Image capturing apparatus, image processing apparatus, image processing method, image capturing apparatus calibration method, robot apparatus, method for manufacturing article using robot apparatus, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorKeita Dan
Life of this patent
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Abstract
An image capturing apparatus including a lens and a processing unit, wherein the lens includes a first region through which a first light ray passes and a second region through which a second light ray passes, wherein the first region and the second region are arranged in a predetermined direction, and wherein the processing unit sets a component of the predetermined direction as a degree of freedom in a first relative positional relationship between a predetermined position in the first region and a predetermined position in the second region is employed.
Claims20
An apparatus comprising:
- a first unit configured to perform three-dimensional measurement based on an image captured by an image sensor on which an optical image of a subject is formed via a lens having a first pupil region and a second pupil region;
- and
- a second unit configured to set a parameter used in the three-dimensional measurement by using a model,
- wherein in the model, a component of a first relative positional relationship between in the first pupil region and the second pupil region is expressed at a single degree of freedom.
An image capturing apparatus comprising:
- a lens;
- and
- a processing unit,
- wherein the lens includes:
- a first region through which a first light ray passes;
- and
- a second region through which a second light ray passes,
- wherein the first region and the second region are arranged side by side in a predetermined direction, and
- wherein the processing unit sets a component of the predetermined direction as a degree of freedom in a first relative positional relationship between a predetermined position in the first region and a predetermined position in the second region,
- wherein the processing unit sets the first relative positional relationship further using an image acquired by capturing an image of an apparatus provided with a marker,
- wherein the image capturing apparatus further includes an image sensor,
- wherein the image sensor includes:
- a first pixel configured to receive the first light ray;
- and
- a second pixel configured to receive the second light ray, and
- wherein the processing unit sets a second relative positional relationship between a predetermined position in the first pixel and the predetermined position in the first region and a third relative positional relationship between a predetermined position in the second pixel and the predetermined position in the second region using the image of the marker and the first relative positional relationship, and
- wherein a model is set so that a distance between the predetermined position in the first pixel and the predetermined position in the first region and a distance between the predetermined position in the second pixel and the predetermined position in the second region are equal.
A method for three-dimensional measurement based on an image captured by an image sensor on which an optical image of a subject is formed via a lens having a first pupil region and a second pupil region, comprising:
- setting a parameter by using a model (matrix E′, T′);
- and
- performing the three-dimensional measurement by using the parameter,
- wherein, in the model, a component of a first relative positional relationship between the first pupil region and the second pupil region is expressed at a single degree of freedom.
Dependencies are inferred from the claim text.