One:
1. A three-dimensional measurement apparatus comprising: a first imaging unit for imaging an object; a second imaging unit disposed at a distance of a predetermined baseline length from the first imaging unit, the second imaging unit imaging at least a part of the object imaged with the first imaging unit; a feature point detector for detecting a plurality of feature points in at least one of two images of the object taken from a first image capture position with the first and second imaging units; a corresponding point detector for detecting corresponding points in each of two images of the object taken from a second image capture position with the first and second imaging units, the second image capture position being different from the first image capture position, the corresponding points corresponding to the feature points; a rotation matrix calculator for calculating a first rotation matrix and a second rotation matrix based on the feature points and the corresponding points, the first rotation matrix representing direction and amount of rotation of the first imaging unit at the second image capture position relative to a direction of the first imaging unit or the second imaging unit at the first image capture position, the second rotation matrix representing direction and amount of rotation of the second imaging unit at the second image capture position relative to the direction of the first imaging unit or the second imaging unit at the first image capture position; a translation matrix calculator for calculating a first translation matrix and a second translation matrix based on the feature points and the corresponding points, the first translation matrix representing a translation direction of the first imaging unit at the second image capture position relative to a position of the first imaging unit or the second imaging unit at the first image capture position, the second translation matrix representing a translation direction of the second imaging unit at the second image capture position relative to the position of the first imaging unit or the second imaging unit at the first image capture position; a translation distance calculator for calculating a translation distance of the first imaging unit or the second imaging unit at the second image capture position relative to the first imaging unit or the second imaging unit at the first image capture position, the translation distance calculator calculating the translation distance based on the first rotation matrix, the second rotation matrix, the first translation matrix, the second translation matrix, and the baseline length in a case where at least one of the first rotation matrix and the second rotation matrix is not a zero matrix; and a three-dimensional data calculator for calculating three-dimensional data of the object based on the translation distance.