Three-dimensional measurement apparatus, three-dimensional measurement method and non-transitory computer readable medium

1. A three-dimensional measurement apparatus comprising:

a projector configured to project, onto a target, a pattern in which data is encoded with a two-dimensional structure;

a camera configured to capture an image of the target onto which the pattern is projected; and

a processor configured to extract feature points of the pattern and to calculate positions of a three-dimensional point group expressing a three-dimensional shape of the target based on positions of the feature points in the image and the data that is decoded,

wherein the pattern includes a plurality of unit patterns of minimum units that each expresses at least two bits, include the feature points, and are used in order to calculate the positions of the three-dimensional point group,

the unit patterns each includes a first region and a second region that is distinguished from the first region and has an area that is larger than an area of the first region, and

an area ratio obtained by dividing the area of the first region by the area of the second region is at least 0.3 and not more than 0.9.

2. The three-dimensional measurement apparatus according to claim 1 ,

wherein the unit pattern is a quadrangle with a short side of at least 3 pixels and not more than 10 pixels on the image.

3. The three-dimensional measurement apparatus according to claim 1 ,

wherein the processor is configured to set a range of the area ratio of the pattern projected by the projector, in accordance with a number of pixels of a short side of the unit pattern on the image.

4. The three-dimensional measurement apparatus according to claim 3 ,

wherein the processor is configured to narrow a range of the area ratio as the number of pixels of the short side of the unit pattern becomes smaller on the image.

5. The three-dimensional measurement apparatus according to claim 1 ,

wherein the first region and the second region are distinguished by brightness and darkness of the light projected by the projector.

6. The three-dimensional measurement apparatus according to claim 1 ,

wherein the first region and the second region are distinguished by wavelength bands of the light projected by the projector.

7. The three-dimensional measurement apparatus according to claim 1 ,

wherein the first region and the second region are distinguished by polarization of the light projected by the projector.

8. The three-dimensional measurement apparatus according to claim 1 ,

wherein the unit pattern includes a two-dimensional shape in which the first region is continuous and not divided.

9. The three-dimensional measurement apparatus according to claim 1 ,

wherein the unit pattern includes a two-dimensional shape in which the first region is divided while flanking the second region.

10. The three-dimensional measurement apparatus according to claim 1 ,

wherein the pattern includes a unit pattern including a two-dimensional shape in which the first region is continuous and not divided, and a unit pattern including a two-dimensional shape in which the first region is divided while flanking the second region.

11. The three-dimensional measurement apparatus according to claim 9 ,

wherein the first region is separated into two regions while flanking the second region in the unit pattern.

12. The three-dimensional measurement apparatus according to claim 9 ,

wherein the first region is separated into at least three regions while flanking the second region in the unit pattern.

13. The three-dimensional measurement apparatus according to claim 1 ,

wherein the projector includes a modulation element configured to modulate a size of the pattern to be projected.

14. A three-dimensional measurement method comprising:

projecting, onto a target, a pattern in which data is encoded with a two-dimensional structure;

capturing an image of the target onto which the pattern is projected;

extracting feature points of the pattern and calculating positions of a three-dimensional point group expressing a three-dimensional shape of the target based on positions of the feature points in the image and the data that is decoded,

wherein the pattern includes a plurality of unit patterns of minimum units that each expresses at least two bits, include the feature points, and are used in order to calculate the positions of the three-dimensional point group,

the unit patterns each includes a first region and a second region that is distinguished from the first region and has an area that is larger than an area of the first region, and

an area ratio obtained by dividing the area of the first region by the area of the second region is at least 0.3 and not more than 0.9.

15. A non-transitory computer readable medium, storing a three-dimensional measurement program, said program causing an arithmetic unit provided in a three-dimensional measurement apparatus including a projector configured to project, onto a target, a pattern in which data is encoded with a two-dimensional structure and a camera configured to capture an image of the target onto which the pattern is projected, to operate as a processor configured to extract feature points of the pattern and to calculate positions of a three-dimensional point group expressing a three-dimensional shape of the target based on positions of the feature points in the image and the data that is decoded,

wherein the pattern includes a plurality of unit patterns of minimum units that each expresses at least two bits, include the feature points, and are used in order to calculate the positions of the three-dimensional point group,

the unit patterns each includes a first region and a second region that is distinguished from the first region and has an area that is larger than an area of the first region, and

an area ratio obtained by dividing the area of the first region by the area of the second region is at least 0.3 and not more than 0.9.