Three-dimensional measurement apparatus, three-dimensional measurement method, and storage medium

A three-dimensional measurement apparatus for calculating three-dimensional shape information of a target object based on reflected pattern light of pattern light which is projected onto the target object and is reflected by the target object, comprising:

• capturing means for capturing reflected pattern light of stripe pattern light formed by alternately arranging a bright portion and a dark portion as first image data, capturing reflected pattern light of full-illumination pattern light formed by only a bright portion as second image data, and capturing reflected pattern light of full-extinction pattern light formed by only a dark portion as third image data;
• determination means for determining a boundary position between the bright portion and the dark portion based on the first image data, the second image data, and the third image data;
• and
• reliability calculation means for calculating a reliability indicating accuracy of the boundary position from the second image data and the third image data, and a luminance gradient of the first image data.

A three-dimensional measurement method for calculating three-dimensional shape information of a target object based on reflected pattern light of pattern light which is projected onto the target object and is reflected by the target object, comprising:

• a capturing step of capturing reflected pattern light of stripe pattern light formed by alternately arranging a bright portion and a dark portion as first image data, and capturing reflected pattern light of reversed stripe pattern light formed by reversing the bright portion and the dark portion of the stripe pattern light as second image data;
• a determination step of determining a boundary position between the bright portion and the dark portion based on the first image data and the second image data;
• and
• a reliability calculation step of calculating a reliability indicating accuracy of the boundary position from a correlation between a first luminance gradient of the first image data and a second luminance gradient of the second image data.

A three-dimensional measurement method for calculating three-dimensional shape information of a target object based on reflected pattern light of pattern light which is projected onto the target object and is reflected by the target object, comprising:

• a capturing step of capturing reflected pattern light of stripe pattern light formed by alternately arranging a bright portion and a dark portion as first image data, capturing reflected pattern light of full-illumination pattern light formed by only a bright portion as second image data, and capturing reflected pattern light of full-extinction pattern light formed by only a dark portion as third image data;
• a determination step of determining a boundary position between the bright portion and the dark portion based on the first image data, the second image data, and the third image data;
• and
• a reliability calculation step of calculating a reliability indicating accuracy of the boundary position from the second image data and the third image data, and a luminance gradient of the first image data.