JP2001012909A - Range finder device and camera - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a range finder for measuring the distance of subject at a location where light from alight source cannot be directly applied to the object. SOLUTION: When a plurality of projection light with different light intensity three-dimensionally is applied to a subject from light sources 2a and 2b by time-sharing, the image of reflection light from the subject is picked up by a camera 1, and measurement is made by the light intensity of the image being picked up, the relationship between the angle and the light intensity ratio of each projection light from a light source within each surface is obtained for each of a plurality of surfaces including the center of the light source and that of a lens in advance, the light intensity of each pixel of the camera 1 is measured when measuring distance actually, an angle corresponding to the light intensity of the measured specific pixel is obtained, based on the measured light intensity and the relationship between the angle and the light intensity ratio on a given surface for the coordinates position of the measured pixel, and the distance to the subject is calculated, based on the measured light intensity, the obtained angle, and two-dimensional coordinates position information on the image of a prescribed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a range finder and a camera for measuring a three-dimensional shape of an object.

[0002]

2. Description of the Related Art As a range finder device for performing three-dimensional shape measurement based on triangulation of projection light and observation image,
For example, a device capable of real-time operation as shown in FIG. 40 has been proposed.

In FIG. 40, 101A and 101B are laser light sources having slightly different wavelengths, 102 is a half mirror for synthesizing laser light from the laser light sources having different wavelengths, and 103 is a light source control for controlling the light intensity of the laser light sources. A rotating mirror for scanning the laser beam;
Is a rotation control unit that controls a rotating mirror, 106 is a subject,
107 is a lens for forming an image on the CCD, 108A,
108B is a light wavelength separation filter for separating light of the wavelength of the laser light source, 109A and 109B are CCDs for capturing a monochrome image, 109C is a CCD for capturing a color image, and 1C.
10A and 110B are signal processing units of a monochrome camera, 11
1 is a signal processing unit of a color camera, 112 is a CCD 109
A and 113B are distance calculation units for calculating the distance or shape of the object from the intensity of the laser light captured by A and 109B, and 113 is a control unit for adjusting the synchronization of the entire apparatus. Hereinafter, the operation of the range finder device thus configured will be described.

[0004] The laser light sources 101A and 101B emit laser light having slightly different wavelengths. This laser light is line light having a light section perpendicular to the scanning direction of the rotating mirror described later, and becomes vertical line light when the rotating mirror scans in the horizontal direction.

FIG. 41 shows the wavelength characteristics of these two light sources. The two light sources having similar wavelengths are used in order to reduce the influence of the wavelength dependence of the reflectance of the subject. The laser beams emitted from the laser light sources 101A and 101B are combined by the half mirror 102,
4 scans the object 6.

The scanning of the laser beam is performed by the rotation control unit 105.
Is performed by driving the rotating mirror 104 in a field cycle. At this time, the light intensities of both light sources are changed within one field cycle as shown in FIG. By synchronizing the change of the laser beam intensity and the driving of the mirror angle, the two laser beam intensities are changed to the CCD 109A,
The time in one scanning cycle can be measured by monitoring with 109B and calculating the light intensity ratio. For example, as shown in FIG.
In the case of / Ib, the scanning time is measured as t0, and the rotation angle (φ) of the rotating mirror 104 is determined from the measured value.

As described above, by associating the ratio between the two laser beam intensities and the mirror angle (that is, the angle of the subject viewed from the light source side) on a one-to-one basis, the distance calculation unit described later can use both light sources. The distance or the shape of the subject is calculated based on the principle of triangulation from the ratio of the signal levels obtained by photographing the light.

The lens 7 includes CCDs 109A, 109B, 1
An image of the subject is formed on the image 09C. Optical wavelength separation filter 10
8A transmits light having the wavelength of the light source 101A and reflects light having another wavelength. The light wavelength separation filter 108B is a light source 1
It transmits light of wavelength 01B and reflects light of other wavelengths.
As a result, the reflected light of the light of the light sources 101A and 101B from the subject is photographed by the CCDs 109A and 109B, and the light of other wavelengths is photographed by the CCD 109C as a color image.

The light source A signal processing unit 110A and the light source B signal processing unit 110B perform the same signal processing on the outputs of the CCDs 109A and 109B as in a normal monochrome camera. The color camera signal processing unit 111 performs a normal color camera signal processing on the output of the CCD 109C.

The distance calculator 112 calculates the distance for each pixel from the ratio of the signal levels photographed by the CCDs 109A and 109B, the base line length, and the coordinate values of the pixels for the wavelength of each light source.

FIGS. 43 (a) and 43 (b) are diagrams for explaining the distance calculation graphically. In the figure, O is a lens 10
The center of 7, P is a point on the subject, and Q is the position of the rotation axis of the rotating mirror. For simplicity of explanation, the CCD1
The position of 09 is folded back toward the subject. Also,
The length of OQ (base line length) is L, P as viewed from Q in the XZ plane
Is φ, the angle of P viewed from O is θ, and O is O in the YZ plane.
Assuming that the angle of P from the viewpoint is ω, from the diagrammatic relationship, P
Are calculated by the following equation (1).

Z = Dtanθtanφ / (tanθ + tanφ) X = Z / tanθ Y = Z / tanω (1) As for φ in the expression (1), as described above, the CCD 109
A, laser light sources 101A, 1
The light intensity ratio is calculated using the light intensity ratio of 01B, and θ and ω are calculated from the coordinate values of the pixels. Of the values shown in equation (1),
When all are calculated, the shape is obtained, and when only Z is obtained, the distance image is obtained.

On the other hand, a camera using an optical fiber is known for photographing a place where light from a light source cannot be directly irradiated on a subject. For example, there is a gastroscope or the like as one of endoscopes used for examining the inside of a human body. In the case of a gastric camera, the inner wall of the stomach is usually illuminated by light irradiation from an optical fiber, the reflected light from the inner wall is received by another optical fiber, and guided to an external camera, and this is two-dimensionally transmitted. This is a configuration for processing and displaying a normal image on a monitor.

As a conventional subject extraction method, a technique called chroma key used in a broadcasting station is generally used. This is a method in which a subject is arranged and photographed in front of a studio set composed of a single color (blue) background, the blue portion is determined to be the background, and the other portion is determined to be the target subject. .

[0015]

However, in the above-mentioned conventional configuration, a light source capable of modulating light and a light source sweeping means are indispensable, and the reliability of the device is low because of the mechanical operation, and the cost of the device is low. There was a problem that was high.

Further, although it is usual to substantially modulate and use a laser element, there is a problem that it is difficult to realize stable measurement because the output and wavelength of the laser element change with temperature.

[0017] Further, for photographing a place where light from a light source cannot be directly irradiated on a subject like a conventional endoscope or the like, in a camera using an optical fiber, an image is two-dimensional data. Therefore, there is a problem that it is difficult to examine the presence or absence of a protruding portion.

The present invention has been made in view of the above problems, and has as its object to provide a stable range finder device without mechanical operation at low cost.

It is another object of the present invention to provide a range finder capable of measuring the distance of a subject in a place where light from a light source cannot be directly irradiated on the subject.

It is another object of the present invention to provide a camera having a simple structure and a compact size.

[0021]

SUMMARY OF THE INVENTION According to the present invention, a plurality of projection lights having radiation patterns whose light intensities are three-dimensionally different from each other are provided.
A range finder device that irradiates a subject with a light source in a time-division manner, captures reflected light of the projection light from the subject with a camera, and measures a distance using the light intensity of the captured image. For each of a plurality of surfaces including the lens center and the lens, the relationship between the angle and the light intensity of each projection light from the light source in each surface is obtained, and at the time of actual distance measurement, Measure the light intensity of each pixel, based on the measured light intensity and the relationship between the angle and the light intensity on a predetermined surface corresponding to the measured coordinate position of the pixel, based on the measured predetermined light intensity The angle corresponding to the light intensity of the pixel is obtained, and based on the measured light intensity, the obtained angle, and the two-dimensional coordinate position information on the image of the predetermined pixel, the distance to the subject is calculated. Characterized by calculating It is a Nji finder device.

The present invention also provides a light source, a first optical fiber for guiding light emitted from the light source, light distribution means for splitting light guided from the first optical fiber into a plurality of paths, One end is connected to the light distribution means, and a plurality of second optical fibers for irradiating the object with the branched light from the opening at the other end, and receives reflected light of the irradiated light, Imaging means for acquiring image data of a subject;
Distance calculating means for calculating a distance to the subject based on the image data, wherein the intensity of light emitted from the other end of each of the plurality of second optical fibers to the subject is spatially A range finder device having different distributions.

Further, the present invention has a light emitting means for irradiating a subject with projection light having a specific radiation pattern, captures reflected light from the light emitting means, and uses a light intensity of the captured image to generate a depth image. A camera for shape measurement or object extraction, having a structure in which the distance between the light emitting means and the imaging lens is variable, so that a sufficient distance between the light emitting means and the imaging lens can be obtained during use. A camera characterized by being able to do so.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A range finder according to an embodiment of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 1 is a configuration diagram of a range finder according to a first embodiment of the present invention. In FIG. 1, 1 camera, 2a and 2b are light sources, 5 is a light source control unit, and 6 is a distance calculation unit. The operation of the above configuration will be described below.

