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High-speed and Continuous 3D Measurement System 
  
  
  
Figure 3: Configuration of measurement system and video camera 
3 SYNTHESIS OF RANGE IMAGE AND VIDEO IMAGE 
3.1 Technique of Position Matching 
Position matching of video images with range images is executed as follow. 
Process 1: Measured 3D points obtained by our system are transformed to coordinate system of video camera through 
the coordinate system transformation. 
Process 2: Measured 3D points represented by coordinate system of video camera in preceding process are mapped 
onto respective video images by perspective transformation with parameters of video camera. 
By carrying out above two processes for all measured 3D points, position matching of video and range images are com- 
pleted. Then we can attribute the information(color, brightness and so on) of each pixel to the respective measured point. 
Above processes are formulated as follow. 
Transformation from the coordinate system of measurement system to that of video camera is expressed by Equation (1). 
(Xv. Vv. Zv, 1) = (Xu, Yu, Zu, 1)TATS (1) 
Where, (Xm, Ym, Zm ) is the 3D coordinate of the measured point in the coordinate system of measurement system and 
(Xv, Yy, Zy) in that of video camera. T7; and T» is the 4 x 4 transformation matrix expressed as in Equations(2) and (3) 
which represent translation and rotation, respectively. 
  
468 International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000.