JP2000136913A - Image reader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an image reader which can detect the three-dimensional shape of an original with a simple constitution by installing a drive part which makes the imaging direction of an imaging part variable, picking up a plurality of images in different imaging directions and detecting the three-dimensional shape of a part in which imaging parts are overlapped. SOLUTION: In this image reader 1, a lens 4 image-forms the optical image of an subject on an imaging sensor 3 in which CCD elements are arranged in a matrix shape. A drive part 6 turns a rotor 5, and it scans (makes variable) a line-of-sight direction (an imaging direction) via the lens 4 from the imaging sensor 3. A control part 7 images at least two images in different line-of-sight directions, and it detects the three-dimensional shape of the original in a part in which imaging ranges are overlapped. Thereby, a depth detecting effect which is the same as a multieye view is obtained in a signal image pickup part 10, and an apparatus does not become large-scaled as a single image pickup apparatus. In addition, a shutter button 8 which instructs for photographing start and a display part such as a liquid crystal panel or the like which displays a photographed image are provided at the image reader 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image reading apparatus capable of detecting a three-dimensional shape such as a curved document or a three-dimensional object.

[0002]

2. Description of the Related Art In the field of conventional three-dimensional shape detection, the following techniques are known. That is, the light-section method irradiates a linear light beam from above the subject toward the subject surface, and sequentially receives the reflected light while moving in a direction orthogonal to the line direction, thereby obtaining the subject surface. Is to detect the shape of.

Further, according to a side photographing method applied to a book scanner or the like, a mirror is arranged on a side surface of a subject, and a three-dimensional shape of the subject is detected by using a side image of the subject imaged through the mirror. Things.

Further, the multi-view method involves photographing a subject from a plurality of viewpoints and detecting the depth of a three-dimensional shape from the parallax of the line of sight from each viewpoint.

[0005]

However, in the above-mentioned conventional light-section method, a mechanism for moving an image pickup section over a whole object by a linear light beam is required, so that the apparatus becomes large-scale. It was costly and required large space. In addition, it is necessary to repeat photographing every time a line light beam is scanned, which takes time, and furthermore, if the reflectance of a subject such as human hair is low, it is difficult to detect the light reception of the reflected light beam. Was.

Further, in the above-described side photographing method, photographing conditions are limited such that the subject must be set at a predetermined position, and a mirror having a height substantially equal to the depth of the subject is required. Therefore, there is a problem in that the apparatus becomes large and a side image can be obtained through a mirror, but a complicated shape portion such as an internal structure cannot be detected.

In addition, the above-mentioned multiview has a problem that a plurality of image pickup units are required, cost and space are required correspondingly, and the apparatus becomes large.

An object of the present invention is to solve the above-mentioned conventional problem and to provide an image reading apparatus capable of detecting a three-dimensional shape of a subject with a simple configuration.

[0009]

According to the present invention, there is provided an image reading apparatus comprising: an image pickup sensor capable of picking up an image of a subject; and an image pickup section comprising a lens for forming an optical image of the subject on the image pickup sensor. , A driving unit that changes an imaging direction of the imaging unit, and a control unit that captures at least two images in different imaging directions and detects a three-dimensional shape of a subject in an overlapping part of an imaging range of the imaging unit. It is characterized by the following.

With this configuration, the imaging direction of the single imaging unit is changed by the driving unit, and the three-dimensional shape of the subject is photographed in different imaging directions. And a single imaging device does not require a large-scale device. Therefore, the three-dimensional shape of the subject can be easily detected with a single imaging device, and the cost and space of the device can be significantly reduced to a configuration for stereoscopic vision. Further, according to the present invention, unlike the conventional light sectioning method, since the reflected light for each line beam irradiated on the subject is not received, a problem arises even when the reflectance of the subject such as hair is low as described above. It takes no time to shoot. Further, according to the present invention, since a side image is not obtained via a mirror unlike the conventional side photographing method, an internal shape portion that can be stereoscopically viewed from the front can be accurately detected.

Preferably, the driving section in the image reading apparatus according to the present invention comprises an image pickup section turning means for turning the image pickup section.

With this configuration, the imaging unit is rotated by the imaging unit rotating means to change the imaging direction of the imaging unit, so that the imaging unit does not require a space required for movement and can be downsized. Since the rotation is driven, the imaging direction of the imaging unit can be easily changed largely, and at least two images in different imaging directions can be obtained more quickly and easily.