The light source control section 5 causes the light sources 2a and 2b to emit light alternately in each field cycle in synchronization with the vertical synchronization signal of the camera 1. As the light sources 2a and 2b, for example, FIG.
As shown in (a), a flash light source 7 or 8 such as a xenon flash lamp may be vertically arranged and the direction of the rear reflector may be shifted left and right. FIG. 2 (b)
FIG. 3 is a plan view of FIG. The light sources 2a and 2b radiate light to ranges A and B, respectively. The xenon lamp preferably has a small light emitting portion and can be regarded as a point light source when viewed from above. Furthermore, the light sources 2a and 27b are arranged in the vertical direction, but the distance is about 1 cm, and it can be considered that light is emitted from almost one point.

The light pattern radiated from such a light source is as shown in FIG. This means that when light is projected on a temporary screen, the brightness of the screen surface is
It is shown in the direction. That is, each light source has the characteristic that it is brightest on the central axis and darker toward the periphery. The reason why the center is bright and the periphery is dark is that the semi-cylindrical reflectors 9 and 10 are arranged behind the flash light sources 7 and 8. Further, the directions of the semi-cylindrical reflectors 9 and 10 are shifted, and the respective projected lights are emitted so that a part thereof overlaps.

FIG. 4 shows the relationship between the angle of the projected light from the light source and the light intensity on the plane in the direction H in FIG. The H direction is a direction of a cross line between an arbitrary surface S and the temporary screen among a plurality of surfaces including a light source center and a lens center. In the α portion of the light pattern, the light emitted from the two light sources to the subject space is bright on one right side and bright on the left side as viewed from each light source. However, this pattern is also different in the height direction (Y direction).

FIG. 5 is a graph showing the light intensity ratio of the above two projection lights in the illumination of the subject and the XZ
The relationship between the angle projected on the plane and the angle φ with respect to the X axis is shown. In the α portion, the relationship between the light intensity ratio and the angle φ has a one-to-one correspondence. In order to measure the distance, two types of light patterns are projected beforehand alternately on a vertical plane separated from the light source by a predetermined distance in advance, and the reflected light is imaged by the camera 1 to obtain each Y coordinate. Data on the relationship between the light intensity ratio and the angle of the projection light as shown in FIG. 5 is obtained for each (corresponding to the Y coordinate on the CCD). Each Y coordinate refers to each of a plurality of surfaces including the center of the light source and the center of the lens.

Further, if the light source is arranged so that the line segment connecting the lens center of the camera 1 and the light source is parallel to the X axis of the CCD image pickup surface, the light intensity ratio determined for each Y coordinate and the projected light The distance calculation can be accurately performed by using the data on the angle relationship. Hereinafter, a method of calculating a distance using the light intensity ratio will be described.

When a point P in FIG. 1 is set as a point of interest, a luminance ratio obtained from image data obtained by irradiating two types of light patterns with respect to a point P of an image captured by the camera 1 and a Y coordinate value of the point P The angle φ of the point P viewed from the light source is measured by using the relationship of FIG. Note that the relationship in FIG. 5 has different characteristics depending on the Y coordinate value,
It is assumed that the relationship between the light intensity ratio and the horizontal angle φ from the light source is prepared for each coordinate by prior measurement. The angle θ with respect to the point P viewed from the camera is determined from the position in the image (that is, the pixel coordinate value of the point P) and camera parameters (focal length, optical center position of the lens system).
Then, the distance is calculated based on the principle of triangulation from the two angles and the distance (base line length) between the light source position and the optical center position of the camera.

With the optical center of the camera as the origin, the Z axis is set in the optical axis direction of the camera, the X axis is set in the horizontal direction, and the Y axis is set in the vertical direction. The angle between the direction of the point of interest and the X axis as viewed from the light source is φ. If the angle formed by the direction of the point of interest and the X axis as viewed from the camera is θ, and the light source position is (0, −D), that is, the base line length is D, the depth value Z of the point of interest P is given by the above equation (1) Z = Dtanθtanφ / (tanθ−tanφ).

As described above, according to the present embodiment, when the distance is measured by the range finder using the light intensity, the change in the light intensity caused by the light source and the optical system is corrected to perform the distance measurement, so that all the electronic devices can be measured. A stable and accurate range finder device that can be realized by a simple operation can be realized.

By arranging a half mirror or a dichroic mirror and a color camera in front of the infrared camera of the range finder according to the present embodiment, a color image of the same viewpoint can be obtained simultaneously with the distance image. include.

Although the distance calculator in this embodiment calculates only the distance Z and outputs the calculation result as a distance image, the equations (1) and () are calculated using the angle ω shown in FIG. The three-dimensional coordinate values X, Y, and Z may all be calculated from 2) and three-dimensional coordinate data may be output, which is included in the present invention.

X = Z / tan θ Y = Z / tan ω (2) In the present embodiment, the light sources 2a and 2b are caused to emit light at the same time, and the brightness at one center is indicated by a dotted line in FIG. If used as a normal flash lamp which is large and dark in the periphery, a normal two-dimensional image can be taken.

In this embodiment, if an infrared-pass filter is inserted in front of the light source 2 and a camera 1 having a sensitivity in the infrared wavelength region is used, the flash light can be turned on by the user or another user. The image captured by the camera can be prevented from being disturbed. Further, if an image is captured by a normal color camera simultaneously with the infrared camera using a half mirror or a dichroic mirror, a depth image and a texture image corresponding to the depth image can be captured simultaneously.

In this embodiment, since the flash light flashes for several hundred microseconds, if the camera 1 is set to perform the exposure by the shutter operation only during that period, the background light may affect the distance measurement. The influence can be suppressed, and a distance image can be captured even in a bright place to some extent.

In this embodiment, the subject is irradiated with two types of light patterns, and the light intensity ratio at each pixel is calculated using the captured image in each case. May be calculated by obtaining the total of three types of images (two types of optical patterns and one type without optical patterns). In this case, when calculating the light intensity ratio of each pixel, a difference value is calculated by subtracting the light intensity when there is no light pattern from the light intensity value when each light pattern is irradiated. Then, the ratio of these difference values is calculated and used as the light intensity ratio. In this way, in the case of imaging in a bright place, a distance calculation error due to background light can be suppressed.

(Second Embodiment) FIG. 7 is a configuration diagram of a range finder according to a first embodiment of the present invention. In FIG. 7, 1a is a camera having sensitivity to infrared light, 2a and 2b are light sources, 3a and 3b are infrared transmitting filters, 4a and 4b are ND filters whose transmittance changes in the horizontal direction, and 5 is a light source control unit. , 6 are distance calculators. The operation of the above configuration will be described below.

The light source control unit 5 synchronizes with the vertical synchronizing signal of the infrared camera 1a and synchronizes with the light sources 2a and 2b every field cycle.
To emit light. As the light sources 2a and 2b, those which emit a flash such as a xenon lamp and have a small light emitting portion (which can be regarded as a point light source) are desirable. Further, the light sources 2a, 2
b is arranged in the vertical direction.

In front of each light source, an infrared transmission filter 3 is provided.
a, 3b and ND filters 4a, 4b. ND
The transmittance of the filters 4a and 4b changes in the horizontal direction. FIG. 2 shows the angle from the light source in the horizontal direction and the ND filters 4a,
4B shows the relationship of the transmittance of FIG.

With these ND filters, the light emitted from the two light sources to the subject space is brighter on the right side and brighter on the left side as viewed from the light sources. As a result, the right or left side bright light is alternately projected onto the subject every field cycle.

FIG. 5 shows the light intensity ratio of the two projection lights,
6 shows a relationship with a horizontal angle from a light source. Hereinafter, a method of calculating a distance using the light intensity ratio will be described.

When the point P in FIG. 7 is taken as the point of interest, the relationship shown in FIG. 5 is used to determine the point P of the image viewed from the light source from the luminance ratio between the fields of the point P of the image captured by the camera 1a. Measure the angle. The angle with respect to the point P viewed from the camera is determined from the position in the image (that is, the pixel coordinate value of the point P) and camera parameters (focal length, optical center position of the lens system). Then, the distance is calculated based on the principle of triangulation from the two angles and the distance (base line length) between the light source position and the optical center position of the camera.

With the optical center of the camera as the origin, the Z axis is set in the optical axis direction of the camera, the X axis is set in the horizontal direction, and the Y axis is set in the vertical direction. The angle between the direction of the point of interest and the X axis as viewed from the light source is φ. If the angle between the direction of the point of interest and the X-axis viewed from the camera is θ, and the light source position is (0, −D), that is, the base line length is D, the depth value Z of the point of interest P is Z = Dtanθtanφ / (tanθ− tanφ).

