JP2019045299A - Three-dimensional information acquisition device - Google Patents

Abstract

To provide a three-dimensional information acquisition device that can acquire three-dimensional information on an object without requiring a complicated configuration or complex computation, using a principle of optical Integral Photography (IP).SOLUTION: A three-dimensional information acquisition device 100 acquires three-dimensional information on an object 2 arranged in a prescribed space 1 of a three-dimensional coordinate system. The three-dimensional information acquisition device 100 comprises: a lens array 10 that is arranged so as to face the object 2, and has a plurality of element lenses 11 disposed in a matrix way; a light reception unit 20 that receives a flux of light passing through the element lens 11 at an imaging plane; an imaging unit 30 that is disposed at the light reception unit 20 so as to correspond to each of the plurality of element lenses 11, and has a plurality of image pick-up elements receiving the flux of light disposed in the matrix way; and an information processing unit 40 that processes optical information acquired by the imaging unit 30 for each image pick-up element.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a three-dimensional information acquisition apparatus, and more particularly to a three-dimensional information acquisition apparatus using the principle of optical integral photography (IP).

  Currently, as an optical three-dimensional shape measurement method, three-dimensional distance measurement by stereo vision using two or more viewpoint images acquired by a camera is often used. This measurement method includes an active stereo method of irradiating an object with pattern light, shooting reflected light with a camera, and measuring the depth distance from the distortion of the pattern light to the object, and parallax information of the two viewpoint images acquired by the camera. There is a passive stereo method that measures the depth distance to the object. In either case, the distance to the measurement point is calculated based on the principle of triangulation for three points including the camera or pattern light irradiation unit and the measurement point on the object.

  As another optical three-dimensional shape measurement technique, there is a technique that uses a lens array in which a plurality of lenses are arranged in a single camera and intensity-modulated light that is spatially or temporally intensity-modulated in one camera. It is disclosed (see Patent Document 1). According to this technique, the images of the subject viewed from different viewpoints obtained by the lens array are respectively imaged and imaged on the imaging surface of the two-dimensional image sensor. Thereby, subject image groups viewed from different viewpoints respectively corresponding to the positions of the plurality of lenses of the lens array are obtained, and detection of three-dimensional information of the subject based on the subject image groups is performed.

  Regarding the display of three-dimensional information, various techniques have been disclosed for the purpose of allowing medical personnel to intuitively grasp a three-dimensional image in medical relations, particularly in three-dimensional images such as CT and MRI ( Non-patent document 1).

JP 2009-3000268 A

Sung Hong, Kang Nakajima, Makoto Iwahara, Etsuko Kobayashi, Ichiro Sakuma, Naoki Yahagi, Takezumi Toi, “Development of Real-time 3D Navigation System for Surgery Using Integral Videography” J.JSCAS Volume 2, Number 4, 2000; 245-252.

  However, in the three-dimensional information measurement method based on stereo vision, feature points on an image are detected and used as measurement points, so image processing is required every time an image is updated in real time. In addition, the technique described in Patent Document 1 requires a complicated configuration in which intensity-modulated light that has been spatially or temporally intensity-modulated must be applied, and complicated calculations associated with this configuration.

  Further, in order to realize the technique described in Non-Patent Document 1, when a necessary three-dimensional model is configured using an image captured by an optical camera provided in an endoscope or the like, stereo viewing is performed. However, there is a problem that it takes a long time.

  The present invention has been made in view of the above circumstances in the background, and requires a complicated configuration and a complicated calculation using the principle of optical integral photography (IP). It is an object of the present invention to provide a three-dimensional information acquisition apparatus that can acquire three-dimensional information of an object without using the method.

