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WO2019093062A1 - Dispositif de mesure, procédé de commande de dispositif de mesure, programme de mesure et support d'enregistrement - Google Patents

Dispositif de mesure, procédé de commande de dispositif de mesure, programme de mesure et support d'enregistrement Download PDF

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Publication number
WO2019093062A1
WO2019093062A1 PCT/JP2018/037930 JP2018037930W WO2019093062A1 WO 2019093062 A1 WO2019093062 A1 WO 2019093062A1 JP 2018037930 W JP2018037930 W JP 2018037930W WO 2019093062 A1 WO2019093062 A1 WO 2019093062A1
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Prior art keywords
measurement
distance
output
measurement value
captured image
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English (en)
Japanese (ja)
Inventor
大輔 村山
徳井　圭
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Sharp Corp
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Sharp Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor

Definitions

  • the present invention relates to a measuring device and the like that measure measurement values such as the three-dimensional position and length of a measurement point.
  • measurement values such as the three-dimensional position and length of a measurement point.
  • a technique using a measuring device or the like that measures the distance from an imaging device to a measurement point, the length between measurement points, and the area without contact.
  • Examples of this technology include a stereo method in which distance measurement is performed based on the principle of triangulation, and a TOF (Time Of Flight) method in which distance measurement is performed based on a phase difference of reflected light of a laser or reception time. The measurement of the measurement point is performed based on the distance measured by these.
  • Patent Document 1 a stereo method is used to calculate three-dimensional coordinates corresponding to each of a measurement position designated on a captured image and a predetermined position on the captured image, and based on the three-dimensional coordinates corresponding to the measurement position.
  • An endoscope apparatus for measuring the size of a subject is described.
  • the measurement value of the measurement point changes every time measurement, so the measurement value with high accuracy May not be able to measure.
  • the endoscope apparatus described in Patent Document 1 calculates an estimated value of the variation of the three-dimensional coordinate corresponding to the measurement position, and calculates the size of the object to be measured based on the estimated value of the variation of the three-dimensional coordinate. An estimate of the variability of the measurements is being calculated. Then, the endoscope apparatus displays the measurement value and the information on the variation of the measurement value on the display unit.
  • the technique described in Patent Document 1 requires the user to present both the measurement value that changes each time of measurement and the information of the variation, and to confirm the measurement value when the variation becomes smaller. Therefore, according to the technique described in Patent Document 1, it is not possible to present the measurement value in a state easy for the user to understand.
  • the present invention has been made in view of the above-described point, and an object thereof is to provide a measurement device capable of presenting measurement values measured with higher accuracy in a state in which the user can easily understand.
  • a measurement apparatus including: an output unit that outputs a measurement value based on positions of one or more measurement points on a captured image in which one or more measurement points appear; After the output unit outputs the measurement value based on the first position, which is the position of the one or more measurement points in, the second position, which is the position of the one or more measurement points on the second captured image Whether or not the output unit outputs the measured value is (i) a change between first distance information corresponding to the first position and second distance information corresponding to the second position; And (ii) an output control unit configured to control in accordance with at least one of changes between the first position and the second position.
  • a control method of a measurement apparatus includes an output step of outputting a measurement value based on the position of the one or more measurement points on the captured image in which the one or more measurement points appear. After outputting the measurement value based on the first position, which is the position of the one or more measurement points on the captured image, in the output step, the second one that is the position of the one or more measurement points on the second captured image Whether to output a measurement value based on position in the output step, (i) between first distance information corresponding to the first position and second distance information corresponding to the second position And (ii) an output control step of controlling in response to at least one of the change between the first position and the second position.
  • FIG. 1 is a block diagram showing a configuration of a measurement device according to Embodiment 1.
  • FIG. 6 is a view showing an example of a captured image and measurement values displayed on the display unit of the measurement device according to the first embodiment.
  • FIG. 6 is a view showing an example of a captured image and measurement values displayed on the display unit of the measurement device according to the first embodiment.
  • It is a flowchart which shows an example of the flow of the measurement process which the measuring device which concerns on Embodiment 1 performs.
  • It is a figure which shows an example of the captured image displayed on the display part of the measuring device which concerns on Embodiment 5, and a measured value.
  • It is a figure which shows an example of the captured image displayed on the display part of the measuring device which concerns on Embodiment 5, and a measured value.
  • FIG. 1 is a block diagram showing the configuration of a measuring device 1 according to the present embodiment.
  • the measuring device 1 according to the present embodiment includes a measurement value calculation unit (output unit) 10, an output determination unit (output control unit) 11, and a display unit 12.
  • the measuring device 1 receives image information, image coordinate information (hereinafter also referred to as image coordinates), and information of measuring points including distance information etc. from the outside of the measuring device 1, and the measuring device 1 receives the information of the measuring points. Output the corresponding measurement value.
  • the measurement device 1 can be realized by software processing using a central processing unit (CPU) or graphics processing unit (GPU), and an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). It can also be realized by hardware processing by.
  • CPU central processing unit
  • GPU graphics processing unit
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the measurement value calculation unit 10 the output determination unit 11, and the display unit 12 that constitute the measurement device 1 will be described.
  • the measurement value calculation unit 10 outputs measurement values based on the positions of one or more measurement points on the captured image.
  • the measurement value calculation unit 10 copes with the position of the measurement point based on the information of the measurement point including the image coordinate information of the captured image input to the measurement device 1 and the distance information of one or more measurement points.
  • the three-dimensional position information (hereinafter also referred to as three-dimensional coordinates) on the real space to be calculated is calculated.
  • the measurement value calculation unit 10 calculates a measurement value based on the three-dimensional position information.
  • the measurement value calculation unit 10 outputs the measurement value to the display unit 12.
  • the image information is a two-dimensional image in which an object to be measured including a measurement point is imaged by an imaging device (an imaging unit having an imaging element) provided outside the measuring device 1 (not shown in FIG. 1) It is information of an image.
  • Image coordinate information is coordinate values of measurement points in a two-dimensional coordinate system on a captured image.
  • the distance information is information on the distance indicating the distance between the imaging device and the measurement point of the subject.
  • the measurement value is a value related to the information of the measurement point. Details of the image information, the image coordinate information, the distance information, and the measurement value will be described later.
