Patent ID: 8786679

Claim:
An imaging device comprising: a projecting part which projects a pattern on an object; an imaging part which acquires two captured images of the object having the pattern projected thereon, wherein the two captured images have optical axes at different positions and are two-dimensional images; a setting part which sets exposure conditions for the imaging part to capture images of the object; a controlling part which controls the imaging part and performs imaging operations as many times as the number of the exposure conditions set by the setting part; an extracting part which extracts corresponding points that are characteristic points corresponding between the two captured images obtained under the control of the controlling part, the corresponding points appearing in the pattern projected on the object in the captured images; an optimizing part which performs a corresponding point optimization process on the corresponding points to select corresponding points which are included in the captured images and which meet predetermined conditions from among the corresponding points which are (i) captured for each of the exposure conditions and (ii) extracted by the extracting part; a combining part which combines the corresponding points which are (i) captured for each of the exposure conditions and (ii) selected by the optimizing part such that each of the corresponding points having a same optical axis are superimposed; a calculating part which calculates coordinate values in three dimensional coordinates for a position on the object that corresponds to the corresponding points using a pair of the corresponding points that are superimposed by the combining part; and a creating part which creates 3D modeling data that defines a shape of the object based on the coordinate values in the three dimensional coordinates that are calculated by the calculating part.