Patent ID: 7526121
Filing Date: 2009-04-28
Classification: G01B,G06T

Abstract:
1. A three-dimensional sensor comprising: pattern light projecting unit for projecting a slit light or a spot light onto a surface of an object; a camera that captures images of the object, including a first image when the projecting unit does not project the slit light or the spot light onto the surface of the object, and a second image when the projecting unit projects the slit light or the spot light onto the surface of the object; a unit determining a straight line which passes through a measuring point on the object and a specific point on said camera from the first image of the object captured by said camera; a unit determining the surface of the object which includes said measuring point using the second image; a unit determining a three-dimensional position of said measuring point from the straight line determined by said unit for determining a straight line and the surface determined by said unit for determining the surface; and a unit calculating an amount of rotation of the object around said measuring point on a plane including said surface of the object by comparing a shape of the entire object or part of the object in the first image captured by said camera, with a prepared reference shape of the entire object or part of the object.