High-speed Active 3D Measurement Method Suppressing the Effect of Specular Interreflection by Using Random Patterns

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  • ランダムパターンを用いた鏡面相互反射の影響を抑制可能な高速アクティブ3次元計測法

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プロジェクタ投影光の変調方式に工夫を施すことで相互反射の影響を抑制し，金属物体の3次元計測の精度を向上させる手法が提案されているが，単純なグレイコード法に比べると投影枚数が非常に多く，計測に長時間を要するという課題があった．そこで本研究では，ランダムパターンの相関演算に基づく対応付けに幾何学的な制約を導入することで，高速化と高精度化を両立させた3次元計測法を提案する．また実運用における対象シーンと投影数による計測精度見積もりのために，投影パターンの観測モデルを作成し数値解析により対応付けの精度を見積もる．実験では投影枚数が30枚と少ない場合でも相互反射光の影響を抑制し，良好に形状を復元可能であることを確認した．

Several methods to improve the accuracy of 3D measurement of metal objects have been proposed to suppress the effect of interreflection by modulating projection light. However in those methods, the number of projections is much larger than that of the gray code method which can minimize it. In this paper, we introduce geometric constraints to a correlation based method with 2D random patterns. In order to estimate the measurement accuracy in actual operations with target scenes and the number of projection patterns, we create an observation model of the projection patterns and estimate the accuracy of the correspondence by numerical analysis. In the experiment, we confirmed that our method can suppress the effect of interreflection and reconstruct the shape of optically complex scenes even when the number of projections was limited to 30 frames.

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