Three-dimensional measurement method of linear objects, work position determination method of linear objects using it, robot control method, fixing method of linear objects, work position determination device of linear objects and linear object gripping system

摘要

PROBLEM TO BE SOLVED: To provide a three-dimensional measurement method of a linear object for accurately measuring a three-dimensional shape of a linear object having at least two or more portions having different reflectances. SOLUTION: A step 111 for capturing a backlit image of a cable C with a stereo camera, a step 112 for extracting a silhouette image of the cable C from the backlit image, a step 113 for confirming the shape of the silhouette image, and three dimensions of the cable C. A three-dimensional measurement method for a linear object having a step 114 for calculating a shape. [Selection diagram] Fig. 2