  • the measurement value calculation unit 10 calculates the measurement value from the measurement point information including the image information, the image coordinate information, and the distance information in the measurement point information, but in the present embodiment It is not limited to. In the present embodiment, measurement values may be calculated from three-dimensional position information directly input from the outside instead of these pieces of information. Also in this case, the measurement value of the measurement point can be calculated as in the above-described example.
  • the output determination unit 11 outputs the first measurement value based on the first position, which is the position of the one or more measurement points on the first captured image, on the second captured image.
  • the first distance corresponding to the first position whether or not the measurement value calculation unit 10 outputs to the display unit 12 a second measurement value based on the second position, which is the position of the one or more measurement points in Control is performed in accordance with at least one of a change between information and second distance information corresponding to the second position, and a change between the first position and the second position.
  • the output determination unit 11 causes the measurement value calculation unit 10 to output the second measurement value to the display unit 12. Details of the process of the output determination unit 11 will be described later.
  • the first distance information refers to distance information related to the distance between the imaging device and the measurement point on the first captured image
  • the second distance information refers to the imaging device and the second captured image It is distance information on the distance to the upper measurement point.
  • the first measurement value is a measurement value that has already been measured
  • the second measurement value is a measurement value that can be newly measured at the same or substantially the same measurement point as the measurement point that has already been measured. It is.
  • the information of the measurement point to be referred to in the determination of the output determination unit 11 may be information including distance information and three-dimensional position information calculated by the measurement value calculation unit 10. Further, similarly to the information of the measurement point referred to by the measurement value calculation unit 10 described above, the information of the measurement point may be information including image information, image coordinate information, distance information, and the like. From this, as shown in FIG. 1, when the image information, the image coordinate information, and the distance information are input to the measurement value calculation unit 10, the output determination unit 11 calculates the three-dimensional position information calculated by the measurement value calculation unit 10.
  • the output determination may be performed based on
  • the output determination unit 11 performs output determination based on the image information, the image coordinate information, and the distance information before the measurement value calculation unit 10 calculates the three-dimensional position information, and then the measurement value calculation unit 10 determines the three-dimensional information.
  • Position information may be calculated. Similar effects can be achieved in either case.
  • the measurement value calculation unit 10 Based on the above-described determination by the output determination unit 11, the measurement value calculation unit 10 outputs the second measurement value to the display unit 12 or does not output the second measurement value to the display unit 12. Thereby, the first measurement value is updated and displayed on the display unit 12 to the measurement value measured with higher accuracy, or the same measurement value as the previous time is displayed without being updated. As a result, it is possible to present the measurement values measured with higher accuracy in a state easy for the user to understand.
  • the display unit 12 displays a captured image based on image information input from the outside of the measurement device 1 and a measurement value input from the measurement value calculation unit 10.
  • the display unit 12 is a display device including, for example, a liquid crystal element and an organic EL (Electro Luminescence) as pixels. More specifically, the display unit 12 is a display of a television display, a monitor for a PC (Personal Computer), or a portable terminal such as a smartphone or a tablet terminal.
  • the captured image may not be displayed on the display unit 12.
  • captured images of both the position of the measurement point and the measurement value are displayed.
  • the measurement value can be presented in a state easy to understand by the user.
  • the measurement value may be output to the outside of the measuring device 1 by audio output or the like. That is, the measurement value calculation unit 10 may not include the display unit 12 and may output the measurement value to the outside of the measurement device 1 instead of outputting the measurement value to the display unit 12. Also in this case, the same effect as when the measurement value is displayed on the display unit 12 is obtained.
  • the measuring device 1 contains the display part 12, instead of providing the display part 12 inside the measuring device 1, you may provide a display apparatus outside the measuring device 1.
  • the image information is information on a two-dimensional captured image in which an object to be measured including a measurement point is imaged by an imaging device provided outside the measurement device 1 (not shown in FIG. 1).
  • the image information also includes information on camera parameters of an imaging device that has captured a captured image.
  • the imaging apparatus includes, for example, an optical system such as a lens module, an imaging device such as a CCD (Charge Coupled Device) and a Complementary Metal Oxide Semiconductor (CMOS), an analog signal processor, an A / D (Analog / Digital) converter, and the like. , And outputs a signal from an image sensor as a captured image.
  • the camera parameters include the resolution of the captured image, the focal length of the imaging device, information on lens distortion, coordinates of the image center position, and information on the positional relationship of the imaging device.
  • the captured image may be a still image captured by an imaging device, or may be an image representing one of a plurality of frames constituting a moving image. In the case of a still image, a captured image captured at a predetermined interval is preferable. Further, in the case of a moving image, a captured image in which successive frames are sequentially input is preferable. At least information on the above-mentioned camera parameters in the image information is input to the measurement value calculation unit 10.
  • the measuring apparatus 1 includes an imaging device as an imaging unit 13 (not shown), and uses information of a captured image captured by the imaging unit as image information and displays the captured image on the display unit 12 It is also good. Also with such a configuration, it is possible to present the measurement values measured with high accuracy in a state easy for the user to understand.
  • the distance information is information related to the measurement point captured in the captured image, and is information indicating the distance from the imaging device capturing the captured image to the measurement point on the subject captured in the captured image.
  • the distance mentioned here means the distance in the optical axis direction of the imaging device.
  • the distance information corresponding to the position of the measurement point on the captured image means the distance from the imaging device that has captured the captured image to the position on the subject corresponding to the position of the measurement point on the captured image Indicates the indicated distance information.
  • Such distance information can be easily derived from the position of the measurement point on the captured image by the stereo method or TOF method as described later.
  • the distance information input to the measuring device 1 is acquired by a stereo method. Therefore, the output determination unit 11 has a measurement accuracy higher than any of the information of the measurement point on the second captured image and the information of the measurement point on the first captured image according to the feature of the stereo method. Conditions are set to determine whether measurement values can be calculated.
  • an object to be measured is imaged by at least two or more imaging devices as a reference imaging device and another imaging device, and distance information of one or more measurement points is one or more measurement points.
  • the image information input to the measuring device 1 is a captured image of an imaging device serving as a reference and a camera parameter
  • the camera parameter includes information indicating the positional relationship of a plurality of imaging devices.
  • the measurement value calculation unit 10 since the distance information is information indicating the same value as the Z coordinate value of the three-dimensional position information, the measurement value calculation unit 10 does not acquire the distance information input from the outside, but from the three-dimensional position information. Distance information may be acquired.
