JP2001183120A - Method and device for three-dimensional input - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain three-dimensional input data depending upon variance in the sensitivity between pixels of a photodetection device by actualizing three- dimensional input which does not use projection angle information of slit lights. SOLUTION: Slit lights which have mutually different irradiation patterns for an object body Q to be inputted are projected on the object body at the same time or divisionally plural times so that the object body is scanned, reflected lights of the slit lights reflected by the body Q are photodetected at 1st and 2nd positions which are distant from each other at the same time, and the position relations among positions of the body Q is calculated from the photodetection angles of the reflected lights reflected at the respective positions act the 1st and 2nd positions and the distance between the 1st and 2nd positions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional input method and a three-dimensional input device for projecting slit light onto an object to scan the object and obtain data corresponding to the shape of the object.

[0002]

2. Description of the Related Art A non-contact type three-dimensional input device is capable of measuring at a higher speed than a contact type, and is used for data input to a CG system or a CAD system, body measurement, visual recognition of a robot, and the like. Have been.

[0003] A slit light projection method (also referred to as a light cutting method) is known as an active measurement method for obtaining shape information by optically scanning an object. Generally, the cross section of the slit light beam used in the slit light projection method is a straight band. At a certain point during the scanning, a part of the object is irradiated, and a bright line that is curved according to the undulation of the irradiated part appears on the imaging surface. Accordingly, a group of data (three-dimensional input data) for specifying the object shape can be obtained by periodically sampling the luminance of each pixel on the imaging surface during scanning.

Conventionally, the incident angle of slit light reflected by an object and incident on the imaging surface is determined based on the position of the bright line in the imaging surface, and the incident angle, the projection angle of the slit light, and the base line length ( The position of the object is calculated from the distance between the projection start point and the light receiving reference point) by triangulation. That is, the position calculation is performed based on the projection direction and the light receiving direction of the slit light.

[0005]

Conventionally, the accuracy of three-dimensional input data depends on the accuracy of control of the projection angle of the slit light. For this reason, three-dimensional input data with sufficiently high accuracy cannot be obtained. There have been problems that expensive components must be used to ensure accuracy, and that it takes time to adjust the mounting posture of the light projecting system. The reason why it is difficult to ensure the accuracy is that the light projecting system has a movable mechanism for deflecting the slit light, and its operation is easily affected by changes in the use environment such as temperature and humidity.

In a stereo vision ranging apparatus that performs pattern light projection, the orientation of an object position viewed from a plurality of viewpoints is obtained by matching feature points of a plurality of epipolar-constrained images, and based on those orientations. The object position is calculated by a triangulation method. In this three-dimensional input method, the accuracy of three-dimensional input data does not depend on the accuracy of pattern light projection, but depends on the accuracy of matching. Variations in sensitivity between pixels of the light receiving device also affect matching.

The present invention realizes three-dimensional input without using the projection angle information of the slit light, and obtains high-precision three-dimensional input data irrespective of the accuracy of projection angle control and the variation in sensitivity between pixels of the light receiving device. It is intended to be.

[0008]

According to the present invention, a three-dimensional input method (Japanese Patent Application No. 10-25 / 1998) already proposed by the present applicant has been proposed.
No. 7870), an object partially illuminated with slit light as detection light is imaged as two points apart from each other as viewpoints, and the distance between the viewpoints and the irradiation on the object viewed from each viewpoint. The position of the irradiated part is calculated from the azimuth of the part (inclination with respect to the straight line connecting the viewpoints) by a triangulation method.

In addition, in the present invention, two or more slit lights having different irradiation patterns, such as different beam cross-sectional shapes or different inclinations with respect to the deflection direction (scanning direction), are simultaneously or temporally shifted.

In the case where an object is scanned only by a single slit light, pixels having the same slit image passing time and satisfying the epipolar constraint condition in stereo vision are set as corresponding points on the imaging planes of the two viewpoints. . Usually, the epipolar constraint is analytically determined based on the model. The difference between the actual device and the model is corrected by calibration of the imaging system. It is possible to correct the optical axis of the imaging system and the position and orientation of the image sensor. However, it is not possible to correct distortion of the lens and distortion of each lens (due to processing and assembly errors). For this reason, an error occurs in the three-dimensional input.

