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Original-Dokument Europäisches Patentamt

Image processing apparatus, image processing system, and program therefor

Patentnummer:	US10697765B2
IPC Hauptklasse:	G01B001125
Anmelder:	OMRON CORPORATION (0) Kyoto, JP
Erfinder:
Anmeldung:	16.10.18
Offenlegung:	27.12.17
Patenterteilung:	30.06.20
Abstract / Hauptanspruch
An image processing system comprises: a projector for projecting pattern light whose coordinate component at least in one direction is determinable; an imaging apparatus for imaging an object illuminated with the pattern light to acquire a pattern image; and a controller including a calculator for calculating the 3D coordinates of a point on the object based on the pattern light and the pattern image. The calculator determines a first point on the pattern image; calculates a second point corresponding to the first point in a pattern-light projection plane; calculates a third point based on the second point in the projection plane, a nonlinear line in the projection plane calculated by analyzing the pattern image, and an epipolar line in the projection plane calculated based on the first point; and calculates the three-dimensional coordinates of the point on the object based on the first point and the third point.