JP3522732B2 - camera - Google Patents

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art A range finder apparatus for measuring a three-dimensional shape based on projection light and triangulation of an observed image is
For example, a device capable of operating in real time 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 combining laser light from the laser light sources having different wavelengths, and 103 is light source control for controlling the light intensity of the laser light sources. And 104, a rotating mirror for scanning laser light, 105
Is a rotation control unit for controlling the rotating mirror, 106 is a subject,
Reference numeral 107 denotes a lens for forming an image on the CCD, 108A,
Reference numeral 108B is an optical wavelength separation filter that separates light of the wavelength of the laser light source, 109A and 109B are CCDs that capture a monochrome image, 109C is a CCD that captures a color image, 1
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
Reference numerals A and 109B denote a distance calculation unit that calculates the distance or shape of the object from the intensity of the laser light captured, and 113 is a control unit that adjusts the synchronization of the entire apparatus. Hereinafter, the operation of the range finder device thus configured will be described.

The laser light sources 101A and 101B emit laser beams having slightly different wavelengths. This laser light is line light having a light cross section that is perpendicular to the scanning direction of the rotating mirror, which will be 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 reason why two light sources having similar wavelengths are used is to reduce the influence of the wavelength dependency of the reflectance of the subject. The laser light emitted from the laser light sources 101A and 101B is combined by the half mirror 102, and the rotating mirror 10
The subject 6 is scanned by 4.

The rotation control unit 105 scans the laser light.
Is performed by driving the rotating mirror 104 in the 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 light intensity and the driving of the mirror angle, the two laser light 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. 42 (b), the light intensity is Ia
In the case of / Ib, the scanning time is measured as t0, and the rotation angle (φ) of the rotating mirror 104 is found from the measured value.

In this way, by making the ratio of the two laser light intensities and the mirror angle (that is, the angle of the subject viewed from the light source side) correspond to each other in a one-to-one manner, the distance calculation section described later can use both light sources. The distance or shape of the object is calculated from the ratio of the signal levels of the captured light according to the principle of triangulation.

The lens 107 is a CCD 109A, 109
An image of the subject is formed on B and 109C. The light wavelength separation filter 108A transmits light of the wavelength of the light source 101A and reflects light of other wavelengths. The optical wavelength separation filter 108B is
It transmits the light of the wavelength of the light source 101B and reflects the light of other wavelengths. As a result, the reflected light from the subject of the light from the light sources 101A and 101B is captured by the CCDs 109A and 109B, and the light of other wavelengths is captured 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 signal processing similar to that of a normal monochrome camera on the outputs of the CCDs 109A and 109B. The color camera signal processing unit 111 performs 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 for each wavelength of each light source, the baseline length, and the coordinate value of the pixel.

43 (a) and 43 (b) are diagrams for graphically explaining the distance calculation. In the figure, O is the lens 10
7 is the center, P is a point on the subject, and Q is the position of the rotation axis of the rotating mirror. Further, in order to simplify the explanation, the CCD 1
The position of 09 is shown folded back to the subject side. Also,
The length of OQ (baseline length) is L, and P viewed from Q in the XZ plane
Is φ, the angle of P viewed from O is θ, and O in the YZ plane
Letting ω be the angle of P viewed from the viewpoint of P
The three-dimensional coordinate of is calculated by the following equation (1).

Z = D tan θ tan φ / (tan θ + tan φ) X = Z / tan θ Y = Z / tan ω (1) As for φ in the formula (1), as described above, the CCD 109
Laser light sources 101A, 1 monitored by A, 109B
The light intensity ratio of 01B is used for calculation, and θ and ω are calculated from the coordinate values of pixels. Of the values shown in equation (1),
When all are calculated, the shape is obtained, and if only Z is obtained, the distance image is obtained.

As a conventional subject extraction method, a technique called chroma key used in broadcasting stations is generally used. This is a method in which a subject is placed in front of a studio set composed of a monochromatic (blue) background, an image is taken, the blue portion is determined to be the background, and the other portions are regarded as the subject of interest. .

