| 摘要 |
A method for optically detecting the shape of a three-dimensional object by a) positioning an object, at least one light source and at least one camera each in a selected first position in three dimensions, b) detecting the respective selected first positions of the object, of the light source and of the camera, c) illuminating the object by the light source with the object, the light source, and the camera in their respective first positions, d) recording images of the illuminated object while the object, the light source and the camera are in their respective first positions; e) repeating steps a)-d) for a plurality of additional positions of the object, the light source and the camera, f) determining the surface normal to a plurality of surface points on the object from the corresponding positions on a plurality of the recorded images using a photometric stereo technique, g) identifying corresponding image points in a plurality of the recorded images from the corresponding surface normals using a binocular stereo technique, h) determining a plurality of image point vectors from the sets of corresponding image points and respective object surface normals, and i) defining the three-dimensional shape of the object from the image point vectors, and the respective positions of the camera, the light source and the object. |