The distance calculator 6 calculates a distance image from the video signal of the camera 1a. The method may be the same as that of the first embodiment, but there is another method capable of more accurate measurement as described below. FIG. 8 is a configuration diagram of the distance calculation unit 6. 8, reference numerals 711 and 11b denote field memories;
a and 12b are light intensity correction means, 13 is a light intensity ratio calculation means, and 14 is a distance conversion means. The operation of each component will be described below.

The image picked up by the camera 1a is written into the field memories 11a and 11b for each field.

The light intensity correcting means 12a and 12b are means for correcting the light intensity written in the field memory.
The reason for the correction will be described below. FIG. 9 shows the relationship between the light intensity to be imaged and pixel coordinate values when a screen with a constant distance Z is irradiated with light from a point light source (without an ND filter) and the light reflected from the surface is imaged. Show. FIG. 9 shows only one dimension in the horizontal direction for simplicity.
Similarly, the light intensity shows a curved distribution in the vertical direction.

Factors of this distribution include peripheral dimming due to the lens system of the camera, changes in reflected light intensity due to changes in the angle of incidence of light rays on the object surface, changes in light intensity due to angles from the light source, and the like. The change in light intensity caused by these factors becomes an error when observing the light intensity ratio, that is, an error when measuring the distance. Therefore, the light intensity needs to be converted to improve the distance measurement accuracy. If there is this error, a portion that is not a monotonically increasing curve may occur in the characteristic curve of FIG. In such a portion, the light intensity and the angle do not correspond one-to-one. As a result, the measurement result will be out of order. Further, if there is no error, the light intensity (ratio) becomes constant in the Y-axis direction, and there is an advantage that only one conversion table in FIG. 5 is required (the first embodiment requires conversion tables for the number of Y coordinate values). Becomes).

Therefore, the light intensity conversion means 12a, 12b
Is to measure in advance a two-dimensional light intensity curve distribution in an image on a screen separated by a reference distance in the absence of an ND filter in order to reduce the measurement error, When obtaining the relationship between the image data and the angle of the projected light (corresponding to FIG. 5) and when actually measuring the distance to the subject, the light intensity of the field memory is corrected and converted according to the curve distribution of the light intensity measured in advance. . In the correction conversion, a coefficient for correcting the curve distribution of the light intensity to a constant value (that is, a ratio of a light intensity captured at each pixel to a peak value or an arbitrary value) is stored as a two-dimensional LUT (look-up table). Then, the data in the field memory is multiplied by a correction count for each pixel.

When the distance at which the subject is arranged is known in advance, the reference distance is set to a value close to the distance, so that the accuracy of distance measurement can be improved.

As described above, according to the present embodiment, when the distance is measured by the range finder using the light intensity, the error in the light intensity caused by the light source and the optical system is corrected to perform the distance measurement, so that the electronic measurement is performed entirely. A stable and accurate range finder device that can be realized by a simple operation can be realized.

By disposing a half mirror or a dichroic mirror and a color camera in front of the infrared camera of the range finder according to the present embodiment, a color image of the same viewpoint can be obtained simultaneously with the distance image.

In the description of the distance calculator in this embodiment, only the distance Z is calculated and the calculation result is output as a distance image. However, the angle ω shown in FIG.
The following equation Z = Dtanθtanφ / (tanθ−tanφ) X = Z / tanθ Y = Z / tanω All three-dimensional coordinate values X, Y and Z can be calculated and three-dimensional coordinate data can be output.

In the light intensity correction in the distance calculation unit according to the present embodiment, when the subject moves away from the above-described reference distance, the position of a pixel to be imaged shifts (that is, parallax occurs). descend. In such a case, the light intensity correction amounts for a plurality of reference distances are prepared in advance, the distance is calculated by first performing correction at a certain reference distance, and then the correction amount at a reference distance close to that. The accuracy of measurement can be improved by calculating the distance again by using.

In this embodiment, the light sources 2a,
2b is emitted at the same time, and as shown in a dotted line in FIG. 4, if one is used as a normal flash lamp in which the brightness at one center is large and the periphery is dark, a normal two-dimensional image can be taken.

Further, in this embodiment, if an image is taken by a normal color camera at the same time as the infrared camera using a half mirror or a dichroic mirror, a depth image and a texture image corresponding thereto can be taken at the same time. it can.

In this embodiment, since the flash light flashes for several hundred microseconds, if the camera 1 is set to perform the exposure by the shutter operation only during that period, the background light may affect the distance measurement. The influence can be suppressed, and a distance image can be captured even in a bright place to some extent.

In the present embodiment, the subject is irradiated with two types of light patterns, and the light intensity ratio at each pixel is calculated using the captured image in each case. May be calculated by obtaining three types of images (two types of optical patterns and one type without optical patterns).

In this case, when calculating the light intensity ratio of each pixel, a difference value is calculated by subtracting the light intensity when there is no light pattern from the light intensity value when each light pattern is irradiated. Then, the ratio of these difference values is calculated and used as the light intensity ratio. In this way, in the case of imaging in a bright place, a distance calculation error due to background light can be suppressed.

In the present embodiment, the light pattern projected on the subject is replaced with a light-transmitting liquid crystal display element (normal type) instead of the ND filters 4a and 4b and the light sources 2a and 2b whose transmittance changes in the horizontal direction. Liquid crystal image projector) and one light source. The present embodiment can be implemented by switching the light transmission pattern of the light transmission type liquid crystal display element to cause the light source to emit light twice, or by turning on the light source and switching between two types of light patterns of the light transmission type liquid crystal display element. In the same manner as in the embodiment, two types of light patterns can be irradiated to the subject in a time-division manner.

(Third Embodiment) FIG. 10A is a schematic perspective view showing a configuration of a range finder according to a third embodiment of the present invention. The configuration of the present embodiment will be described below with reference to FIG.

As shown in FIG. 10A, the semiconductor laser 2
Reference numeral 01 denotes a light source unit that emits light having a wavelength λ. The first optical fiber 202 is means for guiding light emitted from the semiconductor laser 201 to the optical distributor 203. A collimator lens 204 is disposed between the first optical fiber 202 and the semiconductor laser 201. The light distributor 203 is a light distribution unit that branches light guided from the first optical fiber 202 into two paths. The light distributor 203 is provided with a shutter mechanism, and is means for sending the split light to the second optical fibers a and b in a time-division manner. Second optical fiber a
The (205a) and the second optical fiber b (205b) are connected to the light distributor 203 at one end, and irradiate light branched from the opening at the other end to a subject (for example, an inner wall of a stomach). Optical fiber. Camera unit 20
Reference numeral 6 denotes an imaging unit that acquires image data of a subject by using light reflected by the subject and received by the light-receiving optical fiber bundle 207. Note that a lens 210 is disposed close to the tip of the light receiving optical fiber bundle 207. CCD2
Reference numeral 09 denotes an image sensor attached to the camera unit 206 so as to receive light from the light receiving optical fiber bundle 207. The opening 20 of the second optical fiber a (205a)
The light emitted from 8a has a light intensity distribution as shown in FIG. 4 described in the above embodiment. The second optical fiber b (2
The same applies to the light emitted from the opening 208b in 05b). These lights, depending on the horizontal position,
The distribution of the light intensity is different because the light emitted from the opening of the optical fiber is diffused based on the opening angle. Therefore, the shape of the light intensity distribution can be changed by adjusting the aperture angle. The opening angle can be adjusted to some extent by setting the refractive index in the diameter direction of the optical fiber to a predetermined value.

The range finder according to the present embodiment is
A distance calculating unit (not shown) for calculating a distance to a subject based on image data from the camera unit 206 and having a function similar to that of the distance calculating unit 6 described in the above embodiment is provided. An optical fiber bundle may be used for both or one of the first optical fiber 202 and the second optical fibers a and b (205a and 205b).

Next, the operation of the present embodiment having the above configuration will be described with reference to FIG.

The range finder of the present embodiment can be used as an endoscope such as a gastroscope.

That is, the second optical fibers a and b (205a,
The tip of 205b) and the tip of the light receiving optical fiber 207 are inserted into the stomach of the patient.

Light having a light intensity distribution characteristic as shown in FIG. 4 is radiated from the openings of the second optical fibers a and b in a time-sharing manner as in the first embodiment. The light receiving optical fiber 207 receives the reflected light of these lights. Further, the camera unit 206 sends image data of the inner wall of the stomach obtained from the reflected light to the distance calculation unit. The distance calculator calculates and outputs three-dimensional distance data of the inner wall of the stomach in the same manner as in the first embodiment. The output distance data is sent to a monitor (not shown) and displayed three-dimensionally. The doctor can move the tip of the second optical fiber while watching the monitor, and can see the image of the affected part three-dimensionally projected. As a result, a more accurate examination can be performed as compared with the related art.