[0014]

However, the conventional structure as described above has a problem in that it is not compact and simple.

The present invention takes into account the above-mentioned drawbacks of the prior art,
It is an object to provide a camera having a simple structure and a compact size.

[0016]

SUMMARY OF THE INVENTION The present invention is based on close proximity to each other.
A plurality of light emitting means for irradiating a subject with projection light having a predetermined radiation pattern , and the plurality of light emitting means.
Irradiating an object from images a subject light reflected by said light emitting means to obtain a depth image using light intensity of the image captured, a camera for shape measuring or object extracting, with said plurality of light emitting means a distance is changeable structure between the imaging lens, in use is a camera which is characterized in that it is configured to take a large interval between the plurality of light emitting means and the imaging lens.

[0017]

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

(First Reference Example) FIG. 1 is a block diagram of a range finder in a first reference example of the present invention. Figure 1
In, 1 camera, 2a, 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 unit 5 causes the light sources 2a and 2b to alternately emit light in each field cycle in synchronization with the vertical synchronizing signal of the camera 1. As the light sources 2a and 2b, for example, FIG.
As shown in (a), it is possible to use a flash light source 7, 8 such as a xenon flash lamp, which is arranged vertically and in which the direction of the rear reflector is shifted to the left and right. 2 (b) is
FIG. 3 is a plan view of FIG. The light sources 2a and 2b radiate light in the ranges A and B, respectively. It is desirable that the xenon lamp has a small light emitting portion and can be regarded as a point light source when viewed from above. Further, the light sources 2a and 2b 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 darkens toward the periphery. The reason that 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 semi-cylindrical reflectors 9 and 10 are out of alignment, and the respective projection lights are emitted so as to partially overlap each other.

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

FIG. 5 shows the light intensity ratio of the above-mentioned two projection lights in the object illumination in the part α in FIG.
The relationship between the projection on a plane and the angle φ with respect to the X axis is shown. In the α portion, the light intensity ratio and the angle φ have a one-to-one correspondence. In order to measure the distance, two types of light patterns are projected in advance from a light source at a predetermined distance and are alternately projected onto a vertically standing plane, and the reflected light is imaged by the camera 1. Data on the relationship between the light intensity ratio and the angle of the projected light as shown in FIG. 5 is obtained for each (corresponding to the Y coordinate on the CCD). Each Y coordinate means 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 and the projected light determined for each Y coordinate. It is possible to accurately calculate the distance by using the data of the angle relationship. The method of calculating the distance using the light intensity ratio will be described below.

When the point P in FIG. 1 is taken as a point of interest, the luminance ratio obtained from the image pickup data at the time of irradiating two kinds of optical patterns with respect to the point P of the image picked up by the camera 1 and the Y coordinate value of the point P 5 is used to measure the angle φ of the point P viewed from the light source. The relationship shown in FIG. 5 has different characteristics depending on the Y coordinate value as described above.
It is assumed that the relationship between the light intensity ratio and the angle φ in the horizontal direction from the light source is prepared for each coordinate by measuring in advance. Further, 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 the camera parameters (focal length, optical center position of the lens system).
Then, from the above two angles and the distance (baseline length) between the light source position and the optical center position of the camera, the distance is calculated by the principle of triangulation.

With the optical center of the camera as the origin, the optical axis of the camera is set as the Z axis, the horizontal direction is set as the X axis, and the vertical direction is set as the Y axis, and the angle of the point of interest viewed from the light source with the X axis is φ. , The angle between the direction of the point of interest viewed from the camera and the X axis 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 expressed by the above-mentioned equation (1) Z = D tan θ tanφ / (tan θ−tan φ)

As described above, according to this reference example, when the distance is measured by the range finder using the light intensity, the distance measurement is performed by correcting the change in the light intensity caused by the light source or the optical system. It is possible to realize a stable and accurate range finder device that can be realized by various operations.

