Three-dimensional measurement apparatus, model generation apparatus, processing method thereof, and non-transitory computer-readable storage medium

Patent metadata

Field	Value
Publication number	US-9355453-B2
Application number	US-201113517293-A
Country	US
Kind code	B2
Filing date	Feb 23, 2011
Priority date	Feb 26, 2010
Publication date	May 31, 2016
Grant date	May 31, 2016

Abstract

A three-dimensional measurement apparatus generates a plurality of view-point images obtained by observing a measurement object from a plurality of different view-points using a three-dimensional geometric model, detects edges of the measurement object from the plurality of view-point images as second edges, calculates respective reliabilities of first edges of the three-dimensional geometric model based on a result obtained when the second edges are associated with the first edges, weights each of the first edges based on the respective reliabilities, associates third edges detected from a captured image with the weighted first edges, and calculates a position and an orientation of the measurement object based on the association result.

First claim

The invention claimed is:

1. A three-dimensional measurement apparatus, which measures a position and an orientation of a measurement object using a three-dimensional geometric model that defines a shape of the measurement object using a plurality of first edges, said apparatus comprising:
an edge detection unit configured to detect, as second edges, edges corresponding to the plurality of first edges from the plurality of view-point images obtained by rendering the three-dimensional geometric model of a measurement object at a plurality of different view-points;
a counting unit configured to count a number of times the second edges are detected from the plurality of view-point images;
a reliability assigning unit configured to assign reliabilities of the plurality of first edges based on the number of times the second edges are detected from the plurality of view-point images;
an association unit configured to associate third edges detected from a captured image with the first edges; and
a position/orientation calculation unit configured to calculate a position and an orientation of the measurement object based on the association result and the assigned reliabilities of the first edges.

2. The apparatus according to claim 1 , wherein
said counting unit counts a number of times the second edges are associated with each of the first edges to obtain a count value;
said reliability assigning unit calculates a sum total of reliabilities of second edges associated with the first edges for each first edge; and
said reliability assigning unit assigns a reliability of each of the first edges by dividing the calculated sum total of the reliabilities by the count value.

3. The apparatus according to claim 2 , the reliabilities are further based on a luminance gradient of the second edge.

4. The apparatus according to claim 1 , further comprising:
a weighting unit configured to weight associations between the first edges and the second edges based on the assigned reliabilities.

5. The apparatus according to claim 1 , wherein said reliability assigning unit assigns reliabilities such that as the number of times the second edges are detected from the plurality of view-point images increases, a reliability assigned increases.

6. The apparatus according to claim 1 , further comprising:
an acquisition unit configured to acquire approximate values indicating an approximate position and orientation of the measurement object,
wherein the third edges are detected from the captured image based on the approximate values.

7. An apparatus comprising:
a feature detection unit configured to detect a plurality of features of a measurement object from the plurality of view-point images obtained by rendering the measurement object from a plurality of different view-points using a three-dimensional geometric model;
a counting unit configured to count a number of times each detected feature is detected from the plurality of view-point images;
a reliability setting unit configured to set, based on the number of times each detected feature is detected from the plurality of view-point images, reliabilities of each model feature corresponding to each detected feature;
a reliability obtaining unit configured to associate the detected features of the measurement object with model features of the three-dimensional geometric model, and obtain reliabilities of the model features of the three-dimensional geometric model based on the association result and the set reliabilities of the features of the measurement object; and
a generation unit configured to generate a reliability-assigned model by assigning the reliabilities of the model features to the model features of the three-dimensional geometric model.

8. A three-dimensional measurement apparatus, which measures a position and an orientation of a measurement object, said apparatus comprising:
a holding unit configured to hold a reliability-assigned model, wherein in the reliability-assigned model, reliabilities are assigned to model features constituting the reliability-assigned model, wherein a number of times model features are observed from images obtained by rendering the reliability-assigned model of the measurement object at the plurality of different view-points is counted and as the counted number of times the model features are observed increases, the assigned reliability increases;
a detection unit configured to detect features from a captured image obtained by capturing an image of the measurement object;
an association unit configured to associate the detected features with the model features of the three-dimensional geometric model; and
a position/orientation calculation unit configured to calculate a position and an orientation of the measurement object based on the association result and the assigned reliabilities of the model features.

9. A processing method of a three-dimensional measurement apparatus including at least a processor and a memory, which measures a position and an orientation of a measurement object using a three-dimensional geometric model that defines a shape of the measurement object using a plurality of first edges, the method comprising:
a step of detecting, with the processor, as second edges, edges corresponding to the plurality of first edges from the plurality of view-point images obtained by rendering the three-dimensional geometric model of a measurement object at a plurality of different view-points;
a step of counting a number of times the second edges are detected from the plurality of view-point images;
a step of assigning, with the processor, reliabilities of the plurality of first edges based on the number of times the second edges are detected from the plurality of view-point images;
a step of associating third edges detected from a captured image with the first edges; and
a step of calculating, with the processor, a position and an orientation of the measurement object based on the association result and the assigned reliabilities of the first edges.

10. A non-transitory computer-readable storage medium storing a computer program for controlling a computer incorporated in a three-dimensional measurement apparatus, which measures a position and an orientation of a measurement object using a three-dimensional geometric model that defines a shape of the measurement object using a plurality of first edges, to function as:
an edge detection unit configured to detect, as second edges, edges corresponding to the plurality of first edges from the plurality of view-point images obtained by rendering the three-dimensional geometric model of a measurement object at a plurality of different view-points;
a counting unit configured to count a number of times the second edges are detected from the plurality of view-point images;
a reliability assigning unit configured to assign reliabilities of the plurality of first edges based on the number of times the second edges are detected from the plurality of view-point images;
an association unit configured to associate third edges detected from a captured image with the first edges; and
a position/orientation calculation unit configured to calculate a position and an orientation of the measurement object based on the association result and the assigned reliabilities of the first edges.

11. The apparatus according to claim 7 , wherein the feature is at least one of an edge and point.

12. The apparatus according to claim 7 , wherein
said counting unit counts the number of times the second edges are associated with each of the first edges to obtain a count value;
said reliability obtaining unit calculates a sum total of reliabilities of second edges as

Assignees

• Watanabe Daisuke
• Fujiki Masakazu
• Uchiyama Shinji
• Canon Kk

Inventors

• Watanabe Daisuke
• Fujiki Masakazu
• Uchiyama Shinji

Classifications

• G06T7/75 Primary

  involving models · CPC title

• G06T7/0046 Primary

  Physics · mapped topic