In the above embodiment, the range finder having one semiconductor laser as the light source has been described. However, the present invention is not limited to this. For example, FIG.
As shown in (1), a configuration having two light source units may be employed.
That is, in this case, the semiconductor laser 201 as the light source unit
a and 201b are optical fibers 205a and 205b for individually guiding the emitted light to the subject side and irradiating the subject with the emitted light.
05b is provided. Each of these optical fibers 20
Collimator lenses 204a and 204b are arranged between 5a and 205b and semiconductor lasers 201a and 201b. With such a configuration, the same effect as described above is exhibited.

In the above-described embodiment, the configuration in which the optical distributor 203 is provided between the first optical fiber 202 and the two second fibers 205a and 205b has been described.
The invention is not limited to this. For example, instead of the light distributor 203 and the second optical fibers 205a and 205b, the light guided from the first optical fiber is branched into two paths at the tip of the fiber to irradiate the object. A configuration including an optical branching unit (not shown) may be used. In this case, the second optical fiber can be omitted, and the same effect as described above is exerted.

Further, in the above-described embodiment, as shown in FIG. 11A, a configuration in which nothing is disposed before the optical fibers 205a and 205b has been described. Opening 2 of optical fibers 205a and 205b
A configuration in which a collimating lens 301 (see FIG. 11B) and a cylindrical lens (or rod lens) 302 (see FIG. 11C) are disposed on the front surfaces of the openings 208a and 208b on the front surfaces of 08a and 208b. But it is good. This makes it possible to more efficiently and uniformly change the intensity of light emitted from the opening.
In addition, from the front surface of each of the openings 208a and 208b, light whose light intensity is not locally different is output.
Transmittance change filter 1 (30
3a) and the transmittance change filter 2 (303b) can be arranged on the front surface of each of the openings 208a and 208b.

Here, the characteristics of the filter shown in FIG. 11D will be further described with reference to FIGS. 12A and 12B.

For example, the intensity distribution of the light transmitted through the transmittance changing filter 1 (303a) shown in FIG. 12A is set so as to be given the reference numeral 401a in FIG. 12B. I have. On the other hand, the transmittance change filter 2
The intensity distribution of the light transmitted through (303b) is set to be the one denoted by reference numeral 401b in FIG. FIG.
FIG. 2B is a diagram showing a light intensity distribution in the range of α shown in FIG. The present invention can also be realized using such a transmittance change filter.

Further, in the above embodiment, the case where the light distributor is provided with the shutter mechanism and the object is irradiated with light in a time sharing manner has been described. However, the present invention is not limited to this. Light having a plurality of frequencies is included in the light, and light having different wavelengths is emitted from the opening by providing a filter in the light distributor. Then, by providing the camera unit with a filter and a light receiving element capable of distinguishing and receiving light of these two wavelengths, it becomes possible to simultaneously irradiate the subject with each light of the two wavelengths. . As a result, the measurement time can be reduced. FIG.
In the configuration shown in FIG.
a, 201b with different wavelengths,
With a configuration including a filter and a light receiving element that can receive light while distinguishing two types of wavelengths, the measurement time can be reduced in the same manner as described above.

In the above embodiment, a semiconductor laser is used as a light source. However, the present invention is not limited to this. For example, an LED or a lamp may be used.

Next, a description will be given of a camera of the present invention in which the above-described range finder according to the present invention is designed to be more compact and has a simple structure.

That is, in the above-described range finder device, the light sources 2a and 2b are shifted from the light reflecting plate as shown in FIG. 2 or an optical filter having a different light transmittance depending on the horizontal position in front of the arc tube. It is necessary to mount it, and it can be said that the structure is complicated.

In addition, if the distance between the lens of the camera and the light source is not more than a few tens of centimeters, there is a problem that the measurement accuracy is not obtained because triangulation is used. Become.

Further, there is a disadvantage that it is not easy to calculate the size and size of an object imaged by a conventionally known camera unless the distance to the subject is known. Further, it was impossible to know the size of the subject from the color image once photographed.

In order to extract a subject from an image captured by a conventionally known camera, an environment having a single color background must be prepared in advance, and extensive preparation is required.

Hereinafter, a camera for shape measurement and a camera for extracting a subject according to an embodiment of the present invention which can solve these inconveniences will be described with reference to the drawings. (Fourth Embodiment) FIG. 1A is a configuration diagram of a shape measurement camera and a subject extraction camera according to a fourth embodiment of the present invention. FIG. 20 is a block diagram of this camera.

In FIG. 13, reference numerals 501 and 502 denote camera housings, 503 denotes a photographing lens, 504 denotes a recording medium,
Reference numerals 05 and 506 denote first and second strobes forming a light source unit, and reference numeral 507 denotes a finder. In FIG.
532 is a display unit, 533 is an imaging unit, 534 is a light source control unit, 535 is a distance calculation unit, 536 is a color image calculation unit,
538 is a media recording / reproducing unit, and 550 is an image memory.

The structure of this shape measuring camera is shown in FIG.
As shown in FIG. 13A, a housing 501 containing a camera unit and a housing 502 containing a light emitting unit have a structure in which the thickness is different from each other and can be overlapped with each other. The user can select one of the states (a) and (b) by sliding the housings 501 and 502. When the camera is carried, it is kept in a small size in the state of (a), and when taking a picture, the housing is extended and used in the state as shown in (b). Thus, the distance D between the center of the lens 503 and the strobes 505 and 506 of the light source unit can be set to be large during use. FIG. 20A shows a simple system that does not use the image memory 550, and FIG. 20B shows a type that has an image memory and can capture and display at high speed.

The strobes 505 and 506 of the light source section are configured, for example, as shown in FIG.
And a light shielding plate 528 having a hole whose center position is shifted. At this time, light emitted from the line segment of the arc tube 530 as shown in the plan view of FIG.
The light is emitted while the manner in which light is blocked varies depending on the location. At this time, the position of the hole of the light-shielding plate 528 is shifted from the strobe light emitting tube 530, and light is generated such that the light gradually increases between the points A and B on the straight line l. As a result, as shown in FIG. 16, a light pattern is generated from the two strobe light emitting tubes such that the light intensity changes in directions opposite to each other. Next, a method of calculating the depth distance using such light will be described. The contents are almost the same as the depth distance calculation method described above.

The optical pattern obtained in this way is shown in FIG.
As shown in FIG. 7, the light intensity changes. FIG. 1 shows a one-dimensional change in the light intensity in the horizontal X direction.
8 In the α portion of the light pattern, one of the light emitted from the two light sources to the subject space is bright on the right side and bright on the left side as viewed from the light sources. However, this pattern also changes in the height direction (Y direction).

FIG. 19 shows the relationship between the light intensity ratio of the two projection lights in illumination of the subject and the angle φ in the horizontal direction from the light source in the portion α in FIG. In the α part, the light intensity ratio and the horizontal angle φ from the light source
Is a one-to-one correspondence. In order to measure the distance, two types of light patterns are alternately projected in advance on a vertically erected plane, and the reflected light is imaged by the camera 501. It is necessary to obtain data on the relationship between the light intensity ratio and the position from the light source in the horizontal direction.

If the light source is arranged so that a line segment connecting the lens center of the camera 501 and the light source is horizontal to the X axis of the imaging surface, the light intensity ratio determined for each Y coordinate and the horizontal direction By using the data on the positional relationship from the light source, the distance can be accurately calculated. This is shown in FIG.
It is calculated by the distance calculation unit of (a). Hereinafter, a method of calculating a distance using the light intensity ratio will be described.

When the point P in FIG. 20A is taken as the point of interest, the strobes 505 and 506 of the light source for the point P of the image picked up by the image pickup section 533 based on the user's image pickup intention.
A diagram corresponding to the luminance ratio obtained from the imaging data output from the imaging unit 533 and the Y coordinate value of the point P when two types of light patterns from each are projected by the light source control unit 534 in a time division manner. By using the relation of No. 19, the angle φ of the point P viewed from the light source is measured.

As described above, the relationship in FIG. 19 has different characteristics depending on the Y coordinate value, and the relationship between the light intensity ratio and the horizontal angle φ from the light source is prepared for each Y coordinate by preliminary measurement. It is assumed that The angle θ with respect to the point P viewed from the camera is determined from the position in the image (that is, the pixel coordinate value of the point P) and camera parameters (focal length, optical center position of the lens system). Then, the distance is calculated from the two angles and the distance between the light source position and the optical center position of the camera (base line length D) according to the principle of triangulation.

The origin is set at the optical center of the camera, the Z axis is set in the optical axis direction of the camera, the X axis is set in the horizontal direction, and the Y axis is set in the vertical direction. The angle between the direction of the point of interest and the X axis as viewed from the light source is φ. If the angle between the direction of the point of interest and the X axis viewed from the camera is θ, and the light source position is (0, −D), that is, the base line length is D, the depth value Z of the point of interest P is given by the following equation: Z = Dtanθtanφ / (tanθ) −tanφ). At this time, if the value of D (the distance between the lens and the light source unit) is small, the accuracy of the measured depth value Z decreases. For example, in the case of a subject up to a distance of about 3 m, if the value of D is set to 20 to 30 cm, the measurement distance becomes about 1
Depth can be measured with% error. As the value of D becomes smaller, the measurement error becomes larger. The X and Y coordinates of the point of interest P are given by the following equations.