Preferably, the control unit in the image reading apparatus according to the present invention further includes a feature point extracting means for extracting a feature point from one of at least two pieces of image data from the imaging unit, and a small area around the feature point. And a distance calculating means for calculating the distance to the subject based on the characteristic points and the correlation points correlated with the characteristic points. I have.

With this configuration, the distance to the subject is calculated based on a feature point extracted from one of the two pieces of image data and a correlation point correlated with the feature point and extracted from the other image data. With this configuration, the three-dimensional shape of the subject can be easily and accurately detected from at least two images in different imaging directions.

Further, preferably, the control unit in the image reading apparatus of the present invention has a coordinate conversion means for performing coordinate conversion of the photographed image data into plane coordinate data based on distance data of the feature point and the correlation point to the subject. are doing.

With this configuration, even if the photographed image is curved or inclined, for example, the photographed image data is subjected to coordinate transformation into plane coordinates by the coordinate transformation means. It is possible to accurately detect a three-dimensional shape without distortion.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of an image reading apparatus according to the present invention will be described with reference to the drawings, but the present invention is not limited to the embodiments described below.

FIG. 1 is a perspective view schematically showing a main part see-through configuration of an image reading apparatus according to an embodiment of the present invention, and FIG. 2 is a plan view schematically showing a main part shown in FIG. FIG.
In FIG. 2 and FIG. 2, an image reading apparatus 1 such as a digital camera has an image pickup apparatus in which a CCD element (charge transfer element) provided in the apparatus main body 2 for taking an optical image of a subject and converting the image into an electric signal is arranged in a matrix. Sensor 3 and device body 2
A lens 4 which is provided at an outer peripheral portion of the front surface and forms an optical image of a subject on an image sensor 3, and a rotor 5 which holds the image sensor 3 and the lens 4 integrally and is rotatable.
And a drive unit 6 provided in the apparatus main body 2 to rotate (rotate in the left-right direction in this embodiment) the rotor 5 to scan (variable) the line-of-sight direction (imaging direction) V from the imaging sensor 3 via the lens 4. Control for capturing at least two images in different line-of-sight directions and detecting the three-dimensional shape (three-dimensional shape) of the subject in the overlapping portion of the imaging range scanned by the imaging sensor 3 and the lens 4 scanned by the driving unit 6. Part 7.

The image reading apparatus 1 has a shutter button 8 arranged on the upper part of the apparatus main body 2 and instructing start of photographing.
And a display unit 9 such as a liquid crystal panel disposed on the back side of the apparatus main body 2 to display a captured image.

An image pickup unit 10 is constituted by integrally disposing the image pickup sensor 3 and the lens 4 on the rotor 5.
A support member (not shown) having, for example, an opposing spherical concave surface so as to be rotatable about a center point 12 of the rotor 5 on the optical axis C of the lens 4 excluding the principal point 11 of the lens 4. ) Etc. are supported.

The drive section 6 is constituted by an image pickup section rotating means, and as shown in FIG. 3, two distal ends are fixed to the base 13 so that their distal ends cross each other, for example, form a right angle. Piezoelectric elements 14 and 15, a tip member 16 attached to the tip of piezoelectric elements 14 and 15 to rotate rotor 5 by frictional force due to expansion and contraction of piezoelectric elements 14 and 15, and a tip member provided on the back side of base 13 And a spring member 17 for urging the member 16 toward the rotor 5 to press it. The spring member 17 can be configured by an elastic member such as a compression spring or a rubber body.

The piezoelectric elements 14 and 15 have a property that when a voltage is applied, the amount of displacement in the expansion and contraction direction is proportional to the level of the voltage. Utilizing this, sine wave voltage signals ea and eb whose phases are shifted as shown in FIG. 4 are output from the control unit 7, and the two piezoelectric elements 14 and 15 are alternately expanded and contracted to combine the two. The tip member 16 performs the elliptical motion X as the displacement amount. The tip member 16 performing the elliptical motion X is pressed against the surface of the rotor 5 with a required urging force of the spring member 17 so that the elliptical motion X of the tip member 16 is transmitted to the rotor 5 by frictional force and is transmitted to the rotor 5. The weekly direction, that is, the rotation movement Y can be performed. If the signal phase is reversed, it moves in the opposite direction. As a result, the imaging unit 10 can scan in different viewing directions V.

