Patent ID: 8718326

Claim:
A system for extracting 3D coordinates comprising: a stereoscopic image photographing unit to obtain two images by capturing an image of an object using each of two photographing lenses, and obtain 3D coordinates of the object on the basis of coordinates of each pixel contained in each of the two images; a Time Of Flight (TOF) sensor unit to measure a value of a distance to the object, and obtain 3D coordinates of the object on the basis of the measured distance value; a controller to determine whether each set of pixel coordinates obtained through the stereoscopic image photographing unit and the distance value to the object measured through the TOF sensor unit corresponding to each set of pixel coordinates are present or not, calculate a disparity value on the basis of the distance value or the pixel coordinates obtained through the stereoscopic image photographing unit according to the determined result, and calculate 3D coordinates of the object on the basis of the calculated disparity value; and a calibration unit to map the pixel coordinates of each image captured through the stereoscopic image photographing unit to 3D coordinates obtained through the TOF sensor unit, and calibrate the 3D coordinates, wherein, if each set of pixel coordinates obtained through the stereoscopic image photographing unit and a value of a distance to the object measured through the TOF sensor unit corresponding to each set of pixel coordinates are present, the controller calculates the disparity value on the basis of the measured distance value, and wherein the controller calculates correlation between each set of pixel coordinates obtained through the stereoscopic image photographing unit on the basis of the distance value, and calculates the disparity value on the basis of the calculated correlation.