  • the measuring device 1 may further include a distance measuring device (not shown), the distance measuring device may obtain distance information, and the distance measuring device may input the distance information to the measurement value calculation unit 10. .
  • the measurement value calculation unit 10 obtains the distance information by the stereo method, and the output determination unit 11 performs the output determination of the measurement value based on the distance information, but in the present embodiment It is not limited to this.
  • the distance information may be obtained by another method.
  • a TOF system etc. can be mentioned, for example.
  • the TOF method since distance measurement is performed using the reflection of a laser, there is a possibility that the measurement of measurement points can not be performed or the measurement accuracy is reduced due to the influence of sunlight.
  • the output determination unit 11 perform the output determination according to the change in measurement accuracy due to the state of sunlight when measuring the measurement point.
  • the output determination unit 11 performs the output determination according to a change in measurement accuracy caused by the characteristics of each acquisition method. Is preferred.
  • Image coordinate information is information on coordinate values of measurement points in a two-dimensional coordinate system of a captured image.
  • the image coordinate information also includes information for determining whether the measurement point on the second captured image is a measurement point on the first captured image.
  • FIG. 2 is a view showing an example of the captured image 40 and the measurement value 41 displayed on the display unit 12 of the measuring device 1.
  • the captured image 40 and the measurement value 41 are displayed on the display unit 12, and the measurement point 21 on the captured image 40 is displayed as a cross symbol indicating the position of the measurement point 21 on the captured image 40. It is done.
  • the subject 20 and the measurement point 21 designated by the user are shown in FIG.
  • the coordinate value 22 of the measurement point 21 indicates, for example, the position of the measurement point displayed on the captured image 40 of the preview display displayed on the display unit 12 by providing an input device (not shown) outside the measurement device 1 By operating the input device while confirming the symbol or the coordinate value 22, it is possible to obtain a value desired by the user.
  • an input device input devices, such as a mouse and a keyboard, can be mentioned, for example.
  • the method of setting the coordinate value 22 of the measurement point 21 is not limited to the above-described method, and any method may be used as long as the coordinate value 22 of the measurement point 21 desired by the user is obtained.
  • the measurement point 21 can be set automatically. For example, representative image data of a subject to be measured is registered in a storage unit (not shown) of the measuring device 1 and the representative image data is searched for in the captured image 40 displayed on the display unit 12. The calculation unit 10 may automatically acquire the coordinate value 22 of the measurement point 21 on the captured image 40.
  • a moving image is preview-displayed by displaying the captured image of each flame
  • the user may designate the measurement point 21 on the captured image 40 while checking the preview display, and set the position of the measurement point 21 as the coordinate value 22 of the measurement point 21. Further, in this case, the measurement point 21 once designated by the user in a certain frame may be automatically set by following in the subsequent frames.
  • the automatic setting of the measurement point 21 can be performed by the method of registering the representative image data described above. The method of setting automatically following the measurement point 21 is not limited to the above-described example, and any method may be used as long as the same or substantially the same position can be followed and set.
  • the measuring device 1 further includes an input unit (not shown), and the user designates the measurement point 21 by the input unit, and the measurement value calculation unit 10 acquires image coordinate information from the measurement point 21. It is also good.
  • the measuring device 1 when the measuring device 1 is provided with both the input part and the display part 12, the measuring device 1 may be provided with a touch panel as an apparatus which integrated these, for example.
  • a touch panel there can be mentioned, for example, a resistive film type, an electrostatic capacity type, and the like.
  • the image coordinate information may be used to calculate the three-dimensional position information and to determine whether the measurement point on the second captured image is the measurement point on the first captured image. .
  • the coordinate value of the measurement point regarding the image coordinate information is displayed as the measurement value. It may not be displayed on the part 12.
  • the measurement value is a value related to the information of the measurement point, and indicates, for example, a three-dimensional position, a length, an area, a volume, or an angle. More specifically, when there is one measurement point as shown in FIG. 2, the measurement value is information on the distance between the imaging device and the measurement point, or information representing three-dimensional position information on the measurement point. Further, in the present embodiment, the measurement value may be a value related to information of two or more measurement points. When the number of measurement points is two or more, the measurement value calculation unit 10 can calculate various measurement values based on three-dimensional position information of a plurality of measurement points.
  • the angle which a minute or a surface makes with other measurement points, a straight line, a line segment or a surface can be mentioned.
  • the height and width of the object to be measured, the peripheral length of the object to be measured, the diameter and the length of the arc, and the length of the object to be measured in the form of an irregular object such as a string can be mentioned.
  • the measurement value calculation unit 10 calculates three-dimensional position information of each measurement point, and calculates the above-described measurement value based on the three-dimensional position information of each measurement point.
  • Each measurement value can be calculated from the three-dimensional position information by a known method, and the detailed description thereof will be omitted.
  • the calculated measurement value is displayed on the display unit 12, for example, as shown in FIG.
  • the distance between the imaging device and the measurement point 21 may be displayed as a measurement value 41.
  • FIG. 2 is an example of display, and the display method is not limited to this.
  • the measurement point 21 and the measurement value 41 may be displayed so as to be easily recognized by the user.
  • FIG. 3 is a view showing an example of the captured image 42 and the measurement value 43 displayed on the display unit 12 of the measuring device 1. As shown in FIG. 3, the measurement value 43 may be displayed superimposed on the captured image 42.
  • the measurement value calculation unit 10 acquires three-dimensional position information of the measurement point based on the image information, the image coordinate information, and the distance information.
  • the image information is information on camera parameters of the imaging device
  • the image coordinate information is information on two-dimensional coordinates on the captured image of the measurement point.
  • the distance information is information on the distance between the imaging device and the subject captured at the position of the measurement point in the optical axis direction of the imaging device which has captured the captured image.
  • the three-dimensional coordinates (Xp, Yp, Zp) of the measurement point are calculated by the following equation (1).
  • f shown in equation (1) represents the focal length of the imaging device
  • c u represents the image center coordinates in the horizontal direction
  • c v represents the image center coordinates in the vertical direction.
  • (u, v) are image coordinates when the coordinates of the upper left end of the captured image are (0, 0) and the coordinates of the lower right end are (horizontal resolution -1, vertical resolution -1).