On the other hand, when an object is scanned by projecting a plurality of slit lights having different irradiation patterns, it is not necessary to search for a corresponding point under epipolar constraint conditions, and the positional deviation of the imaging system is corrected. In addition, it is not necessary to perform the parallelization processing of the captured image in order to satisfy the epipolar constraint condition.

FIG. 1 and FIG. 2 are explanatory diagrams of the principle of the present invention. Here, it is assumed that scanning is performed a total of two times using the first and second slit lights U1 and U2 in the form of straight bands having different inclinations from each other.

In FIG. 1A, the length direction of the slit light U1 is horizontal, and the object Q is scanned by deflecting the slit light U1 in the vertical direction. The object Q is photographed every frame period in synchronization with the scanning. At each photographing time point, the object Q
Images u1A, u corresponding to the undulation of the scanning position at
1B respectively form an image. Also, in FIG.
The length direction of the slit light U2 is the vertical direction, and the object Q is scanned by deflecting the slit light U2 in the horizontal direction. Also in this scan, the slit images u2A, u2A,
u2B forms an image.

A time barycenter image GA1 indicating the time when the slit image passes through each pixel of the image pickup surface SA during the first scan is obtained, and a time barycenter image GB1 is similarly obtained for the image pickup surface SB. Also, for the second scan, each imaging surface SA,
Time barycenter images GA2 and GB2 corresponding to SB are obtained.
In this specification, the time barycenter image includes a luminance peak time image obtained by simply detecting a time when the amount of received light of each pixel becomes maximum, and is not limited to a barycenter calculation.

As shown in FIG. 2, for example, a certain pixel g (column ia, row ja) of the temporal barycenter image GA1 obtained in the first scan
Pay attention to. It is assumed that the pixel g corresponds to the point P of the object Q. Assuming that the value indicating the luminance peak time of the pixel g is T1, the value of the pixel corresponding to the point P in the time barycenter image GB1 is also T1. Because the time center of gravity image GA
This is because GB1 and GB1 are based on information captured simultaneously. The candidate for the corresponding point of the pixel of interest g is the temporal centroid image G
The value of the pixels of B1 is narrowed down to the pixels of T1. Similarly, attention is paid to the pixel g in the ia column and the ja row of the temporal center-of-gravity image GA2 obtained in the second scan. Assuming that the value indicating the luminance peak time of the pixel g is T2, the value of the pixel corresponding to the point P in the time barycenter image GB2 is also T2. Attention pixel g
Are narrowed down to pixels having a value of T2 among the pixels of the temporal barycenter image GB2.

Therefore, a common candidate (pixel g ′ in ib column and jb row) between the time barycenter image GB1 and the time barycenter image GB2 is a corresponding point of the target pixel g. Since the light receiving angle for each pixel is uniquely determined by the relationship between the lens center and the pixel position, if a corresponding point is found, the point P is determined by triangulation.
Can be calculated. Note that, in order to further improve the accuracy of the corresponding point detection, three or more sets of temporal centroid images may be used.

According to the first aspect of the present invention, the detection light is projected toward an object to be input so as to scan the object, and the reflected light, which is the detection light reflected by the object, is reflected by the first separated light. And the light receiving angles at the first and second positions with respect to the reflected light reflected at each part, and the first and second light receiving angles at the first and second positions. A three-dimensional input method for calculating based on the distance between the positions of the plurality of slit lights, wherein a plurality of slit lights having different irradiation patterns with respect to the object are projected as the detection light, and the plurality of slit lights correspond to each of the plurality of slit lights. Based on the light reception data, the light reception angle at the first and second positions with respect to the light reflected at each of the portions is specified.

According to a third aspect of the present invention, the plurality of slit lights are simultaneously projected. In a three-dimensional input method according to a third aspect of the present invention, the plurality of slit lights are projected a plurality of times.

