| 摘要 |
A three-dimensional shape detection device which can detect a three-dimensional shape of an object to be picked up even in the case that an image pick-up part with a narrow dynamic range is used is disclosed. An image of an object to be picked up is picked up under a plurality of different exposure conditions in a state that each of a plurality of kinds of patterned lights alternatively disposing bright and dark portions is time-sequentially projected to the object to be picked up and a plurality of brightness images are generated on for respective exposure conditions. Further, based on such a plurality of the brightness images, a coded image is formed on each exposure condition and a code edge position for a space code is obtained for every exposure condition. Based on a plurality of code edge positions for every exposure condition obtained in this manner, one code edge position for calculating a three-dimensional shape of the object to be picked up is determined such that the three-dimensional shape of the object to be picked up is calculated.
|
