Patent Document ID: 20130033580
Application ID: 13633536
Patent Status: 0

Claim One:
1. A three-dimensional vision sensor comprising a stereo camera; a parameter calculation unit which extracts a plurality of characteristic points in a calibration pattern which is designed to enable extracting, therefrom, a plurality of characteristic points having a certain positional relationship thereamong, from a stereo image created through an image pickup on the calibration pattern by the stereo camera, and further calculates a parameter for three-dimensional measurement using the extracted characteristic points; a parameter storage unit in which the parameter for three-dimensional measurement is registered; a model creation unit which performs three-dimensional measurement processing using the parameter registered in the parameter storage unit on a stereo image created through an image pickup on a predetermined recognition-target object by the stereo camera for creating a three-dimensional model for the recognition-target object using the result of the measurement; a three-dimensional-model storage unit in which the created three-dimensional model is registered; and a three-dimensional recognition unit which performs three-dimensional measurement processing using the parameter registered in the parameter storage unit on a stereo image created by an image pickup for the recognition-target object by the stereo camera and, further, compares the result of the measurement with the three-dimensional model registered in the three-dimensional-model storage unit for recognizing a position and an attitude of the recognition-target object, the three-dimensional vision sensor further comprising: a coordinate acquisition unit which, in response to an image pickup performed on a plane provided with predetermined characteristic patterns by the stereo camera, performs three-dimensional measurement processing for at least three representative points in the characteristic patterns, using a stereo image created by the image pickup and the parameter calculated by the parameter calculation unit, for acquiring the three-dimensional coordinates of the respective representative points, and a determination unit which, based on the three-dimensional coordinates of the respective representative points which have been acquired by the coordinate acquisition unit, specifies a calculation equation expressing a plane including these three-dimensional coordinates and determines the positional relationship between the plane expressed by the calculation equation and a plane recognized as having a height of zero through three-dimensional measurement processing using the parameter calculated by the parameter calculation unit, and wherein the model creation unit corrects the parameter registered in the parameter storage unit based on the positional relationship determined by the determination unit, further performs three-dimensional measurement processing using the corrected parameter, and creates the three-dimensional model using the coordinates each indicating a height of 0 or more, out of the three-dimensional coordinates obtained from the measurement.