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Multi-eye image pickup apparatus, and method and apparatus for measuring or recognizing three-dimensional shape

  • US 6,118,475 A
  • Filed: 06/01/1995
  • Issued: 09/12/2000
  • Est. Priority Date: 06/02/1994
  • Status: Expired due to Term
First Claim
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1. A multi-eye image pickup apparatus comprising:

  • a plurality of image pickup means set at a predetermined angle of convergence, each for picking up an image of a desired object;

    a plurality of motion vector extracting means provided corresponding to said image pickup means, each for extracting a motion vector of said object between predetermined frames from images obtained in time series by the corresponding image pickup means;

    stereoscopic parallax extracting means for extracting a stereoscopic parallax of said object between said predetermined frames from images obtained in time series from said respective image pickup means; and

    means for obtaining a final motion vector of said object between said predetermined frames from motion vectors extracted by said respective motion vector extracting means and the stereoscopic parallax extracted by said stereoscopic parallax extracting means.

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