Border line segment selection manner null of photographing

摘要

PURPOSE:To make more accurate and faster the three-dimensional recognition of a photographed object by extracting only mapping point corresponding to the contour line segment of the photographed object existing near a camera by means of repeated photographing, and suppressing and eliminating a remotely existing object. CONSTITUTION:The camera is moved along a linear path, it is made to photograph 10 at every prescribed distance, the contour of each photographed image is projected 11 on a first virtual spherical surface, a mapping processing 12 is executed, a large circle is generated on a second virtual spherical surface, a density corresponding to the number of large circle crossing is written at the point of the large circle intersection, and a window, which has an area according to the distance and at the same density as that of the spherical surface, is set 13 around the position corresponding to the large circle intersection of the spherical surface on the first virtual surface corresponding to the second virtual spherical surface. At such a time, the whole area density of the second virtual surface is reduced at a prescribed ratio, the updating 14 of the second virtual surface density to add the window density to the density corresponding to the set window is executed, whenever the density is written to the second virtual spherical surface, the density of the second virtual surface before the editing is subtracted 15, and the position of the large circle intersection where the obtained density is =the set value is retrieved from the second virtual spherical surface, and outputted 16.