According to a fourth aspect of the present invention, there is provided an apparatus for projecting a detection light so as to scan an object to be input toward the object, and a reflected light which is the detection light reflected by the object.
An imaging system that receives light at the first and second positions that are separated from each other at the same time, and that corresponds to the light receiving angles at the first and second positions with respect to the light reflected at each of the plurality of portions of the object. A three-dimensional input device that outputs measurement data as position information of the plurality of parts, wherein the light projection system projects, as the detection light, a plurality of slit lights having different irradiation patterns on the object from each other, Based on the received light data corresponding to each of the slit lights, the light receiving angles at the first and second positions with respect to the reflected light reflected at the respective portions are specified.

In the three-dimensional input device according to a fifth aspect of the present invention, a starting point of the projection of the detection light is a position between the first position and the second position. 7. The three-dimensional input device according to claim 6, wherein a starting point of the projection of the detection light is a position equidistant from both the first and second positions.

[0021]

FIG. 3 is a functional block diagram of a three-dimensional input device according to a first embodiment. 3D input device 1
Is a light projecting system 10 for projecting slit light U;
The light receiving system 20 includes two imaging systems 20A and 20B, two light receiving signal processing circuits 30A and 30B having the same configuration, and a rotating mechanism 34 for switching the inclination of the slit light U.

The light projecting system 10 includes a semiconductor laser 12 as a light source, a lens group 13 for beam shaping, and a galvanomirror 14 as beam deflecting means for changing a projection angle.
Consists of The lens group 13 includes a collimator lens and a cylindrical lens. The galvanomirror 14 is provided with a deflection control signal from the light projection control circuit 32 via the D / A converter 33. When the whole or a part of the light projecting system 10 rotates around the starting point of the light projection (or in the vicinity thereof), the slit light U having a different irradiation pattern with respect to the object Q is obtained.
Projection is realized.

Each of the imaging systems 20A and 20B includes a light receiving lens 2
1, a beam splitter 22, an image sensor 24 for measuring the shape of the object Q, a color image sensor 25 for obtaining a two-dimensional image for monitoring, and a lens driving mechanism 26 for enabling zooming and focusing. The beam splitter 22 separates light in the emission wavelength range (for example, center wavelength 685 nm) of the semiconductor laser 12 from visible light. The image sensor 24 and the color image sensor 25 are CCD area sensors. A CMOS area sensor may be used as the image sensor 24 and the color image sensor 25. The output of the image sensor 24 is A / D converted into light reception data of a predetermined number of bits in light reception signal processing circuits 30A and 30B. Then, data for specifying the light receiving angle based on the light receiving data is stored in a memory circuit in the light receiving signal processing circuits 30A and 30B.

CPU 31 for controlling the three-dimensional input device 1
Gives an instruction to the control target in a timely manner, reads data from a memory circuit of each of the light receiving signal processing circuits 30A and 30B, and performs a distance calculation. The calculation result is output to an external device (not shown) as three-dimensional input data at an appropriate time. At this time, a two-dimensional color image stored in at least one of the light receiving signal processing circuits 30A and 30B is also output. The external device includes a computer, a display, a storage device, and the like.

The three-dimensional input device 1 having the above-described configuration projects the slit light U so as to scan a virtual surface in the vertical direction, starting from a point on the reflection surface of the galvanometer mirror 14.
The virtual plane corresponds to a plane obtained by back-projecting the imaging area of the image sensor 24 with the light receiving lens 21. Then, a range of the virtual surface corresponding to each pixel g in the image sensor 24 is a sampling section for three-dimensional input. In the configuration of FIG. 3, the starting point of light projection and two viewpoints (principal points of light reception) are arranged on a straight line, and the two viewpoints are arranged in the vertical direction. When the scanning in the vertical direction ends, the galvanomirror 14 is rotated by 90 ° and the slit light U is projected so as to scan in the horizontal direction.

In scanning in each direction, the two image sensors 24 take a picture at a frame period in synchronization with the deflection of the galvanometer mirror 14. At this time, the two image sensors 24 are driven at the same timing. That is, the object Q is photographed simultaneously from two viewpoints. Then, each pixel of each image sensor 24 is detected at which point in time the projection of the slit light U, which is deflected every moment, is illuminated. As described with reference to FIGS. 1 and 2, two outputs are obtained for each scan by the outputs of the two image sensors 24.
When the corresponding point is searched using the two temporal centroid images, the object Q
, Three-dimensional position information of sampling points for the number of pixels is obtained.

