Vision sensor system, control method, and non-transitory computer readable storage medium

A control method of controlling a vision sensor system provided with

• an image capturing unit that captures an image of a subject,
• a movement mechanism that disposes the image capturing unit in an instructed position with an instructed attitude, and
• a measuring unit that measures a three-dimensional shape of a surface of the subject using an image captured by the image capturing unit,
• wherein the three-dimensional shape is represented by means of height information from a reference surface, and
• the control method comprises:
• a step of extracting a deficient region which is deficient in the height information from a measured shape which is a three-dimensional shape of the subject measured by means of the measuring unit using an image captured when the image capturing unit is disposed in a first position and a first attitude;
• and
• a step of determining a second position and a second attitude for capturing an image of the subject again on the basis of the height information around the deficient region in the measured shape,
• wherein the step of determining the second position and the second attitude for capturing the image of the subject again on the basis of the height information around the deficient region in the measured shape comprises:
• determining the second position and the second attitude so that height information of a target segment that links two points around the deficient region in the measured shape is able to be acquired.

A non-transitory computer readable storage medium storing a program for supporting a vision sensor system provided with

• an image capturing unit that captures an image of a subject,
• a movement mechanism that disposes the image capturing unit in an instructed position with an instructed attitude, and
• a measuring unit that measures a three-dimensional shape of a surface of the subject using an image captured by the image capturing unit,
• wherein the three-dimensional shape is represented by means of height information from a reference surface, and
• the program causes a computer to execute:
• a step of extracting a deficient region which is deficient in the height information from a measured shape which is a three-dimensional shape of the subject measured by means of the measuring unit using an image captured when the image capturing unit is disposed in a first position and a first attitude;
• and
• a step of determining a second position and a second attitude for capturing an image of the subject again on the basis of the height information around the deficient region in the measured shape,
• wherein the step of determining the second position and the second attitude for capturing the image of the subject again on the basis of the height information around the deficient region in the measured shape comprises:
• determining the second position and the second attitude so that height information of a target segment that links two points around the deficient region in the measured shape is able to be acquired.