Three-dimensional shape detecting device and three-dimensional shape detecting method

A three-dimensional shape detection device which is configured to detect a three-dimensional shape of an object to be picked up within a image pick-up region based on information on an image which is picked up by projecting patterned lights which are formed by alternately arranging brightness and darkness to the object to be picked up, the three-dimensional shape detection device comprising:

• a projection part which is configured to project the respective patterned lights to the object to be picked up;
• an image pick-up part which is configured to pick up the object to be picked up in a state that the patterned lights are projected from the projection part under a plurality of different exposure conditions;
• a patterned light trajectory extracting unit which is configured to extract trajectory of the patterned light from a pick-up image picked up by the image pick-up part for every exposure condition;
• a pattern trajectory integration unit which is configured to determine one pattern trajectory position for calculating a three-dimensional shape of the object to be picked up based on a pattern trajectory position for every exposure condition extracted by the patterned light trajectory extracting unit;
• and
• a three-dimensional shape calculation unit which is configured to calculate the three-dimensional shape of the object to be picked up based on the pattern trajectory position determined by the pattern trajectory integration unit.