Patent ID: 7653247

Claim:
A corner point extracting system comprising: a light generator emitting light in a predetermined form; an image acquisition device acquiring an image of a reflector reflecting the light emitted from the light generator; and a control module obtaining pixel information of the acquired image and obtaining distance data between the light generator and the reflector using the pixel information of the acquired image and a geometrical relationship among the light generator, the reflector and the image acquisition device and obtaining a corner point by performing split-merge using a threshold proportional to the distance data, the distance data representing coordinate values of points on a plane obtained when the light generator and the reflector are viewed from above, the points being converted from pixels in the acquired image, wherein the threshold is a value proportional to the distance data which corresponds to the pixel information obtained from the image acquisition device, wherein split-merge is performed by connecting a line between two end points of the distance data, measuring distances between the line and each of the distance data points, performing a split of the line if the measured distance exceeds a predetermined threshold to create additional lines, continuously performing the splitting of the line to produce continuous lines until no measured distance exceeds the predetermined threshold and thereafter creating a common line to the continuous lines to merge the continuous lines.