  • the calculated three-dimensional coordinates of the measurement point are represented by a three-dimensional coordinate system based on the imaging device.
  • the distance Z between the imaging device and the measurement point and Zp of the three-dimensional coordinate of the measurement point are the same. That is, the distance information of the measurement point is one of three-dimensional position information.
  • the measurement value calculation unit 10 calculates three-dimensional position information of the measurement point from the image information, image coordinate information, and distance information input from the outside.
  • the measurement value calculation unit 10 calculates a measurement value based on the three-dimensional position information of the measurement point.
  • measurement values can be calculated from three-dimensional position information by a known method, as described above.
  • the output determination unit 11 transmits the second measurement value from the measurement value calculation unit 10 to the display unit 12 based on the information on the measurement point on the second captured image and the information on the measurement point on the first captured image. It is determined whether or not to output. For example, the output determination unit 11 determines whether the second measurement value is a measurement value with higher accuracy than the first measurement value based on the information of the measurement point on the second captured image. More specifically, the output determination unit 11 is based on whether or not the second distance information corresponding to the second position indicates a distance that is shorter than the first distance information corresponding to the first position by a threshold or more. It controls whether the measurement value calculation unit 10 outputs the second measurement value.
  • the threshold can be arbitrarily set by the user. For example, when the user sets the threshold to 10 mm and the second distance is 10 mm or more smaller than the first distance, the output determination unit 11 outputs the second measurement value from the measurement value calculation unit 10 to the display unit 12 Let
  • the stereo method in general, distance measurement is performed based on a captured image, and therefore the accuracy of distance measurement also changes due to the influence of distortion of the lens of the imaging device. Therefore, even when the same position of the same measurement target is measured, if the positional relationship between the imaging apparatus and the measurement target changes, the accuracy of ranging changes, and the output measurement value also changes. Therefore, when the same position is measured a plurality of times, the measurement value changes every time of measurement. As a result, the measured value displayed on the display unit 12 changes every time the measurement is performed, so that the visibility decreases and the measured value can not be output in a state easy for the user to understand.
  • the output determination unit 11 can determine whether the second measurement value is measured under the condition that the accuracy is higher than the first measurement value. When it is determined that the condition is such that the accuracy is high, the output determination unit 11 can output the second measurement value from the measurement value calculation unit 10 to the display unit 12. As a result, since the measurement value is updated only when the accuracy of the measurement value is improved, the user can easily check only the measurement value with the highest accuracy at that time. In addition, since the measurement value is not updated when the accuracy is lowered, the measurement value is measured with the highest accuracy among the measurement values of the measurement points measured up to the previous time and is displayed on the display unit 12 The measured value does not change, and a drop in measurement accuracy and visibility can be prevented.
  • FIG. 4 is a flowchart showing an example of the flow of measurement processing of the measuring device 1. Every time various information is input to the measuring device 1, the process of the flowchart shown in FIG. 4 is performed. Therefore, for example, when successive frames of a moving image are sequentially input, the following processing is performed on each frame.
  • Step S101 In step S101, the image information, the image coordinate information, and the distance information are input from the outside to the measurement value calculation unit 10 in the measuring device 1.
  • Step S102 the measurement value calculation unit 10 outputs measurement values corresponding to the one or more measurement points based on the positions of the one or more measurement points on the captured image. Specifically, the measurement value calculation unit 10 outputs the measurement value of the measurement point based on the image coordinate information and the distance information corresponding to the image coordinate information (output step).
  • Step S103 In step S103, if the newly measured measurement point is a measurement point corresponding to the previously measured measurement point, the output determination unit 11 proceeds to the process of step S104, and if not, Then, the process proceeds to step S105.
  • the output determination part 11 abbreviate
  • step S103 is omitted and the process proceeds to step S104. May be
  • Step S104 In step S104, after the output determination unit 11 outputs the first measurement value in the output step of step S102, the first position and the second position indicate whether the second measurement value is to be output in the output step. Control according to the change between (output control step).
  • the output determination unit 11 determines whether or not the second measurement value can be measured with higher accuracy than the first measurement value. When the second measurement value is measured under the condition that can be measured with higher accuracy than the first measurement value, the output determination unit 11 proceeds to the process of step S105. When the second measurement value is not measured under the condition that can be measured with higher precision than the first measurement value, the output determination unit 11 performs the step without causing the measurement value calculation unit 10 to output the second measurement value. It shifts to the processing of S106.
  • Step S105 In step S105, the output determination unit 11 causes the measurement value calculation unit 10 to output the second measurement value to the display unit 12.
  • Step S106 In step S106, the display unit 12 displays a captured image based on image information input from the outside of the measuring device 1 and the measurement value input from the measurement value calculation unit 10.
  • the output determination of the second measurement value is performed according to the information of the measurement point, for example, the magnitude relation of the distance between the imaging device and the measurement point, and the measurement value is output. Therefore, the second measurement value is not output when the distance between the imaging device and the measurement point on the second captured image is longer and the measurement accuracy of the first measurement value is lower.
  • the measurement value is output only when the distance between the imaging device and the measurement point on the second captured image is shorter and higher than the measurement accuracy of the first measurement value. This allows the user to easily confirm higher measurement values.
  • the second measurement value is not output. Therefore, in this case, the measured value to be displayed does not change, and the user's visibility can be prevented from being lowered.
  • the distance between the imaging device and the measurement point has a great influence on the measurement accuracy.
  • the distance between the imaging device and the measurement point is calculated based on parallax information of an image captured by a stereo camera.
  • the parallax information is discrete information, and the resolution is higher as the distance between the stereo camera and the captured image is smaller, and the resolution is reduced as the distance between the stereo camera and the captured image is larger.
  • the resolution also changes according to the distance between the stereo camera and the captured image, which affects the measurement accuracy of the measurement point.
  • the measurement value of the measurement point changes every measurement depending on the distance between the imaging device and the measurement point.
  • the measurement process described above presents the user with a more accurate measurement value by comparing the information of the measurement point including the second distance information with the information of the measurement point on the first captured image. Do. Therefore, the above-mentioned measurement processing can be suitably used especially when it is measurement processing by the stereo method which uses imaging devices, such as a stereo camera.
  • the captured image and the measurement value are displayed on the display unit 12 in step S106.