  The present invention is a three-dimensional information acquisition device that acquires three-dimensional information of an object arranged in a predetermined space of a three-dimensional coordinate system. A three-dimensional information acquisition apparatus according to one embodiment of the present invention is arranged so as to face an object, a lens array in which a plurality of element lenses are arranged in a matrix, and a light beam that passes through the element lenses is received by an imaging surface. A light receiving unit that is disposed in the light receiving unit so as to correspond to each of the plurality of element lenses, an image pickup unit in which a plurality of image pickup elements that receive a light beam are arranged in a matrix, and an optical image acquired by the image pickup unit And an information processing unit that processes information for each of the imaging elements. Then, the information processing unit divides the predetermined space to generate a virtual measurement unit space, specifies an imaging pixel where a light beam passing through the measurement unit space reaches via the element lens, and coordinates of the measurement unit space In addition, the image pickup pixel to which the luminous flux reaches and the color space value acquired from the image pickup pixel are stored.

  As one of three-dimensional image display methods, there is a method called integral photography (hereinafter referred to as IP) that is attracting attention. This is to project a natural and highly reproducible three-dimensional image in space using a two-dimensional planar lens array. Since this method forms an image of a point in the space, the observer can obtain an effect as if the target object exists in the space. Furthermore, a system for generating and displaying a three-dimensional moving image that combines a lens array, a moving image display device, and a computer has been developed by a method of generating an IP image on a computer (Computer Generated IP). A moving image display method based on this IP principle is called integral videography (hereinafter referred to as IV).

  According to one aspect of the present invention, a predetermined measurement space is first generated by dividing a predetermined space using the principles of IP and IV. This measurement unit space corresponds to a three-dimensional map so that each measurement unit space can be identified. Specifically, the imaging pixel to which the light beam passing through the measurement unit space reaches via the element lens is specified, and the coordinates of the measurement unit space and the color obtained from the imaging pixel and the imaging pixel to which the light beam reaches Stores the spatial value. By doing so, it is possible to form an imaging pixel group in which the light beam passing through the measurement unit space reaches via the element lens.

  When attention is paid to a certain measurement unit space by this process, the coordinates of this measurement unit space are determined by the light fluxes that reach two or more imaging pixels. When comparing the color space values of the imaging pixels to which the luminous fluxes related to the measurement unit space arrive at this time, the target object exists if the color space values of all the luminous fluxes match, and the target object exists if even one of them differs. It can be determined not to. After the presence / absence determination, if there is an object, the color space value of the pixel related to the measurement unit space is stored as the color space value of the measurement unit space. Here, when an object is present, the color space values of all the pixels match, and therefore the color space value of the measurement unit space is uniquely determined. By observing the color space value of the luminous flux related to the color space value of the measurement unit space divided in this way, it is possible to acquire three-dimensional information in the predetermined space such as the presence / absence of the object. Yes. The color space value indicates a color space value that can be recorded as a color profile, and is not particularly limited as long as it is, for example, RGB, RGBA, YCbCr, CMYK, Lab color, or the like.

  In the above aspect, the measurement unit space may be a voxel. According to this aspect, it is possible to apply a three-dimensional space application to which voxels already disclosed in CT, MRI and the like are applied.

  In the above aspect, it is preferable that the information processing unit is configured to select the measurement unit space on the lens array side when it is determined that an object exists in two or more measurement unit spaces on the path of the light flux.

  In the above aspect, the information processing unit can collect the measurement unit space determined to have the object and form an outline of a portion where the object exists.

  According to this aspect, since the shape of the object itself can be formed as a contour, a three-dimensional image of the object can be intuitively grasped. As described above, by grasping the three-dimensional image, it is possible to prevent erroneous determination and the like, and it is possible to intuitively grasp when there is an abnormality in the object.

  In the aspect, it is preferable that the information processing unit measures the distance of the measurement unit space when selecting the measurement unit space in which at least two or more objects exist.

  According to this aspect, the size, dimension, and the like can be measured as numerical values together with the three-dimensional image that enables intuitive grasp. By digitizing the measurement values in this way, it is possible to acquire useful information in follow-up observations, statistical processing, and the like.

  In the above aspect, the shape of the lens array can be configured to be flat, spherical, or a curved surface having a predetermined curvature.

  In the optical three-dimensional information acquisition apparatus, depending on the shape of the object, the luminous flux does not reach, and there is a possibility that an occlusion portion that cannot be photographed may be generated. However, according to this aspect, the occlusion portion can be reduced by selecting the shape of the lens array according to the shape of the object.

