Patent ID: 8433128
Filing Date: 2013-04-30
Classification: G06K

Abstract:
1. A method of creating a three-dimensional model of an object using a stereo image including a set of images obtained by imaging with each of a plurality of cameras, whose relative positions are fixed, the method comprising the steps of: attaching a mark having a shape without rotation symmetric property to a surface of the object; acquiring a plurality of sets of stereo images by executing imaging over a plurality of times while changing a positional relationship between each camera and the object every time; restoring, using one or more computers, three-dimensional information representing a feature of a contour line of the object and the mark from the stereo images; matching, using the one or more computers, the three-dimensional information restored by the stereo image with three-dimensional feature data of the mark, wherein the three-dimensional feature data of the mark represents a feature of a contour line of the mark; determining whether the feature of the contour line of the mark is substantially restored; integrating, using the one or more computers, all of the restored three-dimensional information or two or more pieces of three-dimensional information corresponding to one part of the plurality of pieces of three-dimensional information restored with the imaging over a plurality of times after aligning; and erasing or invalidating information corresponding to the mark from the integrated three-dimensional information and confirming the three-dimensional information with the information corresponding to the mark is erased or invalidated from the integrated three-dimensional information as the three-dimensional model, wherein the shape is a polygon, and wherein at least one side of the polygon has a length not equal to any other side.