THREE-DIMENSIONAL-SHAPE MEASUREMENT DEVICE, THREE-DIMENSIONAL-SHAPE MEASUREMENT METHOD, AND PROGRAM
FIG1 is a schematic diagram depicting a hardware configuration of a three-dimensional shape measurement device
A general configuration of a three-dimensional shape measurement device according to this embodiment will be described with reference to FIG1. FIG1 is a schematic diagram depicting a hardware configuration of the three-dimensional shape measurement device. The three-dimensional shape measurement device 1 is an apparatus to measure a three-dimensional shape of a measurement object O, and is constituted of a projection device (projector) 10, an imaging device (camera) 11, and a control device (computer) 12.
schematic diagram
10
projection device projection devices
11
imaging device
['1. A three-dimensional shape measurement device, comprising: a projection device; an imaging device; and a control device which is configured to measure a three-dimensional shape of a measurement object based on an observation signal observed by the imaging device, in a state of projecting a projection pattern, which has cyclicity in a time direction and a space direction, from the projection device to the measurement object, wherein it is assumed that the observation signal is a composite signal of a first component signal and a second component signal, the first component signal and the second component signal having phases that are different from each other, wherein the control device is configured to: acquire a plurality of observation signals observed using a plurality of projection patterns having mutually different spatial frequencies as the observation signals with respect to a measurement point on the measurement object; set an initial value of an estimation value of the first component signal for each observation signal; estimate the first component signal and the second component signal included in each observation signal by repeatedly executing operations, the operations including: (1) a first step of determining a corrected estimation value of the first component signal of each observation signal by applying first correction processing, which reduces errors of amplitude and a phase, to the estimation value of the first component signal of each observation signal, (2) a second step of determining an estimation value of the second component signal of  each observation signal by subtracting the corrected estimation value of the first component signal from each observation signal, (3) a third step of determining a corrected estimation value of the second component signal of each observation signal by applying second correction processing, which reduces errors of amplitude and a phase, to the estimation value of the second component signal of each observation signal, and (4) a fourth step of determining an estimation value of the first component signal of each observation signal by subtracting the corrected estimation value of the second component signal from each observation signal; and calculate a three-dimensional position of the measurement point based on a phase of the estimated first component signal or second component signal.']