| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional measuring instrument capable of accelerating image processing and a robot system provided with the same.SOLUTION: The three-dimensional measuring instrument includes: a reference camera 22 for imaging a work piece; a reference camera 23 for imaging the work piece at a view point different from that of the reference camera 22; and a camera control unit 5 for calculating three-dimensional coordinates from a first image acquired by imaging the work piece by the reference camera 22 and temporary work piece depth information set in advance, calculating projection of a three-dimensional image of the work piece to the reference camera 23 from the calculated three-dimensional coordinates and a posture parameter of the reference camera 23 to the reference camera 22, setting a cut-out range of the reference camera 23 on the basis of the calculated projection, and measuring a three-dimensional position of the work piece from the first image imaged by the reference camera 22 and a second image cut out within the cut-out range of the reference camera 23. |