Next, a specific configuration of a circuit for detecting the luminance peak time will be described. FIG. 4 shows the first circuit of the memory circuit.
FIG. 3 is a block diagram of an example. The exemplary memory circuit 37 includes two memories 371 and 376, a comparator 377, and an index generator 378.

The memory 371 receives light receiving data D35 from the A / D converter, and the memory 376 receives the frame number T from the index generator 378.
The comparator 377 calculates, for each pixel of the image sensor 24, the received light data D35 of the t-th frame which is the latest input data.
And light receiving data D35 previously written in the memory 371
And writing is permitted to the memories 371 and 376 when the latest received light data D35 is larger than the previous received light data D35. In response to this, each memory 371, 3
76 overwrites the latest input data. If the comparison result is reversed, the previous storage contents are held in the memories 371 and 376. Therefore, when the scanning is completed, the memory 371 stores the maximum value of the light receiving data D35 for each pixel, and the memory 376 stores the maximum value of the light receiving data D35 for each pixel.
Will be stored as the frame number T in which. Since the imaging of each frame is performed at a fixed period, the frame number T indicates a time during the scanning period (elapsed time from the start of scanning).

According to this example, the light receiving angle can be detected by a relatively simple circuit configuration. However, the resolution for detecting the light receiving angle depends on the pixel pitch of the image sensor 24. The second example in which the resolution is improved is as follows.

FIG. 5 is a block diagram of a second example of the memory circuit.
FIG. 6 is a diagram showing the relationship between the luminance distribution on the imaging surface and the received light data. 5, the elements corresponding to FIG. 4 are denoted by the same reference numerals as in FIG.

The memory circuit 37b of the second example includes a memory 37
1 plus 4 memories 372, 37 of the same size
3, 374, and 375, and each of the memories 372 to 3 is provided with a total of four 1-frame delay memories 379a to 379d.
The configuration is such that 75 data inputs are sequentially delayed one frame at a time with respect to the memory 371. That is,
In the memory circuit 37b, five consecutive frames of light receiving data D35 are simultaneously stored for each pixel. Comparator 3
77 is a third memory 37 whose input is delayed by two frames.
3 is compared with the input. When the input data value of the memory 373 is larger than the output data value (the previously written data value), the memories 371 to 375 and the memory 37
6 is allowed.

At the end of each scan, the memory 3
Reference numeral 73 stores the maximum value of the light receiving data D35 for each pixel g. Also, the memories 371, 372, 374,
With 375, the received light data D35 of two frames before, one before, one after, and two after the frame where the received light data D35 is maximum are stored. And
The memory 376 stores, for each pixel, the number T of the frame in which the light receiving data D35 is maximum.

Here, as shown in FIG. 6A, it is assumed that the width of the slit image formed on the imaging surface is 5 pixels and the luminance distribution is a single-peak mountain shape. At this time, paying attention to one pixel, light reception data of a change corresponding to the luminance distribution is obtained as shown in FIG. Therefore, the memory 371-
Light receiving data D3 for 5 frames stored in 375
By performing the center-of-gravity calculation based on No. 5, it is possible to calculate the times TA and TB at which the luminance becomes the maximum at intervals smaller than the frame period (that is, the pixel pitch). FIG.
In the example of (b), the time TA (TB) is the t-th time and (t +
1) It is between the sampling times.

According to the second example, the resolution is improved.
There is a problem that desired accuracy cannot be obtained depending on the luminance distribution. That is, in actual imaging, some noise is added to the image formation due to characteristics of the optical system and the like. For this reason,
A plurality of peaks are generated in the luminance distribution, or the luminance distribution is flat and the peaks are unclear. If the luminance distribution deviates greatly from the ideal shape, the reliability of the center-of-gravity calculation decreases.

The influence of such noise is caused by the calculation of the center of gravity based on the luminance distribution in a sufficiently long period, not in a short period in which the frame in which the maximum luminance value is obtained and several frames before and after the frame. By doing so, it can be reduced. This is realized in the following third example.

