1. A method for measuring three-dimensional coordinates of a surface comprising steps of:
providing a structured light scanner, a photogrammetry camera, a collection of photogrammetry targets, and a processor, the scanner including a projector and a scanner camera, the scanner having a first frame of reference, the projector configured to project a structured light onto the surface, the projector having a projector perspective center, the scanner camera including a scanner photosensitive array and a scanner camera lens, the scanner camera having a scanner camera perspective center, the scanner camera lens being configured to form an image of a portion of the surface on the scanner photosensitive array and to produce a scanner electrical signal in response, the processor configured to receive a scanner digital signal corresponding to the scanner electrical signal, the scanner having a baseline, the baseline being a straight line segment between the projector perspective center and the scanner camera perspective center, the projector having a projector orientation in the first frame of reference, the scanner camera having a scanner camera orientation in the first frame of reference, the photogrammetry camera including a photogrammetry lens and a photogrammetry photosensitive array, the photogrammetry camera having a second frame of reference, the photogrammetry lens being configured to form an image of a part of the surface on the photogrammetry photosensitive array and to produce a photogrammetry electrical signal in response, the processor further configured to receive a photogrammetry digital signal corresponding to the photogrammetry electrical signal;
attaching the collection of photogrammetry targets to the surface;
placing the scanner at a first location;
generating with the projector a first structured light pattern at a first time;
projecting the first structured light pattern onto a first portion of the surface to produce a first reflected light;
receiving the first reflected light with the camera lens;
forming with the camera lens a first image of the first reflected light on the scanner photosensitive array and generating in response a first scanner digital signal;
sending the first scanner digital signal to the processor;
determining with the processor first three-dimensional coordinates of points on the first portion of the surface, the first three-dimensional coordinates based at least in part on the first structured light, the first scanner digital signal, the projector orientation in the first frame of reference, the scanner camera orientation in the first frame of reference, and a length of the baseline;
determining with the processor first target coordinates, the first target coordinates being three-dimensional coordinates of a first portion of the collection of photogrammetry targets based at least in part on the first three-dimensional coordinates;
placing the scanner at a second location;
generating with the projector a second structured light pattern at a second time;
projecting the second structured light pattern onto a second portion of the surface to produce a second reflected light;
receiving the second reflected light with the camera lens;
forming with the camera lens a second image of the second reflected light on the scanner photosensitive array and generating in response a second scanner digital signal;
sending the second scanner digital signal to the processor;
determining with the processor second three-dimensional coordinates of points on the second portion of the surface, the second three-dimensional coordinates based at least in part on the second structured light, the second scanner digital signal, the projector orientation in the first frame of reference, the scanner camera orientation in the first frame of reference, and the length of the baseline;
determining with the processor second target coordinates, the second target coordinates being three-dimensional coordinates of a second portion of the collection of photogrammetry targets based at least in part on the second three-dimensional coordinates;
placing the photogrammetry camera at a third location;
forming with the photogrammetry lens a third image of the collection of photogrammetry targets on the photogrammetry photosensitive array and generating in response a first photogrammetry digital signal;
sending the first photogrammetry digital signal to the processor;
placing the photogrammetry camera at a fourth location;
forming with the photogrammetry lens a fourth image of the collection of photogrammetry targets on the photogrammetry photosensitive array and generating in response a second photogrammetry digital signal;
sending the second photogrammetry digital signal to the processor;
determining three-dimensional coordinates of a combined portion of photogrammetry targets, the combined portion of photogrammetry targets including the first portion of the collection of the photogrammetry targets and the second portion of the collection of photogrammetry targets, the coordinates of the combined portion of photogrammetry targets based at least in part on the first photogrammetry digital signal, the second photogrammetry digital signal, the first target coordinates, and the second target coordinates, wherein scaling of the three-dimensional coordinates of the combined portion of photogrammetry targets is based at least in part on at least one distance between the photogrammetry targets, the at least one distance determined based on the first target coordinates or the second target coordinates; and
storing the three-dimensional coordinates of the combined portion of photogrammetry targets.
2. The method of claim 1, further comprising storing the first three-dimensional coordinates of the points on the first portion of the surface.
3. The method of claim 1, further comprising storing the second three-dimensional coordinates of the points on the second portion of the surface.
4. The method of claim 1, wherein in the step of determining three-dimensional coordinates of a combined portion of photogrammetry targets, scaling of the three-dimensional coordinates of the combined portion of photogrammetry targets is further based at least in part on a plurality of distances between the photogrammetry targets, the plurality of distances determined based on the first target coordinates or the second target coordinates.
5. The method of claim 1, wherein in the step of providing a processor, the processor is a single processor.
6. The method of claim 1, wherein in the step of providing a processor, the processor is a plurality of processors.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A face identification device comprising:
a storage unit for storing a plurality of feature values previously obtained for respective partial areas from a face image of a registrant;
a processor comprising:
a face detection unit for detecting a face of a person from an input image;
a partial area designating unit for designating a plurality of partial areas of an area including the face, the partial areas corresponding to feature points of a detected face including at least one of an eye and a nose;
a state determination unit for determining from the detected face whether an unfavorable condition for identification of the detected face has occurred and, if so, determining the degree of the unfavorable condition, wherein unfavorable conditions include at least one of the angle of the direction of the detected face, the effect of a lighting environment of the detected face, a worn article on the detected face, and the entropy of each partial area of the detected face;
a feature value obtainment unit for obtaining a plurality of feature values from the detected face for respective designated partial areas;
a reliability determination unit for determining reliability for each feature value of the respective designated partial areas based on the results obtained by the state determination unit including the degree of unfavorable conditions, and predetermined reliability tables stored on a reliability storage unit, the reliability storage tables containing reliability values for respective designated partial areas under various degrees of unfavorable conditions; and
an identification unit for identifying the detected face with the face of the registrant stored on the storage unit by comparing the plurality of feature values stored on the storage unit for the respective partial areas of the face image of the registrant with the plurality of feature values obtained from the designated partial areas, while taking into account the reliability of each feature value of the designated partial areas;
wherein the identification unit calculates a score of each partial area for the registrant by comparing the feature values of the plurality of partial areas of the registrant stored on the storage unit with the feature values obtained by the feature value obtainment unit for the designated partial areas and based on the score and the reliability of each of the partial areas, identifies the detected face with the face of the registrant stored on the storage unit.