Here, the processing for calculating the distance to the subject will be described. First, the photographing optical path will be described. FIG. 6 shows the optical path when the photographing is performed twice by scanning the line of sight right and left. In FIG. 6, the subscript a ₁ or b _{1 is} added to the photographing item at the position scanned in the clockwise direction from the vertical direction. and also denoted by the subscript a ₂ or b ₂ in captured items of positions scanned in the counterclockwise direction from the vertical direction.

In FIG. 5, the image pickup unit 10 by the drive unit 6
, Each imaging optical path is scanned about the center point 12 as the center of rotation, and the image sensor 3 moves to the sensor position 3a _1.
Go to the sensor position 3a ₂ also viewing direction V is changed from the line-of-sight direction Va ₁ the viewing direction Va ₂ from the shooting range through the lens 4 from the image sensor 3 is also changed from the shooting range Ea ₁ to the imaging range Ea ₂ It has become so. In this case, the main point 11a ₁ of the lens position 4a ₁ is also moving in the main point 11a ₂ of the lens position 4a _2. Such left and right shooting ranges E
The subject 18 existing in the overlapping portion of a ₁ and Ea ₂ is photographed by the left and right imaging units 10 a ₁ and 10 a ₂ , but the lens positions 4 a ₁ and 4 a ₂ and the sensor position 3 of the imaging sensor 3 are set.
Since a ₁ and 3a ₂ are different from each other, the respective photographing angles are different, so that the image is captured with parallax. For example, an optical path imaging the left point A on the subject 18 is as follows:
Sensor position of the image sensor 3 through the lens position 4a ₁ 3
Although it imaged at an imaging position Pa ₁ near the center of a _1, the sensor position of the image sensor 3 through the lens position 4a ₂ 3a ₂
It is imaged in an imaging position P ₂ of the right end. Also, for example, an optical path for imaging the right point B on the subject 18 is also formed at the image forming positions Pb ₁ and Pb ₂ , similarly to the case of the point A.

Next, the calculation of the distance information will be described.
First, FIG. 7 and FIG. 8 show details of an optical path for imaging the left point A on the subject 18 in FIG.
First, in FIG. 7, the interval between the principal points 11a ₁ and 11a ₂ of the left and right lens positions 4a ₁ and 4a ₂ is the base length s for generating parallax. The distance to the point A of the subject 18 can be obtained by obtaining the triangle D (eppolar surface) formed by connecting.

Next, in FIG. 8, the scanning angle of the image pickup unit 10 is 2θ (the angle θ between the perpendicular H and each of the lines of sight Va ₁ , Va ₂ ), and the sensor position 3a is determined from the lens principal points 11a ₁ , 11a _2.
1, 3a the distance to the center position of the _two (central optical axis C) b, the lens principal point 11a _1, the distance from 11a ₂ to the rotation center 12 h, sensor position 3a _1, 3a ₂ points on A Imaging position P
The design constants of the imaging system are determined by defining the distances from a ₁ and Pa ₂ to the central optical axis C as d 1 and d 2. In addition, a photographing angle φ between the photographing optical path of the point A and the central optical axis C in photographing two left and right images.
1 and φ2 are respectively expressed by the following (Equation 1).

[0027]

(Equation 1)

The base length s, which is the distance between the principal points 11a ₁ and 11a ₂ of the left and right lens positions 4a ₁ and 4a ₂ , is expressed by the following equation (2).

[0029]

(Equation 2)

Referring to FIG. 7, distances D1, D from principal points 11a ₁ , 11a ₂ in triangle D to point A are described.
Ask for 2. That is, FIG. 7 shows each triangle ({AG11a ₁ , △ AG11a ₁ , △}) formed by taking a photographing optical path to point A when a perpendicular line is drawn from point A on the extension of the line segment having the base line length s and the intersection point is G.
AG11a ₂ ) and each triangle (△ AG11a2).
a ₁ , ΔAG11a ₂ ), the inner angles of point A below are
φ1 + θ, φ2 + θ. In addition, each distance D1,
Triangle D (△ A11a ₁ 11 to two sides of a line segment of D2
The inner angle of point A on the lower side of a ₂ ) is φ2−φ1. Further, the interior angle of the point 11a ₂ at the top right of the right-angled triangle (△ AG11a ₂₎ is, π / 2- (φ2 + θ ) becomes, since the two internal angles and one side of the triangle D (base line length s) is determined by this triangle D Is specified. Left side length D1 of this triangle D
Is expressed by the following (Equation 3) from the sine theorem. The right side length D2 of the triangle D can be obtained in the same manner as the left side length D1.

