Three-dimensional shape data recording/display method and device, and three-dimensional shape measuring method and device

A three-dimensional shape data recording/displaying device for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape, wherein the three-dimensional shape data recording/displaying device comprises:

• (a) a data inputting device operably connected to input, into a computer, coordinate values on a three-dimensional shape, wherein the data inputting device comprises a range sensor;
• (b) a model structuring device operable to structure an environment model that partitions a spatial region, in which the three-dimensional shape exists, into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and the model structuring device stores positions of individual voxels;
• (c) a matching device operable to set, and record, a representative point and an error distribution of the representative point, within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the matching device is operable to set and record a plurality of representative points in the plurality of voxels, respectively, and to set and record a plurality of error distributions of the plurality of representative points in the plurality of voxels, respectively, wherein the plurality of representative points include the representative point, and the plurality of voxels include the first voxel, and the plurality of error distributions include the error distribution;
• and
• (d) a data transferring device operably connected to output, to an outputting device, a voxel position, the representative point, and the error distribution,
• wherein the representative point corresponds to a measured point obtained by the range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction.

A three-dimensional shape measuring method for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape and for outputting three-dimensional shape data, wherein the method comprises the steps of:

• (a) inputting, into a computer, coordinate values on a three-dimensional shape in a data inputting step;
• (b) structuring, in a model structuring step, an environment model that partitions a spatial region, in which the three-dimensional shape exists, into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and storing positions of individual voxels;
• (c) setting and recording, in a matching step, a representative point and an error distribution of the representative point, within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the representative point corresponds to a measured point obtained by using a range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction, wherein the matching step further includes setting and recording a plurality of representative points in the plurality of voxels, respectively, and a plurality of error distributions of the plurality of representative points are set and recorded in the plurality of voxels, respectively, wherein the plurality of representative points include the representative point, and the plurality of voxels include the first voxel, and the plurality of error distributions include the error distribution;
• and
• (d) outputting, in an outputting step, to an outputting device at least one of the representative point, a voxel position, and the error distribution.

A three-dimensional shape measuring device for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape and for outputting three-dimensional shape data, wherein the three-dimensional shape measuring device comprises:

• (a) a data inputting device operably connected to input, into a computer, coordinate values on a three-dimensional shape, wherein the data inputting device comprises a range sensor;
• (b) a model structuring device operable to structure an environment model that partitions a spatial region, in which the three-dimensional shape exists, into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and the model structuring device stores positions of individual voxels;
• (c) a matching device operable to set and record a representative point and an error distribution of the representative point, within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the matching device is operable to set and record a plurality of representative points in the plurality of voxels, respectively and to set and record a plurality of error distributions of the plurality of representative points in the plurality of voxels, respectively, wherein the plurality of representative points include the representative point, and the plurality of voxels include the first voxel, and the plurality of error distributions include the error distribution;
• and
• (d) a data transferring device operably connected to output, to an outputting device, at least one of the representative point, a voxel position, and the error distribution,
• wherein the representative point corresponds to a measured point obtained by the range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction.

A three-dimensional shape data recording/displaying method for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape, wherein the method comprises the steps of:

• (a) inputting, into a computer, coordinate values on a three-dimensional shape in a data inputting step;
• (b) structuring, in a model structuring step, an environment model that partitions a spatial region, in which the three-dimensional shape exists, into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and storing positions of individual voxels;
• (c) setting and recording, in a matching step, a representative point, and an error distribution of the representative point, within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the representative point corresponds to a measured point obtained by using a range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction, wherein the matching step further includes setting and recording a plurality of representative points in the plurality of voxels, respectively, and a plurality of error distributions of the plurality of representative points are set and recorded in the plurality of voxels, respectively, wherein the plurality of representative points include the representative point, and the plurality of voxels include the first voxel, and the plurality of error distributions include the error distribution;
• and
• (d) outputting, in an outputting step, to an outputting device at least one of the representative point, a voxel position, and the error distribution.

A three-dimensional shape data recording/displaying method for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape, the method comprising the steps of:

• (a) inputting, into a computer, coordinate values on a three-dimensional shape in a data inputting step;
• (b) structuring, in a model structuring step, an environment model that partitions a spatial region, in which the three-dimensional shape exists into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and storing positions of individual voxels;
• (c) setting and recording, in a matching step, a representative point and an error distribution within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the representative point corresponds to a measured point obtained by using a range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction;
• (d) outputting, to an outputting device, a voxel position, the representative point, and the error distribution in an outputting step;
• and
• (e) updating, in a model updating step, the environment model after the matching step;
• wherein the model updating step further comprises the steps of
• i. retrieving a second voxel corresponding to a second coordinate value of a newly inputted measured point;
• and
• ii. deciding that no object exists between an origin and a measuring point, and resetting or eliminating representative points and error distributions within those voxels positioned therebetween.

A three-dimensional shape data recording/displaying method for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape, the method comprising the steps of:

• (a) inputting, into a computer, coordinate values on a three-dimensional shape in a data inputting step;
• (b) structuring, in a model structuring step, an environment model that partitions a spatial region, in which the three-dimensional shape exists into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and storing positions of individual voxels;
• (c) setting and recording, in a matching step, a representative point and an error distribution within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the representative point corresponds to a measured point obtained by using a range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction;
• (d) outputting, to an outputting device, a voxel position, the representative point, and the error distribution in an outputting step;
• and
• (e) updating, in a model updating step, the environment model after the matching step, wherein the model updating step further comprises the steps of
• i. retrieving a second voxel corresponding to a second coordinate value of a newly inputted measured point;
• and
• ii. when there is no representative point within the second voxel, setting the second coordinate value and the error distribution as a third coordinate value and error distribution of the representative point.

A three-dimensional shape measuring method for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape and for outputting three-dimensional shape data, wherein the method comprises the steps of:

• (a) inputting, into a computer, coordinate values on a three-dimensional shape in a data inputting step;
• (b) structuring, in a model structuring step, an environment model that partitions a spatial region, in which the three-dimensional shape exists, into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and storing positions of individual voxels;
• (c) setting and recording, in a matching step, a representative point and an error distribution of the representative point, within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the representative point corresponds to a measured point obtained by using a range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction;
• and
• (d) outputting, in an outputting step, to an outputting device at least one of the representative point, a voxel position, and the error distribution;
• (e) updating the environment model in a model updating step, wherein the model updating step comprises retrieving a second voxel corresponding to a coordinate value of a newly inputted measured point;
• and
• (f) when there is no representative point within the second voxel, setting the coordinate value and the error distribution as the representative point coordinate value and error distribution,
• wherein steps (e) and (f) occur after the matching step.

A three-dimensional shape measuring method for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape and for outputting three-dimensional shape data, wherein the method comprises the steps of:

• (a) inputting, into a computer, coordinate values on a three-dimensional shape in a data inputting step;
• (b) structuring, in a model structuring step, an environment model that partitions a spatial region, in which the three-dimensional shape exists, into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and storing positions of individual voxels;
• (c) setting and recording, in a matching step, a representative point and an error distribution of the representative point, within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the representative point corresponds to a measured point obtained by using a range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction;
• and
• (d) outputting, in an outputting step, to an outputting device at least one of the representative point, a voxel position, and the error distribution, and, in the outputting step, outputting to the outputting device, as a three-dimensional shape measurement value, a position of a representative point for a second voxel in the environment model in a scope for which the position can be measured from a position of the range sensor.