| 摘要 |
PROBLEM TO BE SOLVED: To efficiently hold depth information acquired by a triangulation method on the basis of reflection light of projected structured light.SOLUTION: An information process device acquires a two-dimensional image obtained by receiving reflection light of structured light projected to an object from a projection device 10 by an imaging device 20, and acquires depth information in a three-dimensional space from the two-dimensional image by a triangulation method. As the structured light to be projected, the structured light is light that constitutes a plurality of discrete measurement lines almost orthogonal to a straight line connecting the projection device 10 and the imaging device 20. The depth information has been conventionally obtained like a distance image 50, but according to the present invention, the depth information is stored in each element of a measurement line map 60 serving as a two-dimensional array composed of axes 90 corresponding to the number of measurement lines and an axis 70 corresponding to a width of a photographing image. Accordingly, a holding capacity of the depth information is reduced, and further, a characteristic point is mapped by the measurement line map and thereby a collation process of a target object is speeded up. |