[0031]

(Equation 3)

[0032] Thus, the vertical distance F to the point A from the lens principal point 11a ₁ object 18, the triangle (△ AG
11a ₁ ), the length of the left oblique side is represented by the following (Equation 4).

[0033]

(Equation 4)

Next, extraction of corresponding points will be described.
The imaging positions Pa ₁ and P of the point A on the image sensor 3 described above.
the distance from a ₂ to the central optical axis C to obtain the d1, d2, it is necessary to point A to the position of the image sensor 3 throat at the sensor position 3a _1, 3a ₂ detects whether being imaged. As the detection method, a correspondence search method in multi-view stereoscopic vision can be used. One of the representative methods is
There is a search method using the correlation between the brightness of two captured images (such as the document “Robot Vision” Shokodo). In this method, first, a characteristic point serving as a mark on one screen is found, and a small area called a window (for example, 7 × 7 pixels in this embodiment) is set around the characteristic point. As the characteristic point, an edge point at which the luminance of the image of the subject 18 rapidly changes is often used. Next, the other screen is searched for an area having the same brightness distribution as the small area.
As a search method, a method that minimizes the sum of the differences between the two pixel values is used.

Further, as shown in FIG. 5, the control unit 7
Digital conversion means 71 for converting two pixel signals obtained from the image sensor 3 into digital data, an image memory 72 for storing the digitally converted pixel data, and a first image signal stored in the image memory 72. Filter means 73 for extracting an edge portion from the image data as a feature point, and image data of a small area in a peripheral portion including the feature point extracted by the filter means 73 and the image memory 72. It has a differentiator 74 as a correlation calculating means for calculating a correlation with the stored second image data.

The control unit 7 determines the point at which the result of calculation by the differentiator 74 is minimum as a corresponding point (correlation point).
An arithmetic processing unit 75 including a CPU or the like as a distance calculating means for calculating the distance from the positions of the feature points and the corresponding points to the subject, and a distance memory 76 for storing distance data obtained by the arithmetic processing unit 75 are provided. are doing.

The arithmetic processing unit 75 is provided with a storage unit such as a ROM storing a control program. Based on the control program, a distance calculation process from a feature point and a corresponding point to a subject is performed. , A storage process in the distance memory 76, a scan control process for the drive unit 6, and a display control process for the display unit 9 are executed.

The operation of the above configuration will be described below. As shown in the control flowchart of FIG. 9, first, when the power is turned on, the arithmetic processing unit 75 controls the driving unit 6 in step S <b> 1 to perform scanning so that the line-of-sight direction V of the imaging unit 10 faces the center. . Further, the arithmetic processing unit 75 controls the imaging unit 10 to perform imaging of the subject 18 and display by the display unit 9 in step S2, and notifies the operator of the imaging situation. At this time, the arithmetic processing unit 75 selects only overlapping portions of images obtained by scanning the imaging unit 10 and controls the display on the display unit 9.

Next, in step S3, the arithmetic processing unit 75 determines whether or not shooting has started, and repeats the display operation by the display unit 9 until it is determined that shooting has started. When the shutter button 8 is pressed by the operator, the arithmetic processing unit 75 determines that the photographing has started in step S3, controls the imaging unit 6 in step S4, and changes the visual line direction V of the image capturing unit 10 to the first visual line direction. directed toward the va _1, stores the image data of the first sheet to the first shot and the image memory 72 by the imaging unit 10 in step S5. Further, in step S6, the image capturing unit 6 is controlled to change the line-of-sight direction V of the image capturing unit 10 to the second line-of-sight direction Va _2.
, The second image is captured by the similar imaging unit 10 and the second image data is stored in the image memory 72 in step S7.

When such first and second left and right images are obtained, the control section 7 reads out the first image data from the image memory 72 in steps S8 and S9. To extract a feature point. Further, the differentiator 74 sets a small area in step S10 around the feature point extracted in step S9,
In step S11, the second image data is read from the image memory 72, and the correlation between them is checked. Step S11
Is performed until all the corresponding points are searched. When all the corresponding points have been searched, in step S12, the arithmetic processing unit 75 calculates respective distances to the subject 18 based on the feature points and the corresponding points, and the distance memory 7
Stored in 6. When the distance calculation processing to the subject 18 is completed based on all feature points and corresponding points in step S12, the control unit 7 ends the operation.

