In this paper, we propose a method for measuring the 3D shapes of glossy surface objects using the correlation stereo method. To avoid the effect of specula reflection, we use a camera system that incorporates three cameras. First, we apply the usual correlation stereo method for the three pairs of cameras and obtain three sets of range data. Each 3D data point has the intensity of the corresponding pixel. Second, the sets of range data are projected on a plane that is to be merged. When more than one point from different data sets are projected on a pixel, the points that have a much higher intensity than other points, are regarded as points affected by specula reflection, and thus, these points are ignored. We also introduce an application of the method, a robot system designed to manipulate ampules of medicine, used for injections.
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