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    • 49. 发明授权
    • Measurement apparatus and control method
    • 测量装置及控制方法
    • US08326021B2
    • 2012-12-04
    • US12108078
    • 2008-04-23
    • Kazuhiko KobayashiShinji Uchiyama
    • Kazuhiko KobayashiShinji Uchiyama
    • G06K9/00
    • G01B11/14G06K9/00201G06T7/33G06T7/73G06T2207/30244
    • A measurement apparatus (100), which measures the relative position and orientation of an image-capturing apparatus (50) capturing images of one or more measurement objects (10) with respect to the measurement object, acquires a captured image using the image-capturing apparatus (50). Moreover, the respective geometric features present in a 3D model of the measurement object (10) are projected onto the captured image based on the position and orientation of the image-capturing apparatus (50), thereby obtaining projection geometric features. Projection geometric features to be used in calculation of the position and orientation are then selected from the resultant projection geometric features based on distances between the projection geometric features in the captured image. The relative position and orientation of the image-capturing apparatus (50) with respect to the measurement object is then calculated using the selected projection geometric features and image geometric features corresponding to the selected projection geometric features detected in the captured image.
    • 测量装置(100),其测量相对于测量对象拍摄一个或多个测量对象(10)的图像的图像捕获设备(50)的相对位置和方向,使用图像捕获获取捕获的图像 装置(50)。 此外,基于图像捕获装置(50)的位置和取向将存在于测量对象(10)的3D模型中的各个几何特征投影到所捕获的图像上,从而获得投影几何特征。 然后从基于捕获图像中的投影几何特征之间的距离的所得投影几何特征中选择要用于计算位置和取向的投影几何特征。 然后使用所选择的投影几何特征和对应于在捕获图像中检测到的所选择的投影几何特征的图像几何特征来计算图像捕获设备(50)相对于测量对象的相对位置和取向。