X = Z / tan θ Y = Z / tan ω Further, the color image calculation unit 536 calculates an image obtained by averaging the above-mentioned two types of image data at the time of light pattern irradiation,
This is a color image. The two types of optical patterns are shown in FIG.
As described above, the brightness changes in a complementary manner to each other, and by adding and averaging them, it is possible to obtain a color image equivalent to that captured by a strobe of uniform brightness.

[0093] The color image and the depth image obtained as described above are displayed on the display unit 532 and recorded on the recording medium 504 through the media recording / reproducing unit 538. Of course, the color image and the depth image once recorded can be read out by the media recording / reproducing unit 538 and displayed on the display unit 532.

Further, as shown in FIG.
If the image data from 3 is temporarily stored in the image memory 550, images can be continuously input.
Also, a plurality of images once recorded on the recording medium 504 can be read out to the image memory 550 and reproduced and displayed at high speed.

As described above, according to the present embodiment, a plurality of light patterns can be generated with a simple structure simply by using a linear strobe light emitting tube and a light-shielding plate having holes. In addition, a shape measurement camera having a stable structure can be realized.

When the camera is carried, it is small, and when taking a picture, the main body is extended, and the lens 503 and the strobe 50 of the light source section are extended.
The distance D of 5,506 can be made large, and a shape measuring camera capable of measuring a depth image with high accuracy can be realized.

(Fifth Embodiment) FIG. 28 is a configuration diagram of a shape measuring camera and a subject extracting camera according to a fifth embodiment of the present invention. In FIG. 28, 501 and 5
Reference numeral 02 denotes a camera housing, reference numerals 505 and 506 denote first and second strobes forming a light source unit, reference numeral 518 denotes a display panel,
519 is a touch panel, 532 is a display unit, 533 is an imaging unit, 535 is a distance calculation unit, 536 is a color image calculation unit,
538 is a media recording / reproducing unit, and 537 is a control unit. Hereinafter, the operations of the shape measuring camera and the subject extracting camera having the above configuration will be described.

FIG. 27 shows the back surface of the shape measuring camera. On the back surface, a display panel 518 and a touch panel 519 are arranged so as to overlap each other, display a captured color image or a depth image, and use a finger or a stick for the user.
An attention position (coordinate) in the image can be designated.

FIG. 28 is a block diagram of the display / distance measurement. The captured distance image and color image are input to the control unit 537, and the coordinates of the user's attention position designation are also input to the control unit 537. Is done. The control unit 537 displays the captured color image on the display panel 518, calculates the actual distance and the like from the plurality of designated coordinates input from the touch panel 519 and the depth image, and calculates the actual distance and the like.
18 is displayed.

FIG. 25 shows how the position of interest is specified. First, it is assumed that a color image of a desk photographed by the user is displayed on the display unit 518. The user designates the designated points A523 and B524 with a finger or a stick.

When specified, the shape measuring camera sets the actual coordinates A of the respective coordinate positions of the obtained depth image.
Using the values of (Xa, Ya, Za) and B (Xb, Yb, Zb), the distance Lab of the line segment AB connecting the points A and B, ie,

[0102]

(Equation 1)

Is calculated and displayed on another portion of the display panel 518. In this example, it is displayed that the length of AB is 25 cm. In this way, the user can measure the distance between the points to be measured of the photographed subject without touching the subject even if the distance is the length in the depth direction.

Similarly, it is possible to measure the size of a circular object instead of a straight line. FIG. 26 is an example of a case where a circular table is imaged. For example, the user touches three points A523, B524, and C526 at appropriate positions on the circular circumference to be measured with a finger or a stick while touching the color image captured and displayed on the display panel 518. Specified by

Thereafter, the shape measuring camera obtains the spatial coordinate values A (Xa, Ya, Za) and B (Xb, Y) of these three points.
From b, Zb) and C (Xc, Yc, Zc), the equation of a circle passing therethrough is determined. Although there are various methods for obtaining, for example, a perpendicular bisector of the line segments AB and BC is obtained, and the intersection thereof is the center G (Xg, Yg, Zg) of the circle. next,
The average value of the lengths of the line segments GA, GB, and GC may be used as the radius of the circle.

The radius obtained in this manner is displayed as 50 cm in FIG. 26 to notify the user. In this way, the size of a complicated shape such as a circle can be measured without touching the subject. In addition, if there is a formula that defines the shape, such as an equilateral triangle or an ellipse, the user must specify multiple points and measure the size from the depth image without touching the subject. Can be. In this case, the user inputs the coordinates of the point of interest using the touch panel, but a cursor (such as a cross-shaped pattern) that moves up, down, left, and right is displayed on the display panel 518, and the position is specified by moving the position with the push button. And input the coordinates of the point of interest.

If the result of the subject size calculation is recorded on the recording medium 504 through the media recording / reproducing unit 538, the user does not need to remember the measurement result.
The recording medium 504 can be taken out and used with a device (such as a personal computer) having the same function as the media recording / reproducing unit 538 that can read and write the recording medium 504, which is convenient. Of course, the measurement result may be superimposed in the captured color image and stored as an image.

In the above example, the length of the subject is measured, but a plurality of lengths can be measured, and the area or volume can be determined based on the measured length.

Further, another example of display and use of photographing data will be described.

As shown in FIG. 27, on the back of the camera,
The display unit 518 and the touch panel 519 are arranged so as to overlap each other, display a captured color image and a depth image, and allow a user to specify a target position (coordinates) in the image with a finger or a stick. It has become. Using this,
It is possible to realize a subject extraction camera that can obtain an image obtained by cutting out only a subject that the user pays attention to.

FIG. 28 is a block diagram showing a display / cutout operation, and has basically the same structure as the above-described shape measuring camera. The captured distance image and color image are input to the control unit 537, and the user's target position designation coordinates are also input to the control unit 537.

The control unit 537 displays the photographed color image on the display panel 518, and obtains a plurality of designated coordinates input from the touch panel 519 and the depth image.
The display unit 518 cuts out only the subject intended by the user.
, And can be recorded on the recording medium 504. This operation will be described with reference to FIG.

First, it is assumed that the user wants to cut out the subject 520. The user specifies a part of the subject 520 on the touch panel 519. The control unit 537 obtains a depth value of a part including the coordinates from the depth image, determines a part having a depth continuously connected to the part as a subject of interest of the user, and displays only that part. , The other part is painted in a specific color, and the display panel 518 is painted.
To be displayed.

The connection portion is determined by starting from the designated coordinates as a starting point, extending the area vertically and horizontally as long as the depth value continuously changes, and stopping at a discontinuity portion if there is a depth discontinuity portion. Image processing may be performed.

Further, the user specifies a distance slightly longer than the distance from the camera of the subject that the user wants to cut out, or a range of the distance that the user wants to cut out, by using a touch panel or a push button. Display a color image that is included only in a portion of the color image having a value shorter than the specified distance or in a portion of the specified distance range, and fill the other portion with a specific color and display the same on the display panel 518; The data is recorded on the recording medium 504.

In this way, the camera can determine and cut out only the object of interest of the user, and display and record it. Further, in this case, depending on the image processing, there is a possibility that a part that is determined to be the foreground due to a malfunction may occur even though it is a background part, as shown in FIG.

In this case, the user touches the touch panel 519.
By specifying a portion (FIG. 29) which seems to have malfunctioned and correcting the display result so as to be a background, a cut-out color image of a high quality subject can be obtained. Of course, in this case, the user may specify a portion determined to be the background due to a malfunction, and perform the correcting operation so that this portion becomes the foreground.

In this way, by extracting a color image based on the distance using the information on the depth image, an image in which only the object of interest of the user has been extracted can be easily obtained and stored.

In FIG. 28, an image memory is arranged in the control unit 537, and an image to be reproduced / operated is temporarily stored in the image memory, so that an image access speed is increased or a plurality of images are accelerated. You can also switch and display / operate.

As described above, according to the present embodiment, the actual size of a subject can be measured without touching the subject. Further, it is possible to realize a shape measurement camera and a subject extraction camera that can easily cut out and save only a subject of interest of the user based on the depth information.

In the fourth embodiment, even if the housing of the shape measuring camera is configured as shown in FIG.
Similar effects can be obtained. That is, the camera unit 9 in which the imaging unit 533 is arranged, and the first and second strobes 5 forming the light source.
The flash unit 508 on which the flash units 05 and 506 are arranged is connected by a connection unit 510 having a hinge-like structure, so that the user can freely fold it as shown in FIG.
The structure can be extended as shown in FIG. At the time of carrying, the size is small as shown in (a), and when the image is taken out and used as shown in (b), the distance D between the lens 503 and the first and second strobes 505 and 506 of the light source can be increased. I can do it.

