| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device and a method for detecting a boundary of an imaging object, capable of accurately detecting a boundary and the like of the imaging object by combining a distance image camera with an infrared camera and the like having higher resolution than the distance image camera. <P>SOLUTION: A device for detecting a boundary of an imaging object, includes: a first emission section 11a for irradiating an imaging object with first light; a first imaging section 11b for obtaining a distance image having, for each of first category pixels P arrayed in two-dimension, distance information calculated from a measurement value of a time from emission of the first light to return of the reflected light; a second imaging section 12a disposed so as to have an imaging optical axis parallel to that of the first imaging section 11b, and for obtaining a normal image having gradation information for each of second category pixels arrayed in two-dimension, of which number is more than that of the first category pixels of the distance image; and an arithmetic control unit 13 for controlling the sections and performing arithmetic processing for the distance image and the normal image. The arithmetic control unit 13 has a contour extraction section, a contour-correspondence pixel extraction section, a shortest distance pixel provisional selection section, a shortest distance pixel selection determination section, and a contour recognition section. <P>COPYRIGHT: (C)2013,JPO&INPIT |
