| 摘要 |
PURPOSE:To take a measurement of distance with high accuracy and a small quantity of calculation by removing a known background image of a workbench, etc., and finding the quantity of degeneration from a point on an objective body to its image point from an equation of a slit light plane. CONSTITUTION:The point P on the objective body 4 is expressed by the homogeneous coordinate system of a camera coordinate system (Xc, Yc, Zc) and the image point Pi of a point P on an image pickup element is represented by the homogeneous coordinate system of an image coordinate system; and those are related to each other by a specific expression. Then, the point P is expressed by the homogeneous coordinate system of a working coordinate system (X, Y, Z) and transformed into the homogeneous coordinate system of the camera coordinate system by using a transformation expression. The coordinate points of the camera coordinate system are erased from those two expressions and homogeneous coordinate points of the point P and Pi are related to each other with camera parameters. Then, the position of the point P is determined based on the parameters and slit light parameters of an equation representing the plane of slit light 3. Then, a background body such as the workbench 7 is represented as a plane and the point of the straight line of intersection of the light 3 and plane on a projection on the image pickup element is removed from the slit image to extract only the image of the body 4.
|
