Apparatus and method for recognizing three-dimensional shape of object
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United States of America Patent
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Jan 1, 1991
Issued Date -
N/A
app pub date -
Sep 1, 1989
filing date -
Jun 2, 1987
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A three-dimensional shape of an object is recognized by developing enveloping surfaces of the object by a cone-silhouetting method, wherein the object is picked up by a binocular three-dimensional vision method by making use of geometrical restraint conditions derived by the cone-silhouetting method. The binocular parallax is increased to thereby ensure the recognition of the three-dimensional shape with improved accuracy. Local concave portions which can not be recognized by the cone-silhouetting method by itself are recognized with higher accuracy.
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Cited Art Landscape
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