  • the captured image and the measured value may be displayed on the display unit 12 after the step S106 if it is the step S105 and subsequent steps of outputting the measured value. That is, a further step may be included between step S105 and the step of displaying the captured image and the measurement value on the display unit 12.
  • the measuring device 1 may not include the display unit 12, and the output determination unit 11 may cause the measurement value calculating unit 10 to output the measurement value to the outside of the measuring device 1.
  • the output determination unit 11 omits the process of step S106, outputs the measured value to the outside of the measuring device 1 in step S105, and ends the measurement process.
  • the output determination unit 11 of the measuring device 1 determines the second measurement value based on whether or not the second distance information indicates a distance shorter than the first distance information by a threshold value or more. It is determined whether or not the measurement value calculation unit 10 outputs.
  • the output determination unit 110 determines the distance between the imaging device and the measurement point and the reference distance when the imaging device is calibrated. The output determination may be performed based on the above.
  • the measuring device 2 according to the second embodiment will be described.
  • symbol is appended and the description is abbreviate
  • the measurement device 2 includes an output determination unit 110 instead of the output determination unit 11. Except for this point, the measuring device 2 has the same configuration as the measuring device 1.
  • the output determination unit 110 determines whether the measurement value calculation unit 10 outputs the second measurement value based on whether or not the second distance information indicates a distance closer to the reference distance than the first distance information. Determine (control) whether or not. For example, when the difference between the second distance and the reference distance is smaller than the difference between the first distance and the reference distance by the threshold or more, the output determination unit 110 measures the second measurement value as the measurement value calculation unit 10. Output to the display unit 12.
  • the threshold can be set by the user to an arbitrary value such as 10 mm.
  • the reference distance means the installation position of the calibration board when the imaging device is calibrated, that is, the distance between the imaging device and the calibration board.
  • the image information input to the measurement value calculation unit 10 includes camera parameters.
  • the camera parameters include information of the imaging device, and calibration of the imaging device is performed in advance so that the information of the imaging device is included in the camera parameters.
  • calibration is performed on a plurality of imaging devices, and represents a positional relationship between the imaging devices and internal parameters representing information such as focal length and lens distortion of each imaging device. External parameters are obtained as camera parameters.
  • the stereo method distortion of each captured image is corrected based on internal parameters, and the captured images are rotated and translated based on the external parameters, thereby collimating captured images of a plurality of imaging devices.
  • pixel shift (disparity value) of the position of the subject shown in each captured image is calculated based on the corrected and parallelized captured image, and measurement is performed with the imaging device based on the parallax value and the camera parameter. Calculate the distance to the point.
  • Calibration of a plurality of imaging devices is generally performed by simultaneously photographing a calibration board on which a pattern is drawn by a plurality of imaging devices.
  • the external parameter is acquired by estimating the positional relationship between the imaging devices from the positional relationship of the patterns on the calibration board captured in the captured image of each imaging device.
  • the positional relationship between the imaging devices is the positional relationship based on the position of the pattern when the calibration board is photographed, and the parallelization of a plurality of photographed images is performed by image conversion based on the position of the calibration board .
  • the accuracy of the parallelization decreases with distance from the imaging position of the calibration board.
  • the accuracy of the distance information on the distance between the imaging device and the measurement point calculated based on the parallelized captured image becomes higher as the measurement point is closer to the imaging position of the calibration board. That is, when the difference between the distance between the imaging device and the measurement point and the reference distance which is the distance between the imaging device and the calibration board is small, the measurement accuracy of the measurement value is high.
  • the output determination unit 110 transmits the second measurement value from the measurement value calculation unit 10 to the display unit 12 Make it output. Therefore, the measurement device 2 including the output determination unit 110 can present the measurement value measured with higher accuracy to the user in an easy-to-understand manner, similarly to the measurement device 1 according to the first embodiment.
  • the measurement process (the control method of the measurement device) by the measurement device 2 according to the present embodiment is executed in steps S201 to S206.
  • Steps S202, S203, S205, and S206 are the same as steps S102, S103, steps S105, and S106 in the measurement process of the measuring device 1 according to the first embodiment, and thus the description thereof is omitted.
  • Step S201 In step S201, the image information, the image coordinate information, and the distance information are input from the outside to the measurement value calculation unit 10 in the measuring device 2.
  • the image information further includes information of the reference distance, in addition to the above-described camera parameters.
  • Step S204 the output determination unit 110 calculates a difference between the distance between the imaging device and the measurement point and the reference distance, and performs output determination based on the magnitude relationship of the difference (output determination step). More specifically, when the difference between the second distance and the reference distance is smaller than the difference between the first distance and the reference distance, the output determination unit 110 proceeds to the process of step S205. Do. Then, the output determination unit 110 causes the measurement value calculation unit 10 to output the second measurement value to the display unit 12. Thus, when the second distance is closer to the reference distance than the first distance, the output determination unit 110 determines that the position of the measurement point on the second captured image is If it is close to the position, the second measurement value is output from the measurement value calculation unit 10 to the display unit 12.
  • the output determination units 11 and 110 determine the magnitude relationship between the distance between the imaging device and the measurement point, and the magnitude relationship between the distance between the imaging device and the measurement point and the reference distance. The output determination is performed based on any of the above. However, as in the measurement apparatus 3 according to the third embodiment, the output determination unit 210 replaces the output determination units 11 and 110 with the magnitude relationship of the distance between the imaging apparatus and the measurement point, and the imaging apparatus and the measurement point The output determination may be performed based on both of the distance of and the magnitude relationship of the difference value with the reference distance.
  • the measuring device 3 according to the third embodiment will be described.
  • symbol is appended and the description is abbreviate
  • the measuring device 3 includes an output determination unit 210 instead of the output determination unit 11. Except for this point, the measuring device 3 has the same configuration as the measuring device 1.
  • the output determination unit 210 performs output determination based on both the magnitude relationship of the distance between the imaging device and the measurement point, and the magnitude relationship between the distance between the imaging device and the measurement point and the reference distance.
  • determination 1 is determined based on the magnitude relationship of the distance between the imaging device and the measurement point
  • determination 2 based on the magnitude relationship between the distance between the imaging device and the measurement point and the reference distance.
  • the output determination unit 210 outputs the second measurement value from the measurement value calculation unit 10 to the display unit 12 when the result of addition of points by each determination is positive, with each determination as point characteristics.