  The present invention has been made in view of the above circumstances in the background, and requires a complicated configuration and a complicated calculation using the principle of optical integral photography (IP). Instead, it is possible to provide a three-dimensional information acquisition apparatus that can acquire three-dimensional information of an object.

It is explanatory drawing which shows the whole structure which concerns on 1st Embodiment of this invention. It is sectional drawing of the lens array which concerns on 1st Embodiment of this invention. It is explanatory drawing which showed the cross-sectional detail of the lens array which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the imaging part which concerns on 1st Embodiment of this invention. It is explanatory drawing of the measurement unit space which concerns on 1st Embodiment of this invention. It is explanatory drawing of the intersection setting which concerns on 1st Embodiment of this invention. It is explanatory drawing of the several intersection setting which concerns on 1st Embodiment of this invention. It is explanatory drawing of point cloud formation which concerns on 1st Embodiment of this invention. It is explanatory drawing which judges the target object absence which concerns on 1st Embodiment of this invention. It is explanatory drawing of the outline formation of the target object which concerns on 1st Embodiment of this invention. It is explanatory drawing of the distance measurement of the target object outline which concerns on 1st Embodiment of this invention. It is an example of the simulation by the computer of the distance measurement of the target object outline which concerns on 1st Embodiment of this invention. It is a measurement result of an example of the simulation by the computer of the distance measurement of the target object outline which concerns on 1st Embodiment of this invention. It is an example of the simulation by the other computer of the distance measurement of the target object outline which concerns on 1st Embodiment of this invention. It is a measurement result of the example of the simulation by the other computer of the distance measurement of the target object outline which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the form of the lens array which concerns on other embodiment of this invention.

  Hereinafter, preferred embodiments of the three-dimensional information acquisition apparatus of the present invention will be described with reference to the drawings. In the following description, the configurations denoted by the same reference numerals in different drawings are the same, and the description thereof may be omitted.

  One aspect of the three-dimensional information acquisition apparatus according to the present invention is a three-dimensional information acquisition apparatus that acquires three-dimensional information of an object arranged in a predetermined space of a three-dimensional coordinate system, and is arranged so as to face the object. A lens array in which a plurality of element lenses are arranged in a matrix, a light receiving unit that receives a light beam passing through the element lens on an imaging surface, and a light receiving unit that corresponds to each of the plurality of element lenses The imaging unit includes a plurality of imaging elements that receive a light beam and arranged in a matrix, and an information processing unit that processes optical information acquired by the imaging unit for each imaging element. Then, the information processing unit divides the predetermined space to generate a virtual measurement unit space, specifies an imaging pixel where a light beam passing through the measurement unit space reaches via the element lens, and coordinates of the measurement unit space Any specific mode may be used as long as it is characterized by storing an imaging pixel to which the luminous flux reaches and a color space value acquired from the imaging pixel.

  In the following description, one aspect of the three-dimensional information acquisition apparatus according to the present invention will be described. However, the present invention is not limited to medical image analysis in which IP and IV technologies are utilized, Needless to say, it can be applied to quantitative information acquisition such as security, games, robot vision, and surveying.

(Description of the first embodiment)
First, with reference to FIGS. 1-4, the main structure of the three-dimensional information acquisition apparatus which concerns on 1st Embodiment of this invention is demonstrated. FIG. 1 is an explanatory diagram showing an overall configuration according to the first embodiment of the present invention. 2 is a cross-sectional view of the lens array according to the first embodiment of the present invention, which is a cross-sectional view taken along the line AA of FIG. FIG. 3 is an explanatory view showing details of a cross section of the lens array according to the first embodiment of the present invention. FIG. 4 is an explanatory diagram illustrating the imaging unit according to the first embodiment of the present invention.