FIG. 7 is a block diagram of a third example of the memory circuit. The memory circuit 37c of the third example includes a memory 3710,
Stationary light data storage unit 3720, subtraction unit 3730, first addition unit 3740, second addition unit 3750, and division unit 376
0, and the received light data D for the number of frames for each pixel.
The center of gravity (time center of gravity) is calculated based on 35.

The memory 3710 scans the object Q
The obtained light reception data D35 of the predetermined number k of frames is stored.
I do. Light reception of the T-th (T = 1 to k) frame of each pixel
Data value x_TIt expresses. Stationary light data storage unit 3720
Is the steady light data representing the amount of unnecessary incident light other than the slit light U.
Data. Steady-state light data shows that slit light U is incident
It is calculated based on the received light data D35 when there is no such data.
The value s may be a fixed value determined in advance, or the received light data
It may be obtained in real time using D35. Fixed value and
In this case, the received light data D35 has 8 bits (256 floors).
), For example, “5”, “6” or “10”
What The subtraction unit 3730 reads from the memory 3710.
The value x of the output light receiving data D35_TFrom steady light data
Subtract the value s. Here, the output data from subtraction section 3730 is output.
Data value X_TAnd First adder 3740
Is obtained for k light receiving data D35 for each pixel g.
Each value X_TMultiplication with the corresponding frame number T
And outputs the total value of the obtained products. Second adder 3
750 is a value X of k pieces of light reception data D35 for each pixel g. _T
Output the sum of The division unit 3760 includes the first addition unit 37
40 is divided by the output value of the second adder 3750 to obtain
The obtained center of gravity is output as time TA (or TB).

FIG. 8 is a diagram showing an example of setting the positional relationship between light emission and light reception. In the arrangement of the light projecting system 10 and the light receiving system 20, the starting point C of light projection and the main point (viewpoint) of light reception are not necessarily required.
It is not necessary to adopt a configuration as shown in FIG. 8A or 8B in which A and B are arranged on a straight line. For example, the configuration of FIG. 8C in which three points A, B, and C are arranged in an L-shape or the configuration of FIG. 8D in which the three points A, B, and C are arranged in a T-shape in observation from an object may be adopted.
In particular, if the origin C is arranged between the viewpoint A and the viewpoint B as shown in FIG. 8B or 8D, occlusion caused by the difference between the viewpoints A and B and the origin C can be reduced. it can. In this case, it is preferable to make the distance d between the projection point C and each of the viewpoints A and B equal. In addition, FIG.
In the configuration of (d), the distance L between the viewpoints can be made larger than in the configuration of FIG.

FIG. 9 is a view showing a modification of the irradiation pattern of the slit light. In the first scan in the example of FIG.
In the second scanning, the length direction of the slit light U is set to the vertical direction, and the scanning direction M2 is set to the horizontal direction. The difference in the inclination of the slit light U between the first scan and the second scan is 90 °, and the position difference sensitivity is large.
In other words, as the difference between the slit inclinations among a plurality of scans increases, the distribution of corresponding point candidates increases, and the accuracy of searching for a true corresponding point increases (because the overlapping portion is small).

The image sensor 24 can be read out by reading the entire imaging surface for each frame or reading only the portion where the slit image is expected to be formed in each frame. is there. The former has an advantage that the drive control of the image sensor is simple. If the latter is adopted, the reading time can be reduced.

In the example of FIG. 9B, the slit light U1 of the first scan is inclined upward to the right with respect to the vertical direction which is the scanning direction M2, and the slit light U2 of the second scan is inclined downward to the right. Leaning. Since the first and second scanning directions are the same, there is an advantage that the mechanism configuration of the light projecting system is simplified.

In the example of FIG. 9C, the slit light U1 of the first scan is a set of a plurality of short slit lights parallel to each other and inclined upward to the right with respect to the scanning direction M2. The slit light U2 is a set of a plurality of parallel slit lights inclined downward to the right. There is an advantage similar to that of FIG. 9B, and the position difference sensitivity is larger than the example of FIG. 9B. Since a plurality of short slit lights are used in each scan, a plurality of corresponding points may be generated. However, it can be easily determined to be one by limiting the area where the corresponding point may exist.