By disposing a half mirror or dichroic mirror and a color camera in front of the infrared camera of the range finder according to the present reference example, it is possible to obtain a color image of the same viewpoint at the same time as the distance image. included.

In the distance calculation unit in this reference example,
Although only the distance Z is calculated and the calculation result is output as a distance image, all three-dimensional coordinate values X, Y, and Z are calculated from the expressions (1) and (2) using the angle ω shown in FIG. However, three-dimensional coordinate data may be output, which is included in the present invention.

X = Z / tan θ Y = Z / tan ω (2) In this reference example, the light sources 2a and 2b are caused to emit light at the same time, and the brightness of one center is indicated by the dotted line in FIG. If it is used as a normal flash lamp with a large area and dark surroundings, a normal two-dimensional image can be captured.

In this reference example, if an infrared pass filter is inserted in front of the light source 2 and the camera 1 is sensitive to the infrared wavelength range, the flash light is turned on by the user or another camera. It is possible to prevent the captured image from being disturbed. Further, if an image is picked up by a normal color camera at the same time as an infrared camera coaxially with a half mirror or a dichroic mirror, a depth image and a texture image corresponding thereto can be picked up at the same time.

Further, in the present reference example, since the flash light flashes for several hundred microseconds, if the camera 1 is set to perform exposure by the shutter operation only during that period, the background light affects the distance measurement. This can be suppressed, and a range image can be captured even in a bright place to some extent.

Further, in the present reference example, two kinds of light patterns were applied to the subject, and the light intensity ratio at each pixel was calculated using the picked-up images in each case. However, when the light pattern is not applied, It is also possible to capture images and obtain a total of three types of images (two types of optical patterns and one type without optical patterns) for calculation. In this case, when calculating the light intensity ratio of each pixel, the difference value is calculated by subtracting the light intensity in the case of no light pattern from the light intensity value at the time of each light pattern irradiation. Then, the ratio of these difference values is calculated as the light intensity ratio. This makes it possible to suppress the distance calculation error due to the background light when capturing an image in a bright place.

(Second Reference Example) FIG. 7 is a block diagram of the range finder in the first reference example of the present invention. Figure 7
1a is a camera sensitive to infrared light, 2a,
2b is a light source, 3a and 3b are infrared transmission filters, 4a and 4
Reference numeral b is an ND filter whose transmittance changes in the horizontal direction, reference numeral 5 is a light source control unit, and reference numeral 6 is a distance calculation unit. The operation of the above configuration will be described below.

The light source control section 5 synchronizes with the vertical synchronizing signal of the infrared camera 1a, and the light sources 2a and 2b for each field cycle.
Light up. As the light sources 2a and 2b, it is preferable to use a xenon lamp or the like that emits flash light and has a small light emitting portion (that can be regarded as a point light source). In addition, the light sources 2a, 2
b is arranged vertically.

An infrared transmission filter 3 is provided on the front surface of each light source.
a, 3b and ND filters 4a, 4b are arranged. ND
The transmittances of the filters 4a and 4b change in the horizontal direction. FIG. 2 shows the angle from the light source in the horizontal direction, the ND filter 4a,
4b shows the relationship of transmittance of 4b.

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

FIG. 5 shows the light intensity ratio of the above two projected lights,
The relationship with the horizontal angle from the light source is shown. The method of calculating the distance using the light intensity ratio will be described below.

When the point P in FIG. 7 is set as the point of interest, the relationship in FIG. 5 is used to determine the point P of the image picked up by the camera 1a from the luminance ratio between fields with respect to the point P viewed from the light source. 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 the camera parameters (focal length, optical center position of the lens system). Then, from the above two angles and the distance (baseline length) between the light source position and the optical center position of the camera, the distance is calculated by the principle of triangulation.

With the optical center of the camera as the origin, the optical axis direction of the camera is set to the Z axis, the horizontal direction is set to the X axis, and the vertical direction is set to the Y axis, and the angle of the point of interest viewed from the light source and the X axis is φ. , Θ is the angle between the direction of the point of interest as seen from the camera and the X axis, 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 = D tan θ tan φ / (tan θ− It can be calculated as tan φ).

