POINT GROUP PIXEL POSITION DETERMINING APPARATUS, METHOD, AND PROGRAM

• Main Authors: GUNJI NAOYUKI, NIIGAKI JIN, TSUTSUGUCHI KEN, MURAZAKI KAZUHIKO, IGARASHI ISAMU, KINEBUCHI TETSUYA, ANDO SHINGO
• Format: Patent
• Language: English; Japanese
• Published: 21.06.2018
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; TESTING

PROBLEM TO BE SOLVED: To accurately determine pixel positions in an image corresponding to each of three-dimensional points.SOLUTION: A point group pixel position determination part 26 determines pixel positions in an image corresponding to each of three-dimensional points in a three-dimensional point group on the basis of a three-dimensional point group which is a set of three-dimensional points representing a position on the surface of an input object, an image picked up by a camera and a depth in each pixel in the image. A point group color determination part 28 determines a color to be given to each of the three-dimensional points in the three-dimensional point group on the basis of the pixel positions of the image corresponding to each of the three-dimensional points in the three-dimensional point group.SELECTED DRAWING: Figure 1 【課題】３次元点の各々に対応する画像の画素位置を精度良く決定することができる。【解決手段】点群画素位置決定部２６が、入力された、物体の表面上の位置を表す３次元点の集合である３次元点群と、カメラにより撮影された画像と、画像の各画素におけるデプスとに基づいて、３次元点群の３次元点の各々に対応する画像の画素位置を決定する。点群色決定部２８が、３次元点群の３次元点の各々に対応する画像の画素位置に基づいて、３次元点群の３次元点の各々に付与する色を決定する。【選択図】図１