As described above, the image pickup direction (the line of sight direction V) of the single image pickup unit 10 is rotated by the drive unit 6 to change the image pickup direction (in the present embodiment, the two line of sight directions Va ₁ and Va ₂ ). Since the three-dimensional shape of the subject 18 is photographed by using the same imaging unit 10, a three-dimensional shape of the subject 18 can be easily detected by obtaining a depth detection effect similar to that of multi-viewing, and The apparatus does not become large-scale with a single imaging unit 10, and the cost and space of the image reading apparatus 1 can be significantly reduced for stereoscopic viewing.

Further, since the image pickup unit 10 is rotated by the drive unit 6 to change the image pickup direction of the image pickup unit 10, it is possible to reduce the size without requiring a space for moving the image pickup unit 10, and to reduce the size of the image pickup unit 10. Since the imaging direction is easily greatly changed by the rotation drive, it is possible to more quickly capture at least two images in different imaging directions.

Further, the distance to the subject 18 is calculated based on a feature point extracted from one of the two pieces of image data and a corresponding point which is correlated with the feature point and extracted from the other image data. Therefore, the three-dimensional shape of the subject 18 can be easily and accurately detected from at least two images in different imaging directions.

The arithmetic processing unit 75 of this embodiment is provided with a storage unit such as a ROM storing a control program. The control program and the distance data from the feature points and the corresponding points to the subject 18 are stored in the ROM. And performing a coordinate conversion process for converting the captured image data into various coordinate systems such as plane coordinates based on the image data, and performing a display control process on the display unit 9 in the various coordinate systems such as the converted plane coordinates. Can also.

This case will be described.
Using the imaging device 51 shown in FIG. 10, a book original 52 of a tilted subject or a book original 53 of a curved subject is divided into a plurality of parts (in FIG. 10, divided into four parts) and photographed. A device has been proposed in which a composite image is read with high definition by pasting together. However, the imaging device 51 that synthesizes such divided images has a problem in that the captured image is distorted due to the inclination of the projection optical axis or the curvature of the paper surface of a book document or the like.

In order to solve this, the arithmetic processing unit 75 of the present embodiment is provided with an object 18 corresponding to a feature point and a corresponding point.
By providing coordinate transformation means for transforming the photographed image data into plane coordinates based on the distance data up to, even if the photographed image is curved or inclined, for example, the photographed image data is converted into a plane by the coordinate transformation means. Since the coordinates are converted into coordinates, the single imaging unit 10 can accurately detect the three-dimensional shape of the subject without distorting the scale. This coordinate conversion means comprises an arithmetic processing unit 75 and a storage unit for a control program.

As described above, the image reading device 1 of the present invention
It can be easily adapted to an imaging device 51 as shown in FIG.
It is possible to eliminate the distortion of the captured image due to the inclination of the projection optical axis or the curvature of the paper surface of a book document or the like. That is, similarly to the image reading apparatus 1, each divided photographing range of the subject 18 is provided with an overlapping range (intersection range) Z having a predetermined width, and distance information of this region is obtained. Etc. can be detected. When such an inclination angle and a curvature distribution are obtained, coordinate transformation of the photographed image data is performed by the coordinate transformation means based on the inclination angle and the curvature distribution, so that the image distortion can be corrected to be a planar image.

In this embodiment, the distance information can be obtained only within the range where the left and right shot images overlap.
The range in which distance information can be obtained can be expanded by repeating scanning and photographing three times or more and expanding the range of intersection and overlap. In addition, by scanning the imaging unit 10 with the driving unit 6 not only in the horizontal direction but also in the vertical direction,
A wider area can be photographed.

In the present embodiment, the imaging unit 10 is configured to be rotated by the driving unit 6, but the invention is not limited to this, and the imaging unit 10 may be configured to be slid by the driving unit.

[0050]

As described above, according to the first aspect of the present invention, since the imaging direction of a single imaging unit is changed by a driving unit to capture a three-dimensional shape of a subject in different imaging directions, a single imaging unit is used. By obtaining the same depth detection effect as multi-view with the imaging unit,
The three-dimensional shape of the subject can be easily detected, and
The apparatus does not become large-scale with a single imaging apparatus, and the cost and space of the apparatus can be significantly reduced for stereoscopic viewing.

According to the second aspect of the present invention, since the imaging section is rotated by the imaging section rotating means to move the imaging direction of the imaging section, no space is required for moving the imaging section, and the size is reduced. Since the imaging direction of the imaging unit can be easily changed greatly by the rotation drive, at least two images in different imaging directions can be more quickly captured.

