| 摘要 |
A method and apparatus for reconstructing the surface, i.e the third dimension, of a three-dimensional object from two-dimemsional information includes projecting radiant energy, such as light, from a substantially parallel ray source at said object at a number of different angles relative to a reference surface with respect to which the object is placed. The lengths and locations of shadows cast by the object are measured as a function of the angle of the light rays. The location of the surface of the object relative to the reference surface is determined from the shadow lengths and locations from the angles at which the respective shadow lengths are created. Preferably, the shadow lengths and locations are measured by an electronic camera that generates electrical signals indicative of the shadow image. These signals are preferably received by a computer that determines the location of the surface of the object relative to the reference surface. Preferably, the computer also controls the position of the energy source. The method is relatively insensitive to variations in measurement and signal processing conditions. The position information produced in applying the method may be used in many applications, for example, for positioning a robot gripper to retrieve a part from a bin.
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