(Explanation of main components)
Referring to FIG. 1, the three-dimensional information acquisition apparatus 100 according to the first embodiment of the present invention acquires three-dimensional information of an object 2 arranged in a predetermined space 1 of a three-dimensional coordinate system. The three-dimensional information acquisition apparatus 100 is arranged so as to face the object 2, and receives a lens array 10 in which a plurality of element lenses 11 are arranged in a matrix and a light beam R passing through the element lenses 11 on an imaging surface. An imaging unit 30 that is disposed in the light receiving unit 20 so as to correspond to each of the plurality of element lenses 11, and in which a plurality of imaging elements 31 that receive the light flux R are arranged in a matrix, and imaging And an information processing unit 40 that processes the optical information acquired by the unit 30 for each image sensor 31.

  The predetermined space 1 is an area that can be measured by the three-dimensional information acquisition apparatus, and is a range in which the light beam R reaches the lens array 10.

  The lens array 10 is one of optical devices in which a plurality of minute element lenses 11 are arranged in a matrix on a single substrate. The lens array 10 forms an inverted image for each element lens 11 by arranging a large number of element lenses 11 in parallel in this way, and superimposes these images to form one continuous image as a whole. Can do. Further, the lens array 10 has a feature that the distance between the object images can be reduced as compared with a normal lens. In FIG. 1, the element lenses 11 are arranged in a 6 × 6 matrix, but this is only an example, and the size, the number of element lenses, the shape, and the like are not limited to this form.

  The lens array 10 is widely used in fields such as medical, communication, measurement, astronomy, aviation, and security as well as copying machines and printers. The lens array 10 is made of a material such as glass, quartz, silicon, or polymer, and the element lenses 11 are formed in a square arrangement, a triangular arrangement, or at random with a lens pitch (distance between adjacent lenses) according to the application. be able to.

  Referring also to FIGS. 2 to 3, in the lens array 10, the element lenses 11 are arranged in parallel, and the light receiving unit 20 that receives light on the imaging surface of the light flux R at the position of the focal length F of the element lens 11. Is formed. The light receiving unit 20 corresponds to each of the element lenses 11. The luminous flux R, which is a bundle of rays R1, R2, and R3 incident from the same direction, is an imaging pixel 31 of the imaging unit 30 where the ray R2 that passes through the principal point 12 of the lens surface 13 of the element lens 11 reaches linearly. To converge. As a result, an inverted image is formed for each element lens 11, but the light beam R has a certain area, and this area is covered by the light rays R1, R2, and R3.

  Referring also to the perspective view of FIG. 4, the imaging pixels 31 are arranged in a matrix for each element lens 11, and the direction of the light beam R incident on the lens surface 13 of the element lens 11 is the same as that of the principal point 12. It can be specified by a line connecting the imaging pixel 31 to which the light beam R reaches. In FIG. 4, the imaging pixels 31 are arranged in a 5 × 5 matrix, but this is an example, and the size, the number of imaging pixels 31, the shape, and the like are not limited to this form. An imaging element such as a CCD or CMOS can be applied to the imaging pixel 31. Note that an imaging element having sensitivity to not only visible light but also infrared rays, ultraviolet rays, or X-rays can be applied to the imaging pixel 31.

  The light beam R incident on the imaging pixel 31 is electronically converted for each imaging pixel 31 using a photodetector called a photodiode through a color filter of the imaging element. This electronic information (charge or the like) is transmitted to the information processing unit 40 as a signal.

  The information processing unit 40 is a kind of computer, and includes a processor (CPU) that executes operations, a storage area that temporarily stores various data, and a random access memory (RAM) that provides a work area for operations performed by the processor. Stores the program to be executed and the read-only memory (ROM) in which various data used for the operation are stored in advance, and the result of the operation by the processor and the data obtained from each part of the engine system A rewritable nonvolatile memory is provided. The nonvolatile memory can be realized by a RAM with a backup function that is always supplied with a voltage even after the system is stopped.

  Based on the transmitted electronic information (such as charge), the information processing unit 40 passes it to the image processing engine in the information processing unit 40 as analog data such as color shading, which is digitally converted and stored in the memory as a color space value. Is done. Note that the image processing engine performs pixel comparison and the like as described later, and this may be either processing using an electronic circuit or processing using software.