Further, as shown in FIG. 21C, a structure in which the lens and the first and second strobes 505 and 506 are arranged vertically can be employed. In this case, in the depth image calculation, the angles φ and θ are changed in the horizontal direction in the above description, but are changed only in the vertical direction. Thereafter, the depth image can be calculated by the same calculation. In order to generate a change in light intensity in the vertical direction, the light source has a vertically arranged arc tube configuration as shown in FIG.

In this case, as shown in FIG.
Such a structure that the housing 501 containing the camera unit and the housing 502 containing the light emitting unit are different in thickness from each other and can be vertically overlapped with each other.
Similar effects can be obtained. The configuration of the light source unit at this time is shown in FIG.
(D).

Further, in the fourth embodiment, the same effect can be obtained even if the housing of the shape measuring camera is configured as shown in FIG. That is, the first and second light source units
The housing 517 including the strobes 505 and 506 is made small, and is connected to the camera housing 501 by a hinge structure. At the time of use, the user turns the housing 517 to rotate the first and second light source units.
By exposing the strobes 505 and 506, the housing can be made small while preventing the first and second strobes 505 and 506 of the light source unit from being exposed and being damaged due to careless contact. The distance D between the lenses can be increased.

Further, in the fourth embodiment, the light source is configured as shown in FIG. 2, but as shown in FIG. 5
The same optical pattern generation function can be provided even in a structure in which 31 is provided.

In this case, as shown in FIG.
Light-transmitting portions are sequentially set on the left side of FIG. 29 and on the right side as shown in (c), and in each state, the arc tube 529 emits light one by one in order. Without using one arc tube, one arc tube can be
By sequentially emitting light, a light pattern similar to that in FIG. 18 can be generated.

Thus, the number of arc tubes is small, and the emission position of the emission pattern does not come out from a position slightly shifted up and down as shown in FIG. 2, but the light is emitted from the same position. As a result, the depth measurement error can be reduced.

In FIG. 20, the position of the emission point Q of the light pattern is shifted in the vertical direction in the present embodiment, but in this case, the position is the same, so that the straight line PQ becomes one line. This is because an error does not occur as compared with the case where the depth is calculated using straight lines having different vertical positions.

In this case, by setting the entire surface of the liquid crystal barrier 532 in a light transmitting state as shown in FIG. 24D, the liquid crystal barrier 532 can be used as a strobe of a camera for capturing a normal two-dimensional image.

In the fourth embodiment, the depth measuring device and the color image are calculated by the shape measuring camera and the subject extracting camera main body and are recorded on the recording medium. However, as shown in FIG. In the main body, the image data captured in synchronization with the first and second strobes 505 and 506 of the light source is recorded on the recording medium 504 through the media recording / reproducing unit 538, and this is analyzed by the analyzing device 39 constituted by a personal computer or the like. , The image data is read out, and the distance calculation unit 535 and the color image calculation unit 536 are read out.
, A desired analysis result may be obtained, and the display unit 532 may be used to cut out the subject or measure the shape.

Further, the image data can be transferred to the analyzing device 539 without going through the recording medium 504. For example, the camera main body and the analysis device 539 are connected using the communication means of the current data. For example, in wired communication, a parallel data interface, a serial data interface, and a telephone line can be used. In wireless communications, optical communications and
Infrared communication, mobile phone network communication, radio wave communication can be used. Further, the analysis result can be recorded on a recording medium.

In this case, the image capturing section 533 is a video camera for capturing moving images, and when the recording medium 504 is a recording medium such as a tape, it is usually used as a camera for capturing a color moving image and requires a user. By pressing the push button or the like only when the flash is turned on and storing an index signal that can identify only the video (frame, field, etc.) of that portion in the recording medium, the analysis device 539 converts the index signal into Only the video of the part that has
A depth image can be calculated and output.

Further, in the fourth embodiment, the light source section is attached to the camera housing 501 from the beginning, but the light source section is made detachable, so that it is small and portable during normal color image capturing. Since the shape of the light source is easy, a method of attaching and using the light source unit only at the time of capturing a depth image can be considered.

FIG. 37 (a) shows an external light source equipped with a light source as shown in FIGS. 2 and 24, which has a structure like an external strobe device for photography. As shown in FIG. 37B, the camera is connected to a camera housing 501 via a connection portion 549 to the camera. FIG. 38 shows an example of a light source for eliminating the shadow of the subject as shown in FIGS.

In FIG. 38A, light sources are arranged symmetrically on both sides of the connection portion 549. FIG. 38B shows a state where the camera is connected to the camera. Also, in FIGS. 37 and 38, the camera body and the light source are connected in a structure like a flash shoe of a film camera. However, as shown in FIG. 39A, a method of mounting using a tripod mounting screw of the camera is also considered. Can be

In this case, as shown in FIG. 39 (b), the camera is mounted by using a screw at the bottom of the camera housing 501. If the light source is separated as such a detachable external light source device, the size of the camera becomes large only at the time of capturing a depth image, and when it is used as a normal camera, the convenience of small size and light weight can be obtained.

Also, in the fifth embodiment, FIG.
In the above configuration, the coordinates of the user can be specified by a configuration using a touch panel, but the user may specify the coordinates by other means. For example, when it is realized by a personal computer, an input device such as a mouse or a keyboard can be used. In addition, a trackball, a switch, a volume, and the like can be applied.

In the fourth and fifth embodiments, as shown in FIG. 13, FIG. 21, FIG. 22, and FIG.
The first and second strobes 505 and 506 of the two light source units are arranged on one side of the imaging unit 533. In this case, FIG.
When the subject 540 and the background 541 are imaged in the arrangement shown in FIG. 2, light from the light source is blocked by the subject 540 as shown in FIG.

This portion is a region where light from the light source does not reach, and is a region where information as a distance image cannot be obtained. In this case, as shown in FIG.
A light source 543 having the same configuration as the second strobes 505 and 506.
By disposing the 544 on the opposite side of the first and second strobes 505 and 506 of the light source with the lens as the center, the shadow area can be eliminated. The method is described below.

First and second strobes 505 and 506 of the light source
Is used, and when the light sources 543 and 544 are used, the area γ is a part from which information as a distance image cannot be obtained. Similarly to the above calculation, the distance image A and the color image A when the first and second strobes 505 and 506 of the light source are used, and the distance image B and the color image B when the light sources 543 and 544 are used, respectively. Calculate independently. At this time, in each of the images, the portions of the regions β and γ are determined as the portions having low luminance from the obtained image data.

Next, the distance images A and B are combined to newly generate a distance image having no shadow area. This is the distance image A,
In the case of B, if there is an area that is not determined as the above-mentioned low-luminance part in either one, the value is adopted, and if neither is a shadow area, this is realized by using the average value of both image data. it can.

The same applies to a color image. If at least one of the color images A and B has data which is not a shadow portion, a new color image having no shadow region can be synthesized.

In the case of the above configuration, the light sources need to be arranged on the left and right or up and down of the lens. In that case, FIG.
As shown in FIG. 5, if the housings 512 and 513 each having a light source unit are slid in the opposite direction to the left and right of the camera body 511 to extend in the opposite direction, the size can be reduced when the user carries the camera. When the portable device is carried and used in the state shown in FIG. 35 (a), it is extended as shown in FIG. 35 (b) to increase the base line length D, thereby preventing the depth image measurement accuracy from being lowered.

Further, as shown in FIG. 36, the same effect can be obtained even if the structure can be folded in three steps. As shown in FIG. 36 (a), when the camera is carried, it is folded and made small, and when it is used, when it is expanded as shown in FIG. 36 (b), the base length D which is the distance between the lens and the light source can be increased.

Further, as shown in FIG. 21C, in order to make the arrangement of the lens and the light source perpendicular to each other,
13 may be arranged above and below the housing 11, or the housings 512 and 513 may be arranged above and below the housing 11 in FIG.
Industrial applicability

[0146]

As is clear from the above description, according to the range finder device of the present invention, a low-cost and highly-reliable device which can be realized by electronic operation without mechanical operation. Can be provided.

Further, according to the range finder of the present invention, even when the light from the light source has a two-dimensional pattern, the distance can be accurately measured.

Further, according to the range finder of the present invention, it is possible to measure the distance of a subject in a place where the light from the light source cannot be directly applied to the subject.

Further, as described above, according to the camera of the present invention, a light source unit having a simple structure and high practicality can be realized.
In addition, it is small when carried, but can secure a distance of several tens of centimeters or more between the camera lens and the light source when used, and has the effect of not lowering the depth image measurement accuracy. In addition, the length and size of the subject can be easily measured without contact, the size of the subject can be known from the color image that has been captured once, and the subject of interest can be easily extracted from the captured image. It is possible to provide a camera for measuring a shape and extracting a subject that can perform the measurement.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a range finder device according to Embodiment 1 of the present invention.

