| 摘要 |
PURPOSE:To high-speedily detect a stereoscopic shape of an object of low contrast without texture on its surface by imaging a light image of the object, detecting a picture image signal by way of changing detection conditions concerning a plural number of points on the object and detecting the stereoscopic shape of the object from speed change on the computed points on a picture image. CONSTITUTION:A device is constituted of a lighting system 100, a detection optical system 200 and a signal processing system 300. By the lighting system 100, a texture pattern is projected on an object 1, radiated light is imaged on a detector 204 through the detection optical system 200 and it is converted to a light intensity signal with a coordinate x. By space differentiating 305 this signal (i), a signal di/dx is found and by time differentiating 306 this signal (i), a signal di/dt is found, by speed detecting 307, speed dx/ddelta is enumerated and by acquiring height Z information relative to a detection position X, a stereoscopic shape is detected. In this case, detection resolving power of the detector 204 is made larger than imaging resolving power of an imaging lens 203 and the like so as to make differential operation possible, and a steep signal part is removed through a smoothing circuit 301. |
