影情報を利用した線状物体の端点の三次元位置計測法
3-D Measurement of the Tips of the Line-Like Object using Shadow Information

Heng-LI GUO, Masahiko YACHIDA, Saburo TSUJI
1984 Journal of the Robotics Society of Japan  
In order to measure the 3-D positions of wire tips a new vision system has been developed. The new method does not use any special method of projecting light. Distance information of any visible point on wire can be obtained from images of wires and their shadows on a working table projected from a point light source. A theory is presented to determine the 3-D geometry of wires from the image taken by a TV-camera with prior knowledge on arrangement of the environment: the camera, the table and
more » ... he lighting source. Wires and their shadows are extracted as strips from an input image (a 256 by 256 4 bit digital picture) by applying thresholding and thinning operators.
doi:10.7210/jrsj.2.151 fatcat:ciexqsfwd5alnlveg4gmentesy