STEREOSCOPIC SHAPE RECOGNITION DEVICE AND LIGHT SOURCE POSITION ESTIMATION METHOD FOR STEREOSCOPIC SHAPE RECOGNITION DEVICE

• Main Authors: IMOTO HARUTAKA, TANABE TADAYUKI, MACHIDA KENICHIRO
• Format: Patent
• Language: English
• Published: 19.06.2014
• Subjects: MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; TESTING

PROBLEM TO BE SOLVED: To provide a stereoscopic shape recognition device that can easily and accurately estimate the position of a light source when recognizing a stereoscopic shape of a target object measured by a photometric stereo method, and a position estimation method of the light source.SOLUTION: A stereoscopic shape recognition device includes a plurality of light sources Ln which irradiate a body W to be measured with light from different directions, a CCD camera 4 which images the body W to be measured each time the object to be measured is irradiated with the light from the plurality of light sources Ln in sequence, and an arithmetic unit 5 which calculates a normal vector "n" of each pixel of picked-up images on the basis of data on a plurality of acquired picked-up images and irradiation directions of respective pieces of light, and also includes a tool 10 for light source measurement constituted by arranging a plurality of measurement pins P1-P9 whose height dimensions are unknown on a base 11. In a stage before the shape of the body W to be measured is recognized, the tool 10 for light source measurement is imaged by the CCD camera 4 each time the body to be measured is irradiated with the light from the plurality of light sources Ln, and the arithmetic unit 5 estimates respective three-dimensional positions of the plurality of light sources Ln on the basis of respective pieces of position information on the measurement pins P1-P9 of the tool 10 for light source measurement and shadows S1-S9 thereof in the picked-up images.