Further, according to the third aspect of the present invention, based on a feature point extracted from one of the two pieces of image data and a corresponding point extracted from the other image data having a correlation with the feature point. Since the distance to the subject is calculated, the three-dimensional shape of the subject can be automatically and easily detected from at least two images in different imaging directions.

Further, according to the fourth aspect of the present invention, even if the photographed image is curved or inclined, for example, the photographed image data is coordinate-transformed into plane coordinates by the coordinate transformation means, so that a single image pickup is performed. It is possible to accurately detect the three-dimensional shape of the subject without distorting the three-dimensional shape.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing a perspective configuration of a main part of an image reading apparatus according to an embodiment of the present invention.

FIG. 2 is a plan view schematically showing a main part shown in FIG.

FIG. 3 is a schematic diagram showing a configuration of a driving unit and a rotor of FIG. 1;

FIG. 4 is a signal waveform diagram for controlling driving of the driving unit of FIG. 3;

FIG. 5 is a block diagram schematically illustrating a schematic control configuration of the image reading apparatus of FIG. 1;

FIG. 6 is a schematic diagram illustrating an optical path when the image reading apparatus of FIG. 1 scans a line of sight right and left and performs two shootings.

FIG. 7 is an explanatory diagram of a partial optical path capturing an image of a left point A on a subject.

FIG. 8 is an explanatory diagram of all optical paths capturing an image of a left point A on a subject.

FIG. 9 is a flowchart showing an operation of a main part of the image reading apparatus of FIG. 1;

FIG. 10 is a schematic diagram showing a state of use of a conventional document image reading apparatus.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 image reading device 2 device main body 3 imaging sensor 4 lens 5 rotor 6 driving unit 7 control unit 10 imaging unit 11 lens principal point 12 rotation center point 14, 15 piezoelectric element 16 chip member 17 spring member 18 subject 71 digital conversion means 72 The image memory 73 filter unit 74 the difference unit 75 computation processing unit (CPU) 76 distance memory 3a _1, 3a ₂ sensor position 4a _1, 4a ₂ lens position 10a _1, 10a ₂ imaging unit position 11a _1, 11a ₂ lens principal point position V , Va ₁ , Va ₂ Line-of-sight directions Ea ₁ , Ea ₂ Imaging range Pa ₁ , Pa ₂ , Pb ₁ , Pb ₂ Imaging position 2θ Scan angle b Distance between lens principal point and imaging sensor h Between lens principal point and rotation center Distance d1, d2 Distance from the imaging position to the center optical axis φ1, φ2 Shooting angle s Baseline length

Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat II (Reference) H04N 1/04 106 G06F 15/64 325F F-term (Reference) 2F065 AA04 AA53 BB05 DD02 DD06 FF01 FF05 JJ03 JJ26 LL10 PP05 QQ13 QQ24 QQ31 QQ33 QQ36 QQ41 2F112 AC06 BA10 CA08 DA04 DA15 FA27 FA35 FA36 FA41 5B047 AA01 AA07 AA27 AB01 BA02 BB02 BC05 CA13 CB08 CB09 CB23 5C062 AA01 AB33 AB41 AB44 AC58 AC66 AD01 BA00 BB05 5C072 AA02BA01 BA02 BA01 BA02 BA01 BA02

Claims (4)

[Claims] An imaging sensor capable of imaging a subject;
In an image reading apparatus including an imaging unit including a lens that forms an optical image of the subject on the imaging sensor, a driving unit that changes an imaging direction of the imaging unit, and at least two images in different imaging directions. An image reading device, comprising: a control unit configured to capture an image and detect a three-dimensional shape of the subject in an overlapping portion of a shooting range of the imaging unit. 2. The image reading apparatus according to claim 1, wherein the driving unit includes an imaging unit rotating unit that rotates the imaging unit. 3. The control unit includes: a feature point extracting unit configured to extract a feature point from one of at least two pieces of image data from the imaging unit; and an image data of a small area around the feature point and another image. 2. The apparatus according to claim 1, further comprising: a correlation calculating unit that calculates a correlation with data; and a distance calculating unit that calculates a distance to the subject based on the characteristic point and a correlation point correlated with the characteristic point. 3. The image reading device according to 1 or 2. 4. The apparatus according to claim 1, wherein the control unit includes a coordinate conversion unit configured to convert the captured image data into plane coordinate data based on distance data from the feature point and the corresponding point to a subject. 4. The image reading device according to 3.