2A is a perspective view illustrating a configuration of a light source of the range finder device according to the first embodiment, and FIG. 2B is a plan view illustrating a configuration of a light source of the range finder device according to the first embodiment.

FIG. 3 is a diagram showing an optical pattern of a light source according to the first embodiment.

FIG. 4 is a diagram showing an optical pattern of a light source and an optical pattern in the case of a plurality of light emission in the first embodiment.

FIG. 5 is a relationship diagram between a light intensity ratio and an angle φ from a light source in the first embodiment.

FIG. 6 is a conceptual diagram illustrating calculation of three-dimensional positions X, Y, and Z according to the first embodiment.

FIG. 7 is a block diagram showing a configuration of a range finder device according to Embodiment 2 of the present invention.

FIG. 8 is a block diagram of distance calculation and light intensity conversion according to the second embodiment.

FIG. 9 is a diagram illustrating a change in light intensity with respect to an X coordinate according to the second embodiment.

10A is a block diagram illustrating a configuration of a range finder device according to Embodiment 3 of the present invention, and FIG. 10B is a block diagram illustrating a configuration of a modification of the range finder device according to Embodiment 3 of the present invention. It is.

11A to 11C are explanatory diagrams of the arrangement of a lens system according to the third embodiment, and FIG. 11D is an explanatory diagram of the arrangement of a transmittance changing filter according to the third embodiment.

12A is an explanatory diagram of a transmittance change filter according to the third embodiment, and FIG. 12B is an explanatory diagram of light intensity distribution by the transmittance change filter according to the third embodiment.

FIGS. 13A and 13B are diagrams of a camera for shape measurement and for extracting a subject according to a fourth embodiment of the present invention.

FIG. 14 is a configuration diagram of a light source unit of a camera according to a fourth embodiment of the present invention.

FIG. 15 is a principle diagram of a light source unit of a camera according to a fourth embodiment of the present invention.

FIG. 16 is a light intensity diagram of a light source unit of a camera according to a fourth embodiment of the present invention.

FIG. 17 is a diagram illustrating a light intensity pattern of a light source unit of a camera according to a fourth embodiment of the present invention.

FIG. 18 is a diagram illustrating a light intensity pattern of a light source unit of a camera according to a fourth embodiment of the present invention.

FIG. 19 is a diagram illustrating a light intensity ratio of a light source unit of a camera according to a fourth embodiment of the present invention.

20A and 20B are block diagrams of a camera according to a fourth embodiment of the present invention.

FIGS. 21A to 21D are configuration diagrams of a camera (2) according to a fourth embodiment of the present invention.

FIGS. 22A and 22B are external views of a camera (3) according to a fourth embodiment of the present invention.

FIGS. 23A to 23C are configuration diagrams of a camera (4) according to a fourth embodiment of the present invention.

FIGS. 24A to 24D are configuration diagrams of a light source unit of a camera (2) according to a fourth embodiment of the present invention.

FIG. 25 is a diagram illustrating a camera display method (1) according to the fifth embodiment of the present invention.

FIG. 26 is a diagram illustrating a camera display method (2) according to the fifth embodiment of the present invention.

FIG. 27 is a rear external view of a camera according to a fifth embodiment of the present invention.

FIG. 28 is a block diagram of a camera according to a fifth embodiment of the present invention.

FIG. 29 is a diagram illustrating an image correction operation (1) of the camera according to the fifth embodiment of the present invention.

FIG. 30 is a diagram illustrating an image correction operation (2) of the camera according to the fifth embodiment of the present invention.

FIG. 31 is another configuration diagram of the camera according to the fourth embodiment of the present invention.

FIG. 32 is a diagram illustrating occurrence of occlusion of a camera according to the fourth and fifth embodiments of the present invention.

FIG. 33 is a diagram illustrating occlusion of a camera according to fourth and fifth embodiments of the present invention.

FIG. 34 is a diagram illustrating a method of avoiding occlusion of a camera according to the fourth and fifth embodiments of the present invention.

FIGS. 35 (a) and 35 (b) are external views for avoiding occlusion of the camera (1) in the fourth and fifth embodiments of the present invention.

FIGS. 36 (a) and (b) are external views for avoiding occlusion of a camera (2) according to the fourth and fifth embodiments of the present invention.

FIGS. 37 (a) and (b) are external views of an external light source unit (1) of a camera according to the fourth and fifth embodiments of the present invention.

FIGS. 38A and 38B are external views of an external light source unit (2) of a camera according to the fourth and fifth embodiments of the present invention.

FIGS. 39 (a) and (b) are external views of an external light source unit (3) of a camera according to the fourth and fifth embodiments of the present invention.

FIG. 40 is a configuration diagram of a conventional range finder device.

FIG. 41 is a characteristic diagram showing wavelength characteristics of a light source of a conventional range finder device.

42A and 42B are characteristic diagrams of intensity modulation of a light source of a conventional range finder device.

43 (a) and (b) are measurement principle diagrams in a range finder.

[Explanation of symbols]

 Reference Signs List 1 camera 1a infrared camera 2a light source 2b light source 3a infrared transmission filter 3b infrared transmission filter 4a ND filter whose transmittance changes in the horizontal direction 4b ND filter whose transmittance changes in the horizontal direction 5 light source control unit 6 distance calculation unit Reference Signs List 7 flash light source 8 flash light source 9 reflector 10 reflector 11a field memory a 11b field memory b 12a light intensity conversion unit a 12b light intensity conversion unit b 13 light intensity ratio calculation unit 14 distance conversion unit 101A laser light source 101B laser light source 102 half Mirror 103 Light source control unit 104 Rotating mirror 105 Rotation control unit 106 Subject 107 Lens 108A Optical wavelength separation filter 108B Optical wavelength separation filter 109A Image pickup device 109B Image pickup device 109C Color image pickup device 110A Camera signal processing unit 110B Camera Signal processing unit 111 Color camera signal processing unit 112 Distance calculation unit 113 Control unit 201 Semiconductor laser 202 First optical fiber 203 Optical distributor 204 Collimator lens 206 Camera unit 207 Second optical fiber 501 Housing 502 Housing 503 Lens 504 Recording Media 505 First strobe 506 Second strobe 507 Finder 508 Strobe unit 509 Camera body housing 510 Connection unit 511 Camera body 512 Light source unit housing 513 Light source unit housing 514 Third strobe 515 Fourth strobe 516 Connection unit 517 Light source unit 518 Display panel 519 Touch panel 520 Subject (foreground) 521 Subject (background) 527 Portion determined to be foreground due to malfunction 528 Shield plate 529 Strobe luminous tube A 530 Strobe luminous tube B 531 Liquid crystal barrier 532 display unit 533 imaging unit 534 light control unit 535 distance calculation unit 536 color image calculation unit 537 control unit 538 media recording / playback unit 539 analysis unit 540 subject (foreground) 541 subject (background) 542 light from the light source unit is blocked 543 Light source unit 3 544 Light source unit 4 545 Camera mounting screw 546 Light source unit housing (1) 547 Light source unit housing (2) 548 Light source unit fixing base 549 Light source unit fixing tool (strobe shoe fitting) 550 Image memory 551 Reflection Plate (1) 552 Reflector (2) 100 Part judged as background

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Atsushi Morimura 1006 Kadoma Kadoma, Osaka Prefecture F-term (reference) in Matsushita Electric Industrial Co., Ltd. 2F065 AA04 AA06 AA53 FF01 FF04 FF09 GG06 GG08 HH01 JJ03 JJ26 LL02 LL08 LL20 LL22LL24 LL30 LL53 NN08 QQ13 QQ24 QQ25 QQ26 QQ31 QQ35 QQ42 SS02 SS13 2F112 AA05 CA02 DA06 DA19 DA25 DA30 FA35 2H011 BA14 2H018 BC00 BC01 2H051 BB20 CC05 CE24 DA07 DA18 DA19

Claims (35)

