| 摘要 |
PURPOSE:To enable the recognition or handling of a three-dimensional object by a visual apparatus such as an industrial robot, by performing the delivery of the surface contour line of the special shape of an object placed in a three- dimensional state by combining a two-dimensional visual apparatus and a three- dimensional position measuring apparatus. CONSTITUTION:The object 1 on a table 2 is photographed by a television camera 7 and the obtained image is inputted to an image processing apparatus 3. A three-dimensional position measuring apparatus 6 having slit light generation apparatuses 8, 9 provided to the left and right thereof is fixed to the television camera 7 and slit lights T impinged to the object 1 are formed into an image on the image pick-up surface of the TV camera 7. Because the relative positional relation of the TV camera 7 and the slit light generation apparatuses 8, 9 are known, three-dimensional coordinates of the object 1 looked from the TV camera 7 are obtained and specific calculation is performed on the basis of said coordinates by a calculator 5 and the delivery of the surface contour line of the specific shape of the object 1 is performed in a contour line delivery apparatus 4.
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