Abstract: A point cloud data processing device extracts features of an object from point cloud data thereof and automatically generates a three-dimensional model in a short time. The device includes a non-plane removing unit for removing points of non-plane areas from the point cloud data, and a plane labeling unit for adding identical labels to points in the same planes other than the points that are removed by the non-plane removing unit so as to segment the point cloud data into planes. The device also includes a three-dimensional edge extracting unit for extracting three-dimensional edges based on at least one of lines of intersections of the segmented planes and convex lines that convexly cover the segmented planes. The device further includes a two-dimensional edge extracting unit for extracting two-dimensional edges from within the segmented planes, and an edge integrating unit for integrating the three-dimensional edges and the two-dimensional edges.

Abstract: To provide a color-coded target having a color code of colors chosen not to cause code reading errors and technique for automatically detecting and processing the targets. The color-coded target CT1 of this invention includes, on its surface: a position detecting pattern P1 indicating a position to be measured; a reference color pattern P2 having a plurality of unit areas tinted in different colors for use as color references; and a color code pattern P3 having a plurality of unit areas tinted in different colors for discriminating the targets. The colors of the color code pattern P3 are chosen so that adjacent colors in the HSI color space are different in at least one of hue, saturation, and intensity by a specified value or greater.

Abstract: An image photographing device for three-dimensional measurement is provided that enables efficient photographing with just sufficient images in a case that a photographer uses a single camera to photograph while moving. An image photographing device 1 for three-dimensional measurement sequentially photographs a measuring object in an overlapping manner by a single camera.

Abstract: The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.

Abstract: The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.

Abstract: A position measurement method includes an exterior orientation parameter correcting step S11 for correcting exterior orientation parameters calculated in a step S10, based on difference between photographing timing of an image and obtaining timing of a photographing position and/or a photographing posture measured outside, a bundle-adjusting step S12 for simultaneously adjusting a bundle of the exterior orientation parameters of one or more images and three-dimensional coordinates of characteristic points, based on the exterior orientation parameters corrected by the step S11, a three-dimensional coordinate calculating step S13 for calculating three-dimensional coordinates of characteristic points subsequently detected in an area in which the density of the characteristic points is decreased, based on the exterior orientation parameters adjusted bundle thereof, and a repeating step for repeating processing from the steps S10 to S13 until the image becomes a final image.

Abstract: An edge extraction device can reduce detected noise other than a contour of an article, and can improve the operability. The edge extraction device includes: an edge detection section which calculates edge strength from an image and detects an edge; a labeling processing section which performs labeling processing on the edge detected by the edge detection section and calculates a length of the edge; an edge enhancement processing section which performs edge enhancement processing by using a value corresponding to the length of the edge, which is calculated by the labeling processing section, and the edge strength, which is calculated by the edge detection; and an edge extraction section which performs binarization processing on a value of the image, which is enhanced by the edge enhancement processing section, by using an adjustable threshold value, and extracts a predetermined edge.

Abstract: A position measurement device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images.

Abstract: An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.

Abstract: A technique is provided that can precisely measure the photographing position and posture of a photographing device and the coordinates of an object from moving images or photographed images that sequentially change gradually, even in the case with the need to process the sway of the photographing device and the disappearance and reappearance of characteristic points.

Abstract: This invention provides a three-dimensional measurement system that improves the efficiency of and enables the automation of non-contact three-dimensional measurement over a wide range using a coded target. A measuring object 1 is photographed in stereo such that the resulting images include four coded marks CT each having a position detection pattern P1 and a code pattern P3. A series of images are photographed in stereo such that adjacent images share two coded marks CT. The position detection pattern P1 and the code pattern P3 are extracted from a pair of photographed images. A point corresponding to a reference point is searched for using the identification codes of the coded marks CT. A stereo matching area is determined. All the processes including photographing, extraction, orientation and three-dimensional measurement can be fully automated.

