Measurement system, image correction method, and computer program

An image correction method comprising:

• causing an illumination unit to irradiate a measurement target with illumination light;
• controlling an operation of the illumination unit;
• calibrating a position of the illumination unit by a first robot hand;
• causing an imaging unit to capture an image of the irradiated measurement target;
• controlling an operation of the imaging unit;
• calibrating the position of the imaging unit by a second robot hand;
• acquiring positional relationship information representing a positional relationship between the illumination unit and the measurement target and a positional relationship between the imaging unit and the measurement target after calibration of the first robot hand and the second robot hand;
• and
• correcting a luminance intensity of the irradiated measurement target image captured by the imaging unit by changing a luminance of the illumination light emitted by the illumination unit based on the positional relationship information and reflectance of the irradiated measurement target and correct a luminance distribution the image captured by the imaging unit based on the positional relationship information;
• and
• measuring a position and an orientation of the measurement object, based on the image of the irradiated measurement target.

A non-transitory computer-readable storage medium storing a computer program that causes a computer to perform image correction processing, the program comprising:

• computer-executable instructions for controlling an operation of an illumination unit that irradiates a measurement target with illumination light;
• computer-executable instructions for calibrating a position of the illumination unit by a first robot hand;
• computer-executable instructions for controlling an operation of an imaging unit that captures an image of the irradiated measurement target;
• computer-executable instructions for calibrating a position of the imaging unit by a second robot hand;
• computer-executable instructions for acquiring positional relationship information representing a positional relationship between the illumination unit and the measurement target and a positional relationship between the imaging unit and the measurement target;
• and
• computer-executable instructions for correcting a luminance intensity of the irradiated measurement target image captured by the imaging unit by changing a luminance of the illumination light emitted by the illumination unit based on the positional relationship of the image captured by the imaging unit based on the positional relationship information after calibration of the first robot hand and the second robot hand;
• and
• computer-executable instructions for measuring a position and an orientation of the measurement object, based on the image of the irradiated measurement target.