  • the output determination unit 210 adds one point each time the second distance is shorter than the first distance by 5 mm, and subtracts one point each time the second distance is longer than the first distance. Similarly, the output determination unit 210 adds one point each time the difference between the second distance and the reference distance is 5 mm shorter than the difference between the first distance and the reference distance, and increases by 5 mm each time. Subtract one point to For example, it is assumed that the second distance is 10 mm shorter than the first distance, and the difference between the second distance and the reference distance is 5 mm larger than the difference between the first distance and the reference distance. In this case, the output determination unit 210 adds two points in determination 1 and subtracts one point in determination 2. As a result, the output determination unit 210 causes the measurement value calculation unit 10 to output the second measurement value to the display unit 12 because the total value is plus one point.
  • the output determination unit 210 determines the output of the measurement value based on the two types of determination criteria, it is possible to output the measurement value with higher accuracy from the measurement value calculation unit 10 to the display unit 12 . Thereby, the user can check the measurement value with higher accuracy through the display unit 12.
  • the output determination unit 210 may weight points according to the magnitude of the influence of each determination on the measurement accuracy of the measurement point. For example, it is assumed that the magnitude relationship of the distance between the imaging device and the measurement point affects the measurement accuracy of the measurement point more than the magnitude relationship between the distance between the imaging device and the measurement point and the reference distance. In this case, the output determination unit 210 may multiply each point in the above determination 1 by 2 and perform weighting. That is, the output determination unit 210 may add 1 ⁇ 2 points each time the second distance is 5 mm shorter than the first distance, and subtract 1 ⁇ 2 points every 5 mm longer. Thereby, the measurement value measured with higher accuracy can be suitably presented to the user.
  • step S301 is the same as step S201 of the measuring device 2 according to the second embodiment, the description will be omitted.
  • steps S302, S303, S305 and S306 are the same as steps S102, S103, steps S105 and S106 in the measurement process of the measuring device 1 according to the first embodiment, and thus the description thereof is omitted.
  • Step S304 In step S304, the output determination unit 210 is based on both the magnitude relationship of the distance between the imaging device and the measurement point and the magnitude relationship between the distance between the imaging device and the measurement point and the reference distance. Output determination (output determination step).
  • the function of the output determination unit of the measurement apparatus is not limited to the function of the output determination units 11, 110, and 210 of the measurement apparatuses 1, 2, and 3 according to the above-described embodiment.
  • the function of the output determination unit may have a function different from the output determination unit in the above-described embodiment.
  • the measuring device 4 includes an output determination unit 310 instead of the output determination unit 11. Except for this point, the measuring device 4 has the same configuration as the measuring device 1.
  • the output determination unit 310 performs output determination of the measurement value based on the position of the measurement point on the captured image displayed on the display unit 12. For example, the output determination unit 310 determines whether or not the position of one or more measurement points on the second captured image is closer to the center than the position of one or more measurement points on the first captured image. It is determined (controlled) whether or not the measurement value calculation unit 10 outputs the second measurement value. To determine whether the position of the measurement point on the captured image is close to the center of the captured image, for example, calculate the distance from the coordinate value of the measurement point and the coordinate value of the center position, and determine by the magnitude relationship of the distance Can. The coordinate values of the center position are included in the camera parameters.
  • a captured image is affected by lens distortion of an imaging device that captures the captured image, and distortion occurs.
  • parallax values are calculated from a plurality of captured images, and the distance between the imaging device and the measurement point is calculated from the parallax values.
  • the distortion of the captured image is influenced by the calculation accuracy of the parallax value, and the parallax value is influenced by the distance between the imaging device and the measurement point, so the distance between the imaging device and the measurement point changes depending on the distortion of the imaged image.
  • lens distortion is smaller at the center of the lens and larger at the outside. As the influence of lens distortion is greater toward the outside of the captured image, the accuracy of the distance between the calculated imaging device and the measurement point is reduced.
  • the output determination unit 310 when there is a measurement point at a position smaller than the influence of lens distortion, the output determination unit 310 outputs a measurement value based on the measurement point. Therefore, the output determination unit 310 can output a measurement value with higher accuracy from the measurement value calculation unit 10 to the display unit 12.
  • Steps S401 to S403 and steps S405 and S406 are the same as steps S101 to S103 and steps S105 and S106 in the measurement process of the measuring device 1 according to the first embodiment, and thus the description thereof is omitted.
  • Step S404 In step S404, the output determination unit 310 determines that the positions of one or more measurement points on the second captured image are closer to the center than the positions of one or more measurement points on the first captured image.
  • the second measurement value is output from the measurement value calculation unit 10 to the display unit 12 (output control step).
  • the output determination unit 310 performs the output determination of the measurement value based only on the position of the measurement point on the captured image displayed on the display unit 12, but the present embodiment is limited to this. I will not.
  • the output determination unit 310 may further have at least one of the functions of the output determination units 11, 110 and 210, and the measurement value of the measurement performed by the function of at least one of the output determination units 11, 110 and 210.
  • the output determination by the output determination unit 310 may be performed along with the output determination.
  • the function of the output determination unit of the measurement apparatus is not limited to the function of the output determination units 11, 110, 210, and 310 of the measurement apparatuses 1, 2, 3, and 4 according to the above-described embodiment.
  • the function of the output determination unit may have a function different from the output determination unit in the above-described embodiment.
  • the measuring device 5 includes an output determining unit 410 instead of the output determining unit 11. Except for this point, the measuring device 5 has the same configuration as the measuring device 1.
  • the output determination unit 410 is based on whether the difference in distance between the plurality of measurement points indicated by the second distance information is smaller than the difference in distance between the plurality of measurement points indicated by the first distance information by a threshold or more. Then, it is determined (controlled) whether or not the measurement value calculation unit 10 outputs the second measurement value.
  • 5 and 6 respectively show a first captured image 60a and a second captured image 60b displayed on the display unit 12 of the measuring device 5 according to the fifth embodiment, and a first measured value 44a and a second measured value. It is a figure which shows an example of 44b.
  • measurement points 52a and 53a are specified for the subjects 50 and 51 on the first captured image 60a, respectively. Further, as shown in FIG. 6, measurement points 52b and 53b are specified for the subjects 50 and 51 on the second captured image 60b, respectively.
