US 12,320,631 B2
Measurement apparatus, image capturing apparatus, measurement system, control method, and storage medium
Akinari Takagi, Kanagawa (JP)
Assigned to CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Dec. 23, 2021, as Appl. No. 17/560,523.
Application 17/560,523 is a continuation of application No. PCT/JP2020/024635, filed on Jun. 23, 2020.
Claims priority of application No. 2019-122099 (JP), filed on Jun. 28, 2019; and application No. 2020-106407 (JP), filed on Jun. 19, 2020.
Prior Publication US 2022/0113131 A1, Apr. 14, 2022
Int. Cl. G06K 9/00 (2022.01); G01B 11/25 (2006.01); G06T 7/521 (2017.01); G06T 7/593 (2017.01); G06T 7/70 (2017.01)
CPC G01B 11/2545 (2013.01) [G06T 7/521 (2017.01); G06T 7/593 (2017.01); G06T 7/70 (2017.01); G06T 2207/10012 (2013.01)] 20 Claims
OG exemplary drawing
 
13. A measurement apparatus, comprising:
a projection apparatus configured to project a predetermined pattern on a subject; and
an image capturing system configured to capture a group of images at two viewpoints arranged in different locations,
wherein the measurement apparatus further comprises:
at least one processor; and
a memory storing a program that, when executed by the at least one processor, causes the at least one processor to function as:
a control unit configured to cause the projection apparatus to project, as
the predetermined pattern, a stripe pattern in which line segments that extend in a direction perpendicular to a straight line connecting the two viewpoints are substantially periodically arranged in a direction of the straight line;
a first obtaining unit configured to obtain surface normal information of the subject based on a stripe interval of a pattern image of the stripe pattern on an image at at least one of the two viewpoints, and
a second obtaining unit configured to obtain distance information of the subject based on the surface normal information, a distance between the two viewpoints, and pattern image positions on the group of images.