  In this way, the information processing unit 40 stores the color space value of the imaging pixel 31 that constitutes the direction along with the direction of the light flux R. Here, the main functions of the information processing unit 40 have been described. However, a configuration including a display device (display or the like) that displays a result of processing information may be used.

  Here, the color space value indicates a color space value that can be recorded as a color profile, and is not particularly limited as long as it is, for example, RGB, RGBA, YCbCr, CMYK, Lab color, or the like. The color space value can be appropriately selected according to the condition of the predetermined space 1 and the brightness or color state of the object 2.

  For example, in the RGB color space used in computer displays that use the three primary colors of light, red (Red), green (Green), and blue (Blue), by assigning a total of 24 bits, 8 bits for each RGB, 1677,216 colors can be displayed, and fine identification is possible.

(Explanation of measurement unit space setting and color space value storage)
Next, the setting of the measurement unit space and the storage of the color space value will be described with reference to FIGS. FIG. 5 is an explanatory diagram of the measurement unit space according to the first embodiment of the present invention. FIG. 6 is an explanatory diagram of intersection setting according to the first embodiment of the present invention. FIG. 7 is an explanatory diagram of setting a plurality of intersection points according to the first embodiment of the present invention.

  Referring to FIG. 5, a virtual measurement unit space 5 generated by dividing the predetermined space 1 by the information processing unit 40 is shown. In FIG. 5, (A) is the measurement unit space 5 generated in the predetermined space 1, and (B) is an explanatory diagram showing the state of the measurement unit space 5 divided into layers. This measurement unit space 5 corresponds to, for example, a voxel of a three-dimensional map, and the three-dimensional information can be acquired by enabling each measurement unit space 5 to be identified. That is, the coordinates of the measurement unit space for the imaging system in this embodiment can be defined here. Then, the measurement unit space 5 in which the intersection point P is included is associated.

  In the present embodiment, a measurement unit space in which coordinates are determined by a light flux reaching two or more imaging pixels will be described. However, in order to avoid a complicated configuration, the description will be given with two imaging pixels.

  Referring to FIG. 6, a light beam RA connecting the principal point 12A of the element lens 11A and the imaging pixel 31A and a light beam RB connecting the principal point 12B of the element lens 11B and the imaging pixel 31B are shown in the predetermined space 1. A point where the light beam RA and the light beam RB intersect in the predetermined space 1 is defined as an intersection point P. Here, as described above, the light beam has a certain region, and the light beam RA and the light beam RB are the same. Therefore, the intersection point P also has the volume, area, and length, which are the concepts of geometric points. It does not have at all, but indicates a certain region where the light beam RA and the light beam RB intersect.

  In this way, it is possible to specify the measurement unit space 5 which is a certain region including the intersection point P where the light beams RA and RB passing through at least two or more element lenses 11A and 11B at different positions are intersected.

  Note that the intersection point P between one light beam R and another light beam R is not necessarily one in a predetermined space, and when there are two or more intersection points P, the value of the pixel related as the same intersection point P is set as the intersection point P. Compare.

  Since the direction of the light beam R is uniquely determined from the relationship between the main point 12 and the imaging pixel 31, the coordinates of the intersection point P in the predetermined space 1 are also uniquely determined, and the measurement unit includes the intersection point P. A space 5 is specified. In FIG. 6, the cross-sectional view is represented in two dimensions, but the intersection point P is associated with a measurement unit space in the predetermined space 1 in the three-dimensional coordinate system.

  FIG. 7 shows a pattern in which a plurality of intersection points P are set by the same process as in FIG. In other words, the intersection point PA from the imaging pixel 31EA of the element lens 11E and the imaging pixel 31DA of the element lens 11D, and the intersection point PB from the imaging pixel 31EB of the element lens 11E and the imaging pixel 31DB of the element lens 11D are the imaging pixels of the element lens 11D. An intersection PC is set from 31DC and the imaging pixel 31CC of the element lens 11C. Furthermore, a measurement unit space 5 which is a fixed area including these intersections PA, PB, and PC is also set.

