Patent Document ID: 8295588
Application ID: 12711028
Patent Status: 1

Claim One:
1. A three-dimensional vision sensor that includes a stereo camera; a parameter calculation unit which extracts characteristic points in a calibration work which is designed to extract, therefrom, a plurality of characteristic points having a certain positional relationship thereamong, from a stereo image created through an image pickup on the calibration work by the stereo camera and, further, calculates a parameter for three-dimensional measurement using the characteristic points; a parameter storage unit in which the parameter for three-dimensional measurement 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 through an image pickup on a predetermined recognition-target object by the stereo camera for performing predetermined recognition processing including height recognition on the predetermined recognition-target object; the three-dimensional vision sensor comprising: a processing 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 predetermined characteristic patterns, using a stereo image created by the image pickup and the parameter calculated by the parameter calculation unit, for acquiring three-dimensional coordinates of the respective representative points, wherein the processing unit, based on the three-dimensional coordinates of the respective representative points which have been acquired, specifics a calculation equation expressing a plane including the three-dimensional coordinates and determines a 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 processing unit corrects the parameter registered in the parameter storage unit or a result of the three-dimensional measurement processing using the parameter registered in the parameter storage unit, based on the determined positional relationship, and wherein the processing unit corrects the parameter registered in the parameter storage unit using a transformation parameter and replaces the registered parameter with the corrected parameter.