PURPOSE:To input both shape information and a shape as a whole by detecting a cell with a peak value with the aid of a symmetry plane parameter which is determined by two points and performing the application of the symmetry plane while taking the parameter value as an initial value. CONSTITUTION:In an input picture storage part 101, one eye of binocular vision is replaced by a slit light projector, and the depth in the direction of line of sight is measured. From a local symmetrical parameter extraction part 102, a symmetrical point, a symmetry plane normal, and a distance from an origin to a plane are outputted. In a symmetry plane parameter space storage part 103, the regular division of a unit spherical surface is performed to obtain parameter space regularly divided into cells with the same space and shape against the unit normal direction. In a symmetry plane parameter voting part 104, the symmetry plane normal and the distance from the origin obtained in the extraction part 102 are voted to the parameter space of the storage part 103. A symmetry plane parameter accurate measuring estimation part 106 performs accurate parameter estimation by repeating M estimation method, and all the symmetry plane parameter in the distance picture can be accurately extracted from the distance picture of one view point.
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