| 摘要 |
PURPOSE: To obtain method and device for instantaneously detecting the tilt of a plane included in the distance image of an object and the approximate area of the plane by obtaining the distance image of the object so that a three- dimensional object may be recognized at high speed. CONSTITUTION: This device is provided with a distance image acquiring means 401 acquiring the distance image as the three-dimensional information of the object, a picture display means 402 for displaying the acquired distance image as phase distribution, a Fourier transformation optical system 403 consisting of nearly parallel coherent light for reading out a picture displayed on the picture display means and a Fourier transformation lens for performing Fourier transformation to the picture read out by the coherent light, and a Fourier transformation spectrum detecting means 404 detecting a Fourier spectral image obtained by the Fourier transformation optical system. Then, the normal of the plane included in the acquired distance image and the approximate area thereof are detected at high speed. |