2. The face identification device according to claim 1, wherein the state determination unit comprises a direction determination unit for determining a direction of the detected face, wherein the reliability determination unit determines the reliability of each feature value of the plurality of designated partial areas corresponding to the direction of the detected face.
3. The face identification device according to claim 1, wherein the state determination unit comprises a brightness determination unit for determining brightness of a part where each feature value of the plurality of designated partial areas is to be obtained or a surrounding thereof, wherein the reliability determination unit determines the reliability of each feature value of the plurality of designated partial areas corresponding to the brightness.
4. The face identification device according to claim 1, wherein the state determination unit comprises a worn article determination unit for determining whether an article is worn by a subject in the detected face, wherein the reliability determination unit determines the reliability of each feature value of the plurality of designated areas corresponding to whether an article being worn and a part where the article is worn.
5. The face identification device according to claim 1, wherein the state determination unit comprises a direction determination unit for determining a direction of the detected face, wherein the partial area deciding unit designates a range of each partial area corresponding to the direction of the detected face.
6. A face identification method comprising the steps of:
detecting a face, in an input image, using an information processor having a storage unit for storing a plurality of feature values previously obtained for respective partial areas from a face image of a registrant;
designating a plurality of partial areas in an area including the detected face using the information processor;
determining from the detected face whether an unfavorable condition for identification of the detected face has occurred and, if so, the degree of the unfavorable condition using the information processor, wherein unfavorable conditions include at least one of the angle of the direction of the detected face, the effect of a lighting environment of the detected face, a worn article on the detected face, and the entropy of each partial area of the detected face image;
obtaining a feature value from each partial area of the detected face using the information processor;
determining a separate reliability for each feature value of each designated partial area, using information on the detection of an unfavorable condition and its degree, using the information processor;
calculating a score of each partial area by comparing the feature value of the registrant stored on the storage unit with the feature value obtained by the feature value obtainment unit for each partial area using the information processor; and
based on the score and the reliability of each feature value of each designated partial area, identifying the detected face with the face of the registrant stored on the storage unit using the information processor by comparing the plurality of feature values stored on the storage unit with the plurality of feature values obtained from the detected face, while taking into account the reliability of each feature value.
7. A program stored on a non-transitory computer readable medium, that, when executed by an information processor having a storage unit for storing a plurality of feature values previously obtained for respective partial areas from a face image of a registrant, causes the information processor to execute the steps of:
detecting a face of a person in an input image;
designating a plurality of partial areas in an area including the detected face;
determining from the detected face whether an unfavorable condition for identification of the detected face has occurred and, if so, the degree of the unfavorable condition, wherein unfavorable conditions include at least one of the angle of the direction of the detected face, the effect of a lighting environment of the detected face, a worn article on the detected face, and the entropy of each partial area of the detected face image;
obtaining a feature value from each partial area of the detected face;
determining a separate reliability for each feature value from each designated partial area using information on the detection of an unfavorable condition and its degree;
calculating a score of each partial area by comparing the feature value of the registrant stored on the storage unit with the feature value obtained for each partial area; and
based on the score and reliability, identifying the detected face with the face of the registrant stored on the storage unit by comparing the plurality of feature values stored on the storage unit with the plurality of feature values obtained from the detected face while taking into account the reliability of each feature value.
8. The device of claim 1, wherein at least one unfavorable condition is a worn article on the detected face and determining the degree of the unfavorable condition comprises using an entropy index.
9. The device of claim 1, wherein at least one unfavorable condition is a worn article on the detected face and determining the degree of the unfavorable condition comprises obtaining a concealment ratio value.
10. The device of claim 9, wherein obtaining a concealment ratio value comprises determining to what degree the feature values of an area likely to be concealed can be detected near the part where the worn article is detected.
11. The method of claim 6, wherein at least one unfavorable condition is a worn article on the detected face and determining the degree of the unfavorable condition comprises using an entropy index.
12. The method of claim 6, wherein at least one unfavorable condition is a worn article on the detected face and determining the degree of the unfavorable condition comprises obtaining a concealment ratio value.
13. The method of claim 12, wherein obtaining a concealment ratio value comprises determining to what degree the feature values of an area likely to be concealed can be detected near the part where the worn article is detected.
14. The program of claim 7, wherein at least one unfavorable condition is a worn article on the detected face and determining the degree of the unfavorable condition comprises using an entropy index.
15. The program of claim 7, wherein at least one unfavorable condition is a worn article on the detected face and determining the degree of the unfavorable condition comprises obtaining a concealment ratio value.
16. The program of claim 15, wherein obtaining a concealment ratio value comprises determining to what degree the feature values of an area likely to be concealed can be detected near the part where the worn article is detected.