Abstract: To realize high speed and high precision with device and method of three-dimensional measurement by applying estimating process to points corresponding to feature points in a plurality of motion frame images. With the device and method of calculating location information through processes of choosing a stereo pair, relative orientation, and bundle adjustment and using corresponding points of feature points extracted from respective motion frame images, each process is made up of two stages. To the first process section (stages: 5A and 6A), robust estimation is applied to determine estimated values of calculation parameters. In the second process section (stages: 5B and 6B), corresponding points and stereo pair of large residual errors are excluded, and estimating calculation is carried out again to make measurements in three dimensions.

Abstract: With apparatus and method for measuring in three dimensions by applying an estimating process to points corresponding to feature points in a plurality of motion image frames, high speed and high accuracy are realized. The apparatus comprises: a first track determining section (4B) that determines corresponding points of feature points extracted from frames of motion images and estimates by robust estimation a coordinate transformation projection parameters between frames using part of the determined corresponding points, a second track determining section (4C) that utilizes the estimated value to determine coordinate values of estimated location of each corresponding point, to determine residuals of the coordinate values relative to the estimated values for each corresponding point, to apply threshold process, and to exclude points of large residuals as incorrect corresponding points.

Abstract: An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.

Abstract: An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.

Abstract: A three-dimensional image display apparatus is provided that can integrate and visualize 3D measurement data obtained from a stereo image with an image of a measuring object to which stereoscopic texture is applied. The apparatus includes: an orientation section for finding relationship as to corresponding points in a stereo image of a measuring object; a three-dimensional coordinate data section for obtaining three-dimensional coordinate data on the corresponding points of the measuring object; a model forming section for forming a model of the measuring object based on the three-dimensional coordinate data on the corresponding points; an image correlating section for correlating the stereo image of the measuring object stored in the stereo image data storage section and the model formed by the model forming section; and a model display section for displaying an image of the measuring object to which stereoscopic texture is applied.

Abstract: An image calibration method according to the present invention includes the steps of receiving a calibration request from a user terminal 20 (S10), receiving a calibration object image photographed in accordance with an instruction for calibration photographing (S16), performing a calibration process using the received calibration object image (S26), receiving a subject image photographed by a camera 2, transmitted from the user terminal 20 (S30), performing a calibration on the subject image in accordance with results of the calibration process to form a corrected subject image (S32), and returning the formed corrected subject image to the user terminal 20 (S34). The present invention allows acquisition of a corrected subject image in which distortions due to the camera lens are corrected even for those unskilled in three-dimensional measurement based on the principle of the stereo method, precise two-dimensional measurement, and precise image formation.

Abstract: The present invention provides a three-dimensional image measuring apparatus and method capable of measuring projections and depressions on a surface of an object with fine precision, as well as ensuring stable convergence, even for stereo images with significant project distortion.

Abstract: An automatic suction device for an eyeglass lens and a method for determining suction jig installation position, capable of recognizing that a frame exchange lens holder is being installed on a placement table, making transition to installation work of a frame exchange mode, and avoiding an erroneous contact between the frame exchange frame and a lens holding frame. The kind of holding means placed on the placement table is determined from an image of the inside of an opening (141), which image is taken by a CCD camera (105), and the installation position of a suction jig (121) at an eyeglass lens (L) placed on a frame exchange lens holder (300) is obtained.

Abstract: A measurement processing block obtains a plurality of first images of the object to be measured, taken with very small movements in the imaging area. A feature extraction processing block extracts an approximate feature portion of the object from the first images obtained by the measurement processing block. A partial-image creation processing block creates a plurality of first partial images by grouping the plurality of first images obtained by the measurement processing block in the vicinity of the approximate feature portion extracted by the feature extraction processing block. A super-resolution-image creation processing block creates a super-resolution image from the plurality of first partial images created by the partial-image creation processing block. Thus, detailed features of the object are measured precisely and easily even when the object is located far away.