Three-dimensional modeling apparatus, three-dimensional modeling method and computer-readable recording medium storing three-dimensional modeling program

A three-dimensional modeling apparatus comprising:

• an obtaining section that obtains a first image and a second image obtained by imaging an object at different positions;
• an extracting section which extracts first feature points on the first image and second feature points on the second image corresponding to the first feature points, respectively;
• a selecting section that selects a combination of the first feature point and the second feature point having a closer distance to a camera at a time of imaging among the first feature points and the second feature points corresponding to the first feature points;
• a parameter obtaining section that obtains a transformation parameter indicating a positional relationship of a position at which the first image is imaged and a position at which the second image is imaged based on the selected combination of the first and second feature points;
• an information obtaining section that obtains pieces of three-dimensional information of the first feature points and the second feature points extracted by the extracting section based on the transformation parameter;
• and
• a generating section that generates a three-dimensional model based on the three-dimensional information.

A three-dimensional modeling method comprising:

• obtaining image sets picked up by a stereoscopic camera;
• generating three-dimensional models of an object based on each of the obtained image sets;
• selecting a first three-dimensional model and a second three-dimensional model to be superimposed on the first three-dimensional model among the generated three-dimensional models;
• extracting first feature points from the selected first three-dimensional model and second feature points from the selected second three-dimensional model;
• selecting feature points having a closer distance to the stereoscopic camera from the extracted first feature points and the extracted second feature points, respectively;
• obtaining a transformation parameter for transforming a coordinate of the second three-dimensional model into a coordinate in a coordinate system of the first three-dimensional model based on the selected first and second feature points;
• transforming the coordinate of the second three-dimensional model into the coordinate in the coordinate system of the first three-dimensional model using the transformation parameter;
• and
• superimposing the second three-dimensional model having a transformed coordinate on the first three-dimensional model.

A three-dimensional modeling method comprising:

• obtaining a first image and a second image obtained by imaging an object at different positions;
• extracting first feature points on the first image and second feature points on the second image corresponding to the first feature points, respectively;
• selecting a combination of the first feature point and the second feature point having a closer distance to a camera at a time of imaging among the first feature points and the second feature points corresponding to the first feature points;
• obtaining a transformation parameter indicating a positional relationship of a position at which the first image is imaged and a position at which the second image is imaged based on the selected combination of the first and second feature points;
• obtaining pieces of three-dimensional information of the extracted first feature points and the extracted second feature points based on the transformation parameter;
• and
• generating a three-dimensional model based on the three-dimensional information.

A computer-readable recording medium having stored therein a program executable by a computer, the program causing the computer to realize functions of:

• obtaining image sets picked up by a stereoscopic camera;
• generating three-dimensional models of an object based on each of the obtained image sets;
• selecting a first three-dimensional model and a second three-dimensional model to be superimposed on the first three-dimensional model among the generated three-dimensional models;
• extracting first feature points from the selected first three-dimensional model and second feature points from the selected second three-dimensional model;
• selecting feature points having a closer distance to the stereoscopic camera from the extracted first feature points and the extracted second feature points, respectively;
• obtaining a transformation parameter for transforming a coordinate of the second three-dimensional model into a coordinate in a coordinate system of the first three-dimensional model based on the selected first and second feature points;
• transforming the coordinate of the second three-dimensional model into the coordinate in the coordinate system of the first three-dimensional model using the transformation parameter;
• and
• superimposing the second three-dimensional model having a transformed coordinate on the first three-dimensional model.

A computer-readable recording medium having stored therein a program executable by a computer, the program causing the computer to realize functions of:

• obtaining a first image and a second image obtained by imaging an object at different positions;
• extracting first feature points on the first image and second feature points on the second image corresponding to the first feature points, respectively;
• selecting a combination of the first feature point and the second feature point having a closer distance to a camera at a time of imaging among the first feature points and the second feature points corresponding to the first feature points;
• obtaining a transformation parameter indicating a positional relationship of a position at which the first image is imaged and a position at which the second image is imaged based on the selected combination of the first and second feature points;
• obtaining pieces of three-dimensional information of the extracted first feature points and the extracted second feature points based on the transformation parameter;
• and
• generating a three-dimensional model based on the three-dimensional information.