FIG. 10 is a diagram showing an irradiation pattern of slit light according to the second embodiment. In the first embodiment described above, two scans are performed. On the other hand, in the second embodiment, the first and second slit lights U1 and U2 having different irradiation patterns are simultaneously projected to perform three-dimensional input of an object in one scan. The second embodiment can also be basically realized by the device configuration of FIG. However, the rotating mechanism 34 is unnecessary, and the light projecting system 10 may be fixed. By providing a plurality of light sources 12 or providing appropriate beam separating means, a plurality of slit lights U1 and U2 can be projected.

In the example of FIG. 10A, the first slit light U1 is a straight line inclined downward to the right with respect to the scanning direction M2, and the second slit light U2 is a straight line inclined upward to the right. is there. In the example of FIG. 10B, the first and second slit lights U1 and U2 are in a zigzag shape having a symmetrical relationship with each other. In these examples, the slit light U1 and the slit light U2 are separated in the scanning direction M2 so that the light receiving timing (passing time) of the slit image at each pixel on the imaging surface is shifted by Δt or more. Δt is a time required to detect the light receiving timing of the two slit images separately.

Even when the slit lights U1 and U2 are simultaneously projected, since the irradiation patterns are different, it is necessary to search for a corresponding point between the viewpoints (A, B) based on the principle described with reference to FIGS. Can be.

Based on the received light data at the viewpoint A, the time barycenter images GA1, GA corresponding to the respective slit lights U1, U2
2 (see FIG. 2). Regarding the viewpoint B, the time barycenter images GB1 and GB2 corresponding to the respective slit lights U1 and U2
Create Time barycenter image GA corresponding to one viewpoint A
Attention is paid to pixels at the same pixel position in GA1 and GA2. It is assumed that the target pixel corresponds to the point P on the object. The value (luminance peak time) of the pixel of interest g in the temporal barycenter image GA1 corresponding to the slit light U1 is T1, and the value of the pixel of interest g in the temporal barycenter image GA2 corresponding to the slit light U2 is T2 (= T1 + ΔT). I do. In this case, in the time barycenter images GB1 and GB2 corresponding to the other viewpoint B, there is a set of pixels satisfying the following two conditions.

1. Pixel positions in the images GB1 and GB2 are equal to each other. 2. The pixel value of the image GB1 is T1
The pixel value of the image GB2 is T2. A set of pixels satisfying these conditions is a corresponding point of the target pixel g. That is, the pixel position of this set of pixels is information indicating the light receiving angle at the viewpoint B corresponding to the point P on the object.

Since it is only necessary to determine the corresponding points as described above, it is not necessary to satisfy the epipolar constraint between viewpoints, and the restrictions on the assembly of the light receiving system are relaxed. There is no need to correct pixel positions in the image parallelization process. The second embodiment is suitable for three-dimensional input of a moving object requiring high speed because three-dimensional data of a predetermined sampling number can be obtained by one scan. In human body measurement as well, a higher speed is preferable because the time during which the subject has to stand still is short.

FIG. 11 is an explanatory diagram of data processing according to the second embodiment. Of the received light data of a predetermined number of frames obtained by the image sensor 24 at one viewpoint (for example, A), when one pixel is focused on and the data value (the brightness of the slit image) is plotted in the order of the frame number, FIG. Thus, two luminance peaks appear as the reflected lights of the slit lights U1 and U2 pass. If the above-mentioned interval (Δt) is appropriately set when projecting the slit lights U1 and U2,
The peaks are clearly separated.

To determine the maximum peak times T1 and T2, two thresholds th1 and th2 are set. The luminance is checked from the smaller frame number, and the frame number Tp1 exceeding the threshold th2 is detected first. From the frame number Tp1, the search is performed both on the side where the number decreases and on the side where the number increases, and a range TR1 of continuous frame numbers whose luminance is greater than the threshold th1 is found. Subsequently, the luminance is examined on the side where the number increases in order from the frame number next to the maximum frame number of the found range TR1,
The frame number Tp2 exceeding the threshold th2 is detected. Searching from both sides from the frame number Tp2, a range TR2 of continuous frame numbers whose luminance is larger than the threshold th1 is found. Ranges TR1 and TR2 found in this way
Are calculated for each of the above, and a time center of gravity T1 corresponding to the slit light U1 and a time center of gravity T2 corresponding to the slit light U2 are obtained. The same process is performed for all pixels to obtain temporal centroid images GA1 and GA2. Further, the same processing is performed for the viewpoint B, and the time barycenter image GB1,
Obtain GB2. The time barycenter images GA2 and GB2 do not record the time barycenter T2 obtained for each pixel, but may store a time difference between the time barycenter T1 and the time barycenter T2 for each pixel.