[Claims] 1. A subject is irradiated with a plurality of projection lights having radiation patterns whose light intensities are three-dimensionally different from each other in a time-division manner from a light source, and reflected light of the projection light from the subject is imaged by a camera. A range finder device that performs distance measurement using the light intensity of a captured image, in advance, for each of a plurality of surfaces including a light source center and a lens center, in each surface, each of the light sources from the light source Obtain the relationship between the angle of the projection light and the light intensity, and at the time of actual distance measurement, measure the light intensity of each pixel of the camera, and calculate the measured light intensity and the coordinate position of the measured pixel. On the corresponding predetermined surface, based on the relationship between the angle and the light intensity, the angle corresponding to the measured light intensity of the predetermined pixel is obtained, and the measured light intensity, the obtained angle, and 2 on the image of the predetermined pixel Based on the original coordinate position information, rangefinder and calculates a distance to the object. 2. The plurality of projection lights are two, and their projection directions are projected in different directions while partially overlapping each other, and the angle and light intensity of each projection light from the light source are provided. 2. The range finder device according to claim 1, wherein the relationship is a relationship between an angle of each projection light from the light source and a ratio of each light intensity of the two projection lights at the angle. 3. 3. The range finder according to claim 2, wherein said projection light is generated by arranging two light sources having a reflection plate behind. 4. The range finder according to claim 1, wherein the light intensity of the captured image is a difference value between the image light intensity when the projection light exists and the image light intensity when the projection light does not exist. . 5. The method according to claim 1, wherein the plurality of projection lights are simultaneously applied to the subject, and the reflected light of the projection light from the subject is captured by the camera, and the captured image is used as a normal image. The range finder device according to claim 1. 6. The rangefinder according to claim 1, wherein the camera is set to an exposure time shorter than a light emission period of the projection light to suppress the influence of background light. 7. The range according to claim 1, wherein the lens and the light source are arranged such that a straight line connecting the lens and the light source is parallel to a horizontal axis of an image sensor surface. Finder device. 8. The range finder according to claim 2, wherein said plurality of projection lights are generated by a light source provided with a light transmission plate in front of which two-dimensionally different transmittances are provided. 9. The range finder according to claim 2, wherein said plurality of projection lights are realized using an optical element and a light source capable of switching light transmittance patterns. 10. In the absence of the reflector or the light transmitting plate, the light intensity of the light projected from the light source is measured to obtain a correction amount, and the angle, the light intensity, and the angle of each light projected from the light source are obtained. When obtaining the relationship, the light intensity is corrected by the correction amount,
The range finder device according to any one of claims 3 to 9, wherein, at the time of actual distance measurement, the measured light intensity is corrected by the correction amount. 11. A light source, a first optical fiber that guides light emitted from the light source, a light distribution unit that branches light guided from the first optical fiber into a plurality of paths, and a light distribution unit. A plurality of second optical fibers each having one end connected thereto and configured to irradiate the object with the branched light from the opening at the other end; and receiving reflected light of the irradiated light to obtain image data of the object. And a distance calculating unit that calculates a distance to the subject based on the image data, and an intensity of light emitted to the subject from the other end of each of the plurality of second optical fibers. However, each of them has a distribution different from place to place. 12. A light source, a first optical fiber that guides light emitted from the light source, and a light branching unit that splits light guided from the first optical fiber into a plurality of paths and irradiates the plurality of paths with a subject. An imaging unit that receives reflected light of the emitted light and acquires image data of the subject; and a distance calculation unit that calculates a distance to the subject based on the image data. A range finder device, wherein the light intensities of any of the paths irradiated from the branching unit onto the subject have different distributions in terms of location. 13. A plurality of light sources, a plurality of optical fibers for individually guiding light emitted from the light source to a subject side and irradiating the subject with the light, and receiving reflected light of the irradiated light. An imaging unit that acquires image data of the subject, and a distance calculation unit that calculates a distance to the subject based on the image data, and a light intensity from any optical fiber irradiated on the subject, A range finder device having a distribution different from place to place. 14. The range finder device according to claim 11, further comprising a lens system disposed in front of an opening of said optical fiber for irradiating said subject with light. 15. In order to obtain a spatial distribution of the light intensity, an optical filter having a different light transmittance depending on a location is provided in front of an opening of the optical fiber for irradiating the light. Item 14. The range finder device according to item 11 or 13. 16. The range finder device according to claim 12, further comprising a lens system arranged in front of an opening of said light branching means for irradiating said subject with light. 17. In order to obtain a spatial distribution of the light intensity, an optical filter having a different light transmittance depending on a location is provided on a front surface of an opening of the light branching means for irradiating the light. The range finder device according to claim 12, wherein 18. The method according to claim 18, wherein the lens system is a collimating lens,
The range finder according to any one of claims 11 to 17, wherein the range finder is a cylindrical lens or a rod lens. 19. A shape having light emitting means for irradiating a subject with projection light having a specific radiation pattern, capturing reflected light from the light emitted by the light emitting means, and obtaining a depth image using the light intensity of the captured image. A camera for measuring or extracting a subject, wherein the camera has a structure in which a distance between the light emitting unit and the imaging lens is variable, and in use, a sufficient distance between the light emitting unit and the imaging lens can be obtained. Camera. 20. The structure in which the distance between the light emitting means and the imaging lens is variable is realized by a structure in which the light emitting means and a main body including the imaging lens are relatively slidable. 20. The camera according to claim 19, wherein the light emitting means and the main body are slid relatively to each other so that a sufficient distance between the light emitting means and the camera lens is obtained. 21. The structure in which the distance between the light emitting means and the imaging lens is variable is realized by connecting the light emitting means and a main body including the imaging lens to each other by a hinge structure. 20. The camera according to claim 19, wherein a hinge structure between the light emitting means and the main body is opened so that a sufficient distance between the light emitting means and the camera lens can be secured. 22. A shape having light emitting means for irradiating projection light having a specific radiation pattern to a subject, capturing reflected light from the light emitting means, and obtaining a depth image using the light intensity of the captured image. A camera for measurement or object extraction, wherein the light emitting means has a structure in which a light shielding plate having a hole is arranged in front of each of a plurality of linear light sources arranged,
The camera according to claim 1, wherein the holes of the light-shielding plates are displaced from each other, and the plurality of light sources emit light in a time-division manner. 23. A shape having light emitting means for irradiating an object with projection light having a specific radiation pattern, capturing reflected light of the object from the light emitting means, and obtaining a depth image using the light intensity of the captured image. A camera for measuring or extracting a subject, wherein the light emitting means is arranged in front of one light source with a light modulation element having a two-dimensionally different light transmittance, and a two-dimensional change distribution of the light transmittance. The camera is characterized in that the light emitting means emits light a plurality of times in accordance with switching of the light transmittance distribution. 24. A shape having light-emitting means for irradiating a subject with projection light having a specific radiation pattern, capturing reflected light of the object from the light-emitting means, and obtaining a depth image using the light intensity of the captured image. A camera for measuring or extracting a subject, comprising a flat display with a touch panel, and a touch operation by a user on the touch panel when the photographed image is displayed on the touch panel, whereby a plurality of objects in the subject are displayed. A camera, comprising: a distance calculation unit that calculates an actual length between the designated points when the points are designated, from the depth image data. 25. The distance calculation unit, based on length information of each part of the subject obtained from the plurality of points designated by a user,
The camera according to claim 24, wherein an area or volume of the subject is calculated. 26. A shape having light emitting means for irradiating a subject with projection light having a specific radiation pattern, capturing reflected light from the light emitted by the light emitting means, and obtaining a depth image using the light intensity of the captured image. A camera for measuring or extracting a subject, comprising a flat display with a touch panel, and a touch operation by a user on the touch panel when the photographed image is displayed on the touch panel, whereby a plurality of objects in the subject are displayed. A camera comprising: a distance calculation unit configured to calculate a diameter, a radius, or an arc length of a circle passing through the plurality of points specified by a user from the depth image data when a point is specified. 27. A shape having light emitting means for irradiating a subject with projection light having a specific radiation pattern, capturing reflected light from the light emitting means, and obtaining a depth image using the light intensity of the captured image. A camera for measuring or extracting a subject, wherein only the subject existing within a distance specified by the user or only the subject existing within a range of the distance specified by the user, the captured depth image is used. A camera, comprising: a subject extracting unit for extracting the subject. 28. An erroneous background or foreground clipping operation can be corrected by designating a portion where the background or foreground is mistaken due to a malfunction of the clipping process by touching the touch panel by a user. The described camera. 29. The user according to claim 24, wherein the user inputs coordinates using a pen-type pointing device instead of operating the flat display with the touch panel with a finger. camera. 30. Instead of operating the flat panel display with a touch panel with a finger, a cursor indicating a position on an image is displayed on a normal flat panel display, and the cursor position is determined by a user operating a mouse or a push button. 28. The camera according to claim 24, wherein the camera is moved, and a user inputs desired coordinates. 31. The apparatus for obtaining a depth image by using captured image data is capable of communicating with a main body including the imaging lens via communication means. Item 30. The camera according to any one of Items 19 to 30. 32. The light-emitting means is separable from the main body including the imaging lens, and is used by removing the light-emitting means during normal image capturing, and is used by attaching the light-emitting means during depth image capturing. The camera according to any one of claims 19 to 31, wherein: 33. A shape having light emitting means for irradiating projection light having a specific radiation pattern to a subject, capturing reflected light from the light emitting means, and obtaining a depth image using the light intensity of the captured image. A camera for measuring or extracting a subject, which also serves as a video camera capable of capturing a moving image and recording on a recording medium in a state where the light emitting unit does not emit light, and image data captured when the light emitting unit emits light. Wherein a depth image is calculated using only a specific image to which the index signal has been added. 34. The camera according to claim 19, wherein a color image is generated in addition to the depth image, and the depth image and the color image can be output together. 35. The subject cutout unit cuts out a color image of only a subject existing at a distance less than a distance specified by a user or only a subject existing within a range of a distance specified by a user. 28. The camera according to claim 27.