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Apparatus and method for recognizing three-dimensional shape of object

  • US 4,982,438 A
  • Filed: 09/01/1989
  • Issued: 01/01/1991
  • Est. Priority Date: 06/02/1987
  • Status: Expired due to Fees
First Claim
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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.

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