| 摘要 |
PROBLEM TO BE SOLVED: To correctly decide an object surface even if a similar texture is present. SOLUTION: A space is divided into voxels. A first value showing possibility that an object surface in each voxel is present is calculated from similarity of the pixel values of dots on the imaging device of each camera corresponding to each voxel (step 1). When one voxel is noticed, a plurality of dots are taken in the periphery of a noticed dot, and a camera visual line passing those dots is drawn from the center of the lens of two cameras. A second value showing possibility of presence of an object is calculated from the first value in a voxel in the neighborhood of the intersection, for each of the intersections of those mutual camera visual lines. To the second value in all the intersections, an optimization algorithm using constraints that an object is present only at one intersection on each camera visual line is applied, and a value showing possibility that the object surface is present in the noticed voxel is acquired (step 2). Processing of the step 2 is executed to each voxel. COPYRIGHT: (C)2009,JPO&INPIT
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