Patent Document ID: 20100232681
Application ID: 12711028
Patent Status: 0

Claim One:
1. A three-dimensional vision sensor comprising 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 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, 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 a correction unit which corrects the parameter registered in the parameter storage unit or the result of the three-dimensional measurement processing using the parameter, based on the positional relationship determined by the determination unit.