Image processing system and image processing method

An image processing system comprising:

• a first light projector configured to project, onto an object, a light pattern for specifying a three-dimensional shape;
• a second light projector configured to project, onto the object, substantially uniform light in which illumination energy is substantially uniform in a cross-sectional direction relative to a light projection direction, the second light projector projecting the substantially uniform light at substantially the same angle as in projection performed by the first light projector;
• a camera for capturing an image of the object;
• and
• a processor configured with a program to perform operations comprising:
• operation as a first light projection control unit configured to control projection of the light pattern onto the object by the first light projector;
• operation as a second light projection control unit configured to control projection of the substantially uniform light onto the object by the second light projector;
• operation as an image capturing control unit configured to control image capturing performed by the camera;
• operation as a first captured image recording unit configured to record a first captured image that is captured by the camera in a state where the first light projection control unit performs control such that the light pattern is projected and the second light projection control unit performs control such that the substantially uniform light is not projected;
• operation as a second captured image recording unit configured to record a second captured image that is captured by the camera in a state where the first light projection control unit performs control such that the light pattern is not projected and the second light projection control unit performs control such that the substantially uniform light is projected;
• operation as a generation unit configured to generate a division image by dividing components of the first captured image by components of the second captured image;
• and
• operation as a calculation unit configured to calculate a three-dimensional position on the object using the division image.