公开(公告)号：JP2002245439A

公开(公告)日：2002-08-30

申请号：JP2001044546

申请日：2001-02-21

Applicant: NAT AEROSPACE LAB OF JAPAN MEX

Inventor： SASA SHUICHI ,  GOMI HIROMI ,  YAMAGUCHI ISAO ,  NINOMIYA TETSUJIRO ,  HAMADA YOSHIRO

IPC: G06T1/00 ,  G06T15/00 ,  G06T17/05 ,  G06T17/50

Abstract: PROBLEM TO BE SOLVED: To develop a high speed solution calculating method that does not need repeated calculations and also to provide a system for performing the high speed solution calculating method in a shape reproducing method for find ing out the shape of an object from the shadow of a gradation image acquired by a monocular camera. SOLUTION: This shape reproducing method from shadows employs the relational expression of the Tsai and Sha method obtained by modeling the relation among the luminance value of a lattice point (i and j) of an image obtained by photographing the object that is illuminated by parallel rays from a known direction and has known reflectance with the monocular camera, the inclinations (pi,j and qi,j) of the object at the lattice point and shape depth coordinates zi,j, and comprises a step for obtaining an approximate expression by substituting pi,j=zi,j-zi-1,j, and qi,j=zi,j-zi,j-1 by linear approximation for inclinations, a step for squaring the approximate expression, a step for obtaining zi,j as the solution of a quadratic expression with respect to the zi,j, and a step for totalizing individual lattice points, and obtains a solution not with the respected calculations but with a single calculation.