  • the output determination unit 410 determines the distance between the imaging device and the measurement point 52a, the distance between the imaging device and the measurement point 53a, or The distance between the imaging device and the measurement point 52b and the distance between the imaging device and the measurement point 53b are calculated.
  • the measurement points 52a and 52b and 53a and 53b shown in FIG. 5 are respectively corresponding measurement points, and are substantially at the same position in three-dimensional coordinates in real space, and their positions are changed. Absent.
  • the measurement point 52a and the measurement point 53a are shifted in the depth direction with respect to the imaging device, and the measurement point 53a is copied farther, so the distance between the imaging device and the measurement point 52a The difference between the distance between the imaging device and the measurement point 53a is large.
  • the output determination unit 410 measures the second measurement value 44b of the measurement points 52b and 53b on the second captured image 60b (here, the distance between the measurement points as shown in FIG. 6) Output to the display unit 12.
  • the first measurement value 44a displayed on the display unit 12 until the previous time is updated to the second measurement value 44b.
  • the imaging position is moved to move the second captured image 60b.
  • the user checks the cross mark indicating the positions of the measurement points 52a and 53a designated by the first captured image 60a or the coordinate values 54a and 55a by the preview display displayed on the display unit 12.
  • the imaging device is moved to image measurement points 52b and 53b which become coordinate values 54b and 55b.
  • the difference value of the distance between the imaging device and the measurement point is the difference value of the distance in the depth direction with respect to the imaging device. Therefore, as shown in FIG. 5, when the plurality of measurement points 52a and 53a are disposed in the depth direction as illustrated in FIG. 5, the output determination unit 410 includes the plurality of measurement points 52a and 53a disposed in the depth direction. Output determination is performed based on each of the distances to the imaging device. As a result, the largest difference value among the difference values of the distances between the plurality of imaging devices and the measurement points 52a and 53a becomes the difference value of the distances between the imaging device and the measurement points 52a and 53a.
  • the first measurement value 44 a is output to the display unit 12.
  • FIG. 5 to FIG. 6 when the distance from the imaging device to each of the two measurement points 52b and 53b decreases, the difference between the distance between the imaging device and the measurement points 52b and 53b decreases.
  • the second measurement value 44 b with high accuracy is output to the display unit 12.
  • the output determination unit 410 causes the measurement value calculation unit 10 to output the second measurement value to the display unit 12 when the distance between the imaging device and the two measurement points is close. This allows the user to be presented with measurement values of higher measurement accuracy.
  • the positional relationship between the plurality of measurement points is horizontal as shown in FIG. 6, and the distance between the imaging device and each of the two measurement points 52b and 53b is equal.
  • the second measurement value is calculated.
  • the present embodiment is not limited to this. If the difference in distance between the plurality of measurement points indicated by the second distance information is smaller than the difference in distance between the plurality of measurement points indicated by the first distance information, the output determination unit 410 may The measurement value calculation unit 10 may output the measurement value.
  • the output determination part 410 performs output determination based on the difference value of the distance of an imaging device and two measurement points, it is not limited to this in this embodiment.
  • the output determination unit 410 can perform output determination even when there are three or more measurement points. As an example, there are three measurement points, and an area surrounded by three measurement points is used as a measurement value, and a case where it is determined whether or not to output the measurement value will be described. In this case, the output determination unit 410 determines that the difference in distance between the three measurement points indicated by the second distance information is smaller than the difference in distance between the three measurement points indicated by the first distance information by the threshold or more. , The second measurement value is output to the measurement value calculation unit 10. By doing this, the output determination unit 410 can measure the measurement values of three or more measurement points with high measurement accuracy as well as the measurement values such as the distance between the two measurement points. Can be output to the display unit 12.
  • the difference in the distance between the imaging device and each of the measurement points 52a and 53a or 52b and 53b is determined by the difference between the distance between the imaging device and each of the plurality of measurement points 52a and 53a or 52b and 53b. It is regarded as the largest difference value among the values.
  • the output determination unit 410 compares the difference values of the measurement points 52b and 53b on the second captured image 60b with the difference values of the measurement points 52a and 53a on the first captured image 60a. 2) It is determined whether to output the measured value 44b.
  • the present embodiment is not limited to this.
  • the degree of variation in distance between the imaging device and the measurement point is calculated, for example, as the sum or average of difference values, and the output determination unit 410 compares the sum or average of the difference values.
  • the output determination may be performed by doing this. Also in this case, the output determination can be performed as in the above-described example.
  • Steps S501 to S503 and steps S505 and S506 are the same as steps S101 to S103 and steps S105 and S106 in the measurement process of the measuring device 1 according to the first embodiment, and thus the description thereof is omitted.
  • Step S504 In step S504, the output determination unit 410 determines that the difference in the distance between the plurality of measurement points indicated by the second distance information is a threshold more than the difference in the distance between the plurality of measurement points indicated by the first distance information. When it is smaller than the above, the second measurement value is output to the measurement value calculation unit 10.
  • the output determination unit 410 may further include at least one of the functions of the output determination units 11, 110, 210, and 310, and at least one of the functions of the output determination units 11, 110, 210, and 310.
  • the output determination by the output determination unit 410 may be performed along with the output determination of the measurement value performed by
  • control blocks of the measuring devices 1, 2, 3, 4, and 5 are logic circuits formed in integrated circuits (IC chips) It may be realized by (hardware) or software.
  • the measuring devices 1, 2, 3, 4, and 5 each include a computer that executes an instruction of a measuring program that is software for realizing each function.
  • the computer includes, for example, at least one processor (control device), and at least one computer readable storage medium storing the measurement program.
  • the processor reads and executes the measurement program from the recording medium to achieve the object of the present invention.
  • a CPU Central Processing Unit
  • the recording medium in addition to a “non-transitory tangible medium”, for example, a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit or the like can be used.
  • a RAM Random Access Memory
  • the measurement program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the measurement program.
  • any transmission medium communication network, broadcast wave, etc.
  • one aspect of the present invention may also be realized in the form of a data signal embedded in a carrier wave in which the measurement program is embodied by electronic transmission.