  The information processing unit 40 compares the color space values of the imaging pixels to which the light beam R related to the measurement unit space 5 reaches. When the color space values of all the luminous fluxes match, the object is present, and when any one is different, it can be determined that the object does not exist.

  After the presence / absence determination, the information processing unit 40 stores the color space value of the pixel related to the measurement unit space as the color space value of the measurement unit space when the target is present. Here, when an object is present, the color space values of all the pixels match, and therefore the color space value of the measurement unit space is uniquely determined.

  In this way, by arranging the measurement unit space 5 that is a constant region including the intersection point P in the predetermined space 1 as a whole, it is possible to prevent confusion and erroneous measurement when comparing color space values, and more accurate. The presence / absence determination of the object can be made.

(Explanation of point cloud setting)
Next, setting of the point group will be described with reference to FIG. FIG. 8 is an explanatory diagram of point cloud formation according to the first embodiment of the present invention. Note that the setting of the point group described here is one aspect of the present embodiment, and the measurement unit space 5 can be arranged uniformly in the predetermined space 1. This is an example of acquiring three-dimensional information by using a point cloud as described here.

  Referring to FIG. 8, continuous film-like point groups GP 1, GP 2, GP 3 are formed in the predetermined space 1. The point groups GP1, GP2, GP3 are intersection groups (groups of measurement unit spaces 5) that are aggregates from which the measurement unit spaces 5 including a plurality of adjacent intersections P are selected.

  Here, the formed point group GP1, GP2, GP3 is a measurement unit including the intersection P on the lens array 10 side when the information processing unit 40 has two or more intersections P on the path of the light beam R. The space 5 is selected. In FIG. 8, a hemispherical dome shape with the lens array 10 side as the apex is used, but this shape is not limited. For example, it can be flat, reverse dome-shaped, or curved with a certain curvature.

  In this way, by making the measurement unit space 5 into continuous film-like point groups GP1, GP2, GP3, for example, a film-like surface (a dome-like hemisphere in FIG. 8) is moved in the predetermined space 1. The presence / absence of the object 2 can be determined so as to scan. By adopting such a mode, it becomes a measurement means similar to a medical device such as a general radar, CT, or MRI, so that determination is facilitated and various data exchanges are facilitated. Furthermore, it is possible to easily detect misjudgment or the like.

  Note that such scanning means is merely an example, and it is needless to say that three-dimensional information can be acquired without setting a point cloud by installing an application corresponding to a scene or measurement object in the information processing unit 40.

(Explanation of the presence / absence determination of the target)
Next, the presence / absence determination of the target object will be described with reference to FIGS. FIG. 9 is an explanatory diagram of an example of determining the absence of an object according to the first embodiment of the present invention, and shows an aspect using a point cloud GP. FIG. 9 is an explanatory diagram of the contour formation of the object according to the first embodiment of the present invention.

  Referring to FIG. 9, when the object 2 is placed in the predetermined space 1, the color space value of the intersection P is measured. In measurement, the point group GP described with reference to FIG. 8 is used, and the color space value is measured for each point group GP gradually moving away from the lens array 10 side.

  Then, the information processing unit 40 compares the color space values of the imaging pixels to which the luminous flux related to the measurement unit space 5 whose position is specified by the point group GP arrives. Here, it is determined that the object 2 exists when the color space values of all the luminous fluxes coincide with each other, and it is determined that the object 2 does not exist when any one of them differs.

  Further, after determining the presence / absence of the object 2, the information processing unit 40 determines the color of the imaging pixel related to the measurement unit space 5 as the color space value of the measurement unit space 5 when the object exists. Stores the spatial value. Here, when the object 2 is present, the color space values of all the pixels match, so the color space value of the measurement unit space is uniquely determined.

  For example, to explain in a simulated manner, as shown in FIG. 9, an intersection VP and an intersection NP are set according to the presence / absence of the object 2 for each measurement unit space 5. And as shown in FIG. 10, the area | region of the presence or absence of the target object 2 can be made to appear. Thus, by paying attention to the boundary of the presence / absence of the object 2, the contour points OP1, OP2, OP3, OP4, OP5, and OP6 of the object 2 can be acquired.

