| 摘要 |
PROBLEM TO BE SOLVED: To develop a high speed solution calculating method that does not need repeated calculations and also to provide a system for performing the high speed solution calculating method in a shape reproducing method for find ing out the shape of an object from the shadow of a gradation image acquired by a monocular camera. SOLUTION: This shape reproducing method from shadows employs the relational expression of the Tsai and Sha method obtained by modeling the relation among the luminance value of a lattice point (i and j) of an image obtained by photographing the object that is illuminated by parallel rays from a known direction and has known reflectance with the monocular camera, the inclinations (pi,j and qi,j) of the object at the lattice point and shape depth coordinates zi,j, and comprises a step for obtaining an approximate expression by substituting pi,j=zi,j-zi-1,j, and qi,j=zi,j-zi,j-1 by linear approximation for inclinations, a step for squaring the approximate expression, a step for obtaining zi,j as the solution of a quadratic expression with respect to the zi,j, and a step for totalizing individual lattice points, and obtains a solution not with the respected calculations but with a single calculation. |