  • the measuring apparatus (1, 2, 3, 4, 5) is on a captured image (40, 42) on which one or more measurement points (21, 52a, 52b, 53a, 53b) are captured
  • An output unit (measurement value calculation unit 10) that outputs measurement values (41, 43, 44a, 44b) based on the positions of the one or more measurement points, and the one or more on the first captured image (60a)
  • the output unit (10) outputs the first measurement value (44a) based on the first position, which is the position of the measurement point, the position of the one or more measurement points on the second captured image (60b)
  • the output unit (10) outputs a second measurement value (44b) based on a second position, (i) first distance information corresponding to the first position, and the second A change between said second distance information corresponding to a position, and (ii) said first position
  • an output control unit (11,110,210,310,410) for controlling according to at least one of a
  • the output control unit (11, 110, 210, 310, 410) according to aspect 1 includes the second distance information Whether or not the output unit (10) outputs the second measurement value (44b) may be controlled based on whether or not a distance shorter than the first distance information by a threshold value or more is indicated.
  • the measurement value is updated only when the accuracy of the measurement value improves, the user can easily check only the measurement value with the highest accuracy at that time.
  • the measurement value is not updated. Therefore, among the measurement values of the measurement points measured up to the previous time, it is the measurement value measured with the highest accuracy, and is output It is possible to prevent a decrease in measurement accuracy and visibility without changing the value.
  • the output control unit (11, 110, 210, 310, 410) according to aspect 1 or 2 includes the second distance information. Control whether or not the output unit (10) outputs the second measurement value (44b) based on whether or not a distance closer to a reference distance than the first distance information is indicated It is also good.
  • the measurement accuracy of the distance between the imaging unit and the measurement point is higher as it is closer to the imaging position of the calibration board. Therefore, as the distance between the imaging unit and the measurement point and the reference distance which is the reference between the imaging unit and the calibration board are closer, the measurement accuracy of the measurement value is higher.
  • the output control unit when the distance between the imaging unit and the measurement point is closer to the reference distance, the output control unit newly measures the measurement point based on the second captured image and the second distance information. Output the measured value of. As a result, it is possible to present the measurement values measured with higher accuracy in a state easy for the user to understand.
  • the output control unit (11, 110, 210, 310, 410) in any one of aspects 1 to 3 is Control whether or not the output unit (10) outputs the second measured value (44b) based on whether or not the second position is closer to the center of each captured image than the first position.
  • the output control unit when there is a measurement point at a position where the influence of lens distortion is smaller, the output control unit outputs a measurement value based on the measurement point. Therefore, the output control unit can output a more accurate measurement value from the output unit.
  • the one or more measurement points (21, 52a, 52b, 53a, 53b) in any one of aspects 1 to 4 Is a plurality of measurement points
  • the output control unit (11, 110, 210, 310, 410) is configured to determine the difference in the distance between the plurality of measurement points indicated by the second distance information as the first Whether or not the output unit outputs a measurement value (44b) based on the second position based on whether the distance information is smaller than a difference in distance between the plurality of measurement points indicated by the distance information. You may control.
  • the measuring apparatus (1, 2, 3, 4, 5) according to any one of aspects 1 to 5 is A first distance information is calculated from a plurality of captured images (40, 42) having different viewpoints including the first captured image, and a plurality of the second distance information includes the second captured image. It may be calculated from captured images of different viewpoints.
  • the measuring device according to this aspect can be suitably used for measurement based on a stereo method.
  • the measurement values (41, 43, 44a, 44b) in any one of aspects 1 to 6 have three-dimensional positions. , Length, area, volume or angle may be indicated.
  • the measuring device can preferably output a measurement value indicating a three-dimensional position, a length, an area, a volume or an angle.
  • the measuring apparatus (1, 2, 3, 4, 5) according to aspect 8 of the present invention is the measuring apparatus (1, 2, 3, 4, 5) according to any one of the above aspects 1 to 7, wherein
  • the imaging unit captures a captured image including one or more measurement points, and displays the measured value output based on the distance information of the one or more measurement points in the captured image on the display unit. It can. As a result, it is possible to present the measurement values measured with higher accuracy in a state easy for the user to understand.
  • the control method of the measurement apparatus is the position of the one or more measurement points on the captured image (40, 42) on which the one or more measurement points (21, 52a, 52b, 53a, 53b) appear Based on the output step of outputting the measured values (41, 43, 44a, 44b), and the first position based on the first position, which is the position of the one or more measurement points on the first captured image (60a)
  • the second measurement value (44b) based on the second position which is the position of the one or more measurement points on the second captured image (60b)
  • the first position and the second position It includes an output control step of controlling according to at least one of a change between.
  • the measuring device (1, 2, 3, 4, 5) may be realized by a computer, in which case the computer And the program of the measuring device (1, 2, 3, 4, 5) that causes the computer to realize the measuring device (1, 2, 3, 4, 5) by operating as each component (software element) included in A computer readable recording medium having recorded thereon also falls within the scope of the present invention.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
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  • Endoscopes (AREA)

Abstract

L'objectif de la présente invention est de présenter une valeur mesurée qui est mesurée avec une plus grande précision à un utilisateur dans un format aisément compréhensible. Un dispositif de mesure (1) commande si une unité de calcul de valeur mesurée (10) doit ou non délivrer en sortie une deuxième valeur mesurée sur la base de deuxièmes informations de coordonnées d'image après la sortie d'une première valeur mesurée sur la base de premières informations de coordonnées d'image, en fonction d'au moins l'une parmi (i) une variation entre des premières informations de distance et des deuxièmes informations de distance, et (ii) une variation entre les premières informations de coordonnées d'image et les deuxièmes informations de coordonnées d'image.
PCT/JP2018/037930 2017-11-07 2018-10-11 Dispositif de mesure, procédé de commande de dispositif de mesure, programme de mesure et support d'enregistrement Ceased WO2019093062A1 (fr)

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Citations (2)

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US6115114A (en) * 1996-04-12 2000-09-05 Holometrics, Inc. Laser scanning system and applications
JP2014207645A (ja) * 2013-04-16 2014-10-30 オリンパス株式会社 画像処理装置、画像処理方法及びプログラム

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Publication number Priority date Publication date Assignee Title
US6115114A (en) * 1996-04-12 2000-09-05 Holometrics, Inc. Laser scanning system and applications
JP2014207645A (ja) * 2013-04-16 2014-10-30 オリンパス株式会社 画像処理装置、画像処理方法及びプログラム

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