Apparatus and method for recognizing three-dimensional shape of object
First Claim
Patent Images
1. An apparatus for recognizing a three-dimensional shape of an object, comprising:
- a camera system for picking up images of said object from a plurality of points of vision;
first arithmetic means for arithmetically deriving geometrical restraint conditions imposed on position and/or shape of said object from the outputs of said camera system, said geometrical restraint conditions being a set of enveloping surfaces that contact at least one point of said object and envelop said images of said object; and
second arithmetic means for arithmetically determining whether a position of intersection between viewing lines extending from two points of vision of said camera system satisfies said derived geometrical restraint conditions, to thereby determine arithmetically three-dimensional coordinates of a corresponding point on said object based on a position of intersection which satisfies said geometrical restraint conditions as well as said geometrical restraint conditions.
0 Assignments
0 Petitions
Accused Products
Abstract
A three-dimensional shape of an object is recognized by developing enveloping surfaces of the object by a cone-silhouetting method, wherein the object is picked up by a binocular three-dimensional vision method by making use of geometrical restraint conditions derived by the cone-silhouetting method. The binocular parallax is increased to thereby ensure the recognition of the three-dimensional shape with improved accuracy. Local concave portions which can not be recognized by the cone-silhouetting method by itself are recognized with higher accuracy.
-
Citations
8 Claims
-
1. An apparatus for recognizing a three-dimensional shape of an object, comprising:
-
a camera system for picking up images of said object from a plurality of points of vision; first arithmetic means for arithmetically deriving geometrical restraint conditions imposed on position and/or shape of said object from the outputs of said camera system, said geometrical restraint conditions being a set of enveloping surfaces that contact at least one point of said object and envelop said images of said object; and second arithmetic means for arithmetically determining whether a position of intersection between viewing lines extending from two points of vision of said camera system satisfies said derived geometrical restraint conditions, to thereby determine arithmetically three-dimensional coordinates of a corresponding point on said object based on a position of intersection which satisfies said geometrical restraint conditions as well as said geometrical restraint conditions. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A method of recognizing a three-dimensional shape of an object, comprising the steps of:
-
obtaining a general shape of the object to be recognized in terms of a set of enveloping surfaces that contact at least one point of said object and envelop images of said object; picking up said images of said object by means of left and right camera systems disposed horizontally; identifying regions of said picked-up images over which said object is projected as object images; extracting brightness values of pixels from regions of said object images on scanning lines of said images of said left and right camera systems; determining straight lines interconnecting positions of said pixels of said object images and a position of a point of vision in a real three dimensional space independently for each of said images of said left and right camera systems, respectively; determining arithmetically as candidates for selection those combinations of pixels of said images of the left and right camera systems which have associated straight lines intersecting each other, said intersections being located within a set of enveloping surfaces; selecting such a combination of pixels from said candidates in which a sum of differences in brightness values between left and right pixels put into correspondence relations, respectively, is a minimum; and correcting a shape defined by said set of enveloping surfaces by utilizing information of intersections derived from said selected combinations to thereby establish a final three-dimensional shape of said object. - View Dependent Claims (8)
-
Specification