  In addition, since this embodiment is optical measurement, the outline of the back side of the target object 2 cannot be measured with respect to the lens array 10, and the light flux R does not reach depending on the shape of the target object 2. There is a possibility that an occlusion part that cannot be performed occurs. Such a case can be dealt with by adjusting the size of the lens array 10 or the installation angle of the lens array 10.

  According to this aspect, since the contour of the shape of the object 2 itself can be formed as the contour point OP, a three-dimensional image of the object 2 can be grasped intuitively. As described above, by grasping the three-dimensional image, it is possible to prevent erroneous determination and the like, and it is possible to intuitively grasp when there is an abnormality in the object.

(Explanation of distance measurement using the contour of the object)
Next, distance measurement using the contour of an object will be described with reference to FIG. FIG. 11 is an explanatory diagram of distance measurement of the object contour according to the first embodiment of the present invention.

  Referring to FIG. 11, a plurality of contour points OP representing the contour of the object 2 are drawn, and the measurement points MP1 and MP2 are arbitrarily selected. When the measurement points MP1 and MP2 coincide with the contour point OP, the distance L between the measurement points MP1 and MP2 is obtained by using the coordinates of the contour point and when the measurement points MP1 and MP2 do not coincide with the contour point OP. Can be calculated.

  According to this aspect, the size, dimension, and the like can be measured as numerical values together with the three-dimensional image that enables intuitive grasp. By digitizing the measurement values in this way, it is possible to acquire useful information in follow-up observations, statistical processing, and the like. That is, according to one aspect of the present embodiment, quantitative three-dimensional information such as size and dimensions can be acquired in addition to the qualitative visual information so far. However, it is not limited to this aspect.

  In the above description, the intersection point P of the imaging pixels 31 of the two element lenses 11 has been described. However, the intersection point P in the predetermined space 1 may be three or more intersection points P of the imaging pixels 31 of the element lenses 11. Can be set. As described above, the intersection point P is preferably set as appropriate so as to avoid the occlusion portion.

(Explanation of computer simulation example)
Next, a simulation example using a computer will be described with reference to FIGS. FIG. 12 is an example of a simulation by a computer for distance measurement of an object contour according to the first embodiment of the present invention. FIG. 13 shows a measurement result of an example of a simulation by a computer for distance measurement of an object contour according to the first embodiment of the present invention. FIG. 14 is an example of simulation by another computer for measuring the distance of the object contour according to the first embodiment of the present invention. FIG. 15 is a measurement result of an example of simulation by another computer for distance measurement of the object contour according to the first embodiment of the present invention.

  Referring to FIG. 12, the flat object 3 is arranged at a distance D parallel to the lens array 10. The three-dimensional information acquisition apparatus 100 is in a state where a plurality of points are formed by setting a plurality of intersections in advance. That is, referring also to FIG. 1, the three-dimensional information acquisition apparatus 100 is arranged so as to face the object 3, a lens array 10 in which a plurality of element lenses 11 are arranged in a matrix, and an element lens 11. A plurality of imaging elements 31 that are arranged in the light receiving unit 20 so as to correspond to each of the plurality of element lenses 11 and receive the light beam R in a matrix form. An image pickup unit 30 provided, and an information processing unit 40 that processes the optical information acquired by the image pickup unit 30 for each image pickup element 31 are provided.

  In this computer simulation example, the element lens size is 1.0 mm, the number of element lenses used is 11, the angle range in which the luminous flux can be acquired is 30 degrees, and the number of imaging pixels per element lens is 51 pixels. It is said.

  Referring to FIG. 13, when the distance D of the object 3 to the lens array 10 is moved from 10 mm to 50 mm in increments of 10 mm, the contour points processed by the information processing unit move in the same manner as the actual situation. Has been.

  Referring to FIG. 14, an object 4 obtained by curving the object 3 of FIG. 12 so that the center is a concave portion with respect to the lens array 10 is disposed in a predetermined space.