In the above embodiment, two patterns of slit light are projected. However, three or more patterns of slit light may be projected to realize a more accurate corresponding point search. The cross section of the slit light beam is not limited to a straight line,
It may be curved. Further, scanning may be performed by deflecting the spot light to form a slit light in a pseudo manner.

[0052]

According to the first to sixth aspects of the present invention,
A three-dimensional input that does not use the projection angle information of the slit light is realized, and highly accurate three-dimensional input data can be obtained regardless of the accuracy of the projection angle control and the variation in sensitivity between pixels of the light receiving device.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is a diagram illustrating the principle of the present invention.

FIG. 3 is a functional block diagram of the three-dimensional input device according to the first embodiment.

FIG. 4 is a block diagram of a first example of a memory circuit.

FIG. 5 is a block diagram of a second example of the memory circuit.

FIG. 6 is a diagram illustrating a relationship between a luminance distribution on an imaging surface and received light data.

FIG. 7 is a block diagram of a third example of the memory circuit.

FIG. 8 is a diagram illustrating a setting example of a positional relationship between light projection and light reception.

FIG. 9 is a diagram showing a modification of the irradiation pattern of the slit light.

FIG. 10 is a view showing an irradiation pattern of slit light according to a second embodiment.

FIG. 11 is an explanatory diagram of data processing according to the second embodiment.

[Explanation of symbols]

 1 3D input device A viewpoint (first position) B viewpoint (second position) Q object U, U1, U2 Slit light L distance between viewpoints 10 Projection system 20 Imaging system

 ──────────────────────────────────────────────────続 き Continuing on the front page F term (reference) 2F065 AA04 AA53 BB05 CC16 FF01 FF02 FF05 FF09 FF31 FF42 GG06 HH05 HH18 JJ03 JJ05 JJ26 LL04 LL06 LL08 LL13 LL20 LL46 LL62 MM16 QQQ QQ QQ QQ QQ QQ QQ BA01 BA20 CA08 DA01 DA05 DA06 DA10 DA15 DA21 DA25 DA40 FA03 FA05 FA07 FA21 FA50

Claims (6)

[Claims] 1. A detection light is projected toward an input target object so as to scan the input object, and reflected light, which is the detection light reflected by the object, is simultaneously reflected at first and second positions separated from each other. Receiving the light, the positional relationship between the plurality of parts in the object, the light receiving angle at the first and second positions with respect to the reflected light reflected at each part, and the distance between the first and second positions. A three-dimensional input method that calculates a plurality of slit lights having different irradiation patterns with respect to the object as the detection light, based on light reception data corresponding to each of the plurality of slit lights. A three-dimensional input method characterized by specifying a light receiving angle at the first and second positions with respect to light reflected at each part. 2. The three-dimensional input method according to claim 1, wherein said plurality of slit lights are projected simultaneously. 3. The three-dimensional input method according to claim 1, wherein the plurality of slit lights are projected a plurality of times. 4. A light projecting system for projecting detection light toward an input target object so as to scan the object, and first and second separated light beams, which are the detection light reflected by the object, are separated from each other. And an imaging system that receives light at the same position at the same time. The measurement data corresponding to the light receiving angles at the first and second positions with respect to the reflected light reflected at each of the plurality of parts of the object, A three-dimensional input device that outputs as the position information, wherein the light projecting system projects a plurality of slit lights having different irradiation patterns on the object as the detection light, and corresponds to each of the plurality of slit lights. A three-dimensional input device, wherein a light receiving angle at the first and second positions with respect to light reflected at each of the portions is specified based on light receiving data. 5. The three-dimensional input device according to claim 4, wherein a starting point of the projection of the detection light is a position between the first position and the second position. 6. A starting point of projection of the detection light is at a position equidistant from both the first and second positions.
3. The three-dimensional input device according to claim 1.