Importance

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Abstract

A method and an apparatus capable of accurately measuring the three-dimensional position and orientation of an object in a short data processing time are provided, wherein a first slit light is projected from a first light projector for scanning an object, and each light image is obtained by a CCD camera. Similarly, a second slit light is projected from a second light projector for scanning the object and each light image is obtained by the CCD camera. The first and second slit lights are perpendicular to each other. The individual images obtained are processed to find a bent point and a disconnection point in each slit-light scan image. From among these points, a group of points which are reckoned to be lying on the same straight line is extracted, and the obtained straight line of points is used as edge information of the object. Based on the edge information and shape data of the object, three-dimensional position/orientation data is obtained. Any edge of the object can surely be detected with at least one of the slit lights, regardless of its direction, and thus, even if the scanning intervals of the slit lights are rough, edges of the object can surely be detected in a shorter measuring time is shortened.

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First Claim