  Referring to FIG. 15 which is a measurement result, it is shown that the curved shape of the object 4 is reproduced. As described above, it was confirmed that three-dimensional information including digital values of coordinates can be acquired in the simulation example by the computer according to the present embodiment.

(Description of other embodiments)
Next, another embodiment of the present invention will be described with reference to FIG. FIG. 16 is an explanatory diagram showing a form of a lens array according to another embodiment of the present invention. Other embodiments of the present invention are different from the first embodiment only in the shape of the lens array, but the other configurations are the same as those in the first embodiment, and therefore, in the following description, configurations that overlap with the first embodiment. The description of is omitted.

  Referring to FIG. 16, four types of lens arrays A to D are shown. The lens array has a hemispherical lens array 210 that is convex with respect to the object, a hemispherical lens array 310 that is concave with respect to the object, and a convex with respect to the object. A curved lens array 410 having a predetermined curvature, and a curved lens array 510 having a predetermined curvature that is concave with respect to the object.

  In the optical three-dimensional information acquisition apparatus, depending on the shape of the object, the luminous flux does not reach, and there is a possibility that an occlusion portion that cannot be photographed may be generated. However, the occlusion portion can be reduced by selecting the shape of the lens array in accordance with the shape of the object. For example, with the concave hemisphere-free lens array 310 as shown in FIG. 16B, it is possible to obtain almost the entire contour even for the object 2 shown in FIG.

  Although the description is finished above, the aspect of the present invention is not limited to the above embodiment.

DESCRIPTION OF SYMBOLS 1 ... Predetermined space 2, 3, 4 ... Target object 5 ... Measurement unit space 10, 210, 310, 410, 510 ... Lens array 11 ... Element lens 12 ... Main point 13 ... Lens surface 20 ... Light receiving part 30 ... Imaging part 31 ... Imaging element 100 ... Three-dimensional information acquisition device F ... Focal length R ... Light flux R1, R2, R3, RA , RB ... Ray P ... Intersection GP ... Point group VP ... Visible intersection NP ... Invisible intersection OP ... Contour intersection L ... Measurement distance D ... Arrangement distance

Claims (8)

A three-dimensional information acquisition device that acquires three-dimensional information of an object arranged in a predetermined space of a three-dimensional coordinate system,
A lens array arranged so as to face the object, and a plurality of element lenses arranged in a matrix;
A light receiving unit that receives a light beam passing through the element lens on an imaging surface;
An imaging unit that is arranged in the light receiving unit so as to correspond to each of the plurality of element lenses, and in which a plurality of imaging elements that receive the light flux are arranged in a matrix;
An information processing unit that processes the optical information acquired by the imaging unit for each imaging element;
The information processing unit
Dividing the predetermined space to generate a virtual measurement unit space,
Identifying the imaging pixel through which the light beam passing through the measurement unit space reaches via the element lens;
The three-dimensional information acquisition apparatus characterized by storing the coordinates of the measurement unit space, the imaging pixel to which the luminous flux reaches, and the color space value acquired from the imaging pixel.   The three-dimensional information acquisition apparatus according to claim 1, wherein the measurement unit space is a voxel. The information processing unit
The measurement unit space on the lens array side is selected when it is determined that an object is present in two or more of the measurement unit spaces on the path of the light beam. 3D information acquisition device. The information processing unit
The three-dimensional information acquisition apparatus according to claim 3, wherein the measurement unit space determined that the object is present is collected to form a contour of a portion where the object is present. The information processing unit
When the measurement unit space where at least two or more of the objects exist is selected,
The three-dimensional information acquisition apparatus according to claim 4, wherein the distance of the measurement unit space is measured.   The three-dimensional information acquisition apparatus according to claim 1, wherein the lens array is formed in a planar shape.   The three-dimensional information acquisition apparatus according to claim 1, wherein the lens array is formed in a spherical shape. 6. The three-dimensional information acquisition apparatus according to claim 1, wherein the lens array is formed in a curved surface having a predetermined curvature.

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