| 摘要 |
PROBLEM TO BE SOLVED: To obtain a working visual field corresponding to a working situation without being limited by a working visual field unitarily decided according to the arrangement position or attitude of a picture sensor. SOLUTION: A virtual picture #21 obtained by a virtual picture sensor 21 at the time of image picking-up an object 5 with a desired visual field at a desired position is set instead of a picture #1 of a first image pickup means 1. Then, a position coordinate (Xk , Yk ) (k=1,...,N) of a corresponding candidate Pk in pictures #1-&Ngr; of plural image pickup means 1-N corresponding to a selected picture element P21 specified by a position (i, j) in the set virtual picture #21 is generated for each size of a virtual distance zn from the virtual picture sensor P21 to a point 50a on the object 50 corresponding to the selected picture element P21 . Then, the similarity of the picture information of the position coordinate (Xk , Yk ) (k=1,..., N) of the generated corresponding candidate point Pk is calculated. Thus, an as umption distance znx when the calculated similarity is made the maximum is obtained as a distance from the virtual picture sensor 21 to the point 50a on the object 50 corresponding to the selected picture element P21 , and this distance znx is calculated for each selected picture element. |