The distance calculator 6 calculates a distance image from the video signal of the camera 1a. The method may be the same as that in Reference Example 1, but there is another more accurate measurement method as shown below. FIG. 8 is a configuration diagram of the distance calculation unit 6. In FIG. 8, 11a and 11b are field memories, 12a and
12b is a light intensity correction means, 13 is a light intensity ratio calculation means, 1
Reference numeral 4 is a distance conversion means. The operation of each component will be described below.

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

The light intensity correction 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 imaged light intensity and the pixel coordinate value when a point light source irradiates a screen with a constant distance Z with light (without an ND filter) and the reflected light from the surface is imaged. Show. In FIG. 9, for simplification, only the lateral direction is shown one-dimensionally,
Similarly in the vertical direction, the light intensity shows a curvilinear distribution.

As factors of this distribution, it is considered that peripheral dimming by the lens system of the camera, change of reflected light intensity due to change of incident angle of the light ray on the object surface, change of light intensity depending on angle from the light source, and the like. The change in the light intensity caused by these factors causes an error in observing the light intensity ratio, that is, an error in measuring the distance. Therefore, it is necessary to convert the light intensity to improve the distance measurement accuracy. If there is this error, in some cases, the characteristic curve of FIG. 5 has a portion that is not a monotonically increasing curve. In such a portion, the light intensity and the above angle do not have a one-to-one correspondence. As a result, the measurement result will be incorrect. 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 (reference example 1 requires conversion tables for the number of Y coordinate values). Become).

Therefore, the light intensity converting means 12a, 12b.
In order to reduce the measurement error, the two-dimensional curve distribution of the light intensity in the image on the screen separated by the reference distance without the ND filter is measured in advance, and the light intensity is And the angle of the projected light (corresponding to FIG. 5) and when measuring the actual distance of the object, the light intensity of the field memory is corrected and converted according to the curve distribution of the light intensity measured in advance. . The correction conversion holds a coefficient (that is, a ratio of the light intensity imaged in each pixel to a peak value or a certain arbitrary value) for correcting the above-mentioned curve distribution of the light intensity to a constant value as a two-dimensional LUT (lookup table). Then, the data in the field memory is multiplied by the correction count for each pixel.

When the distance for arranging the subject is known in advance, the reference distance can be set in the vicinity of the distance to improve the accuracy in distance measurement.

As described above, according to this reference example, when the distance is measured by the range finder using the light intensity, the distance measurement is performed by correcting the error of the light intensity caused by the light source or the optical system. It is possible to realize a stable and accurate range finder device that can be realized by various operations.

By disposing a half mirror or dichroic mirror and a color camera in front of the infrared camera of the range finder according to the present reference example, it is possible to obtain a color image of the same viewpoint at the same time as the distance image.

In the description of the distance calculation unit in this reference example, only the distance Z is calculated and the calculation result is output as a distance image. However, using the angle ω shown in FIG. D tan θ tanφ / (tan θ-tan φ) X = Z / tan θ Y = Z / tan ω 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 section of this reference example, when the object is far from the above-mentioned reference distance,
Since the positions of the imaged pixels are displaced (that is, parallax occurs), the distance measurement accuracy deteriorates. In such cases,
The light intensity correction amount for a plurality of reference distances is prepared in advance, first the correction is performed at a certain reference distance to calculate the distance, and then the correction amount at the reference distance close to that is used to calculate the distance again. The measurement accuracy can be improved by calculating.

In this reference example, the light sources 2a and 2b are used.
When used as a normal flash lamp in which the brightness of one center is large and the periphery is dark as shown by the dotted line in FIG. 4, a normal two-dimensional image can be captured.

Further, in the present reference example, if an image is picked up by a normal color camera at the same time as an infrared camera coaxially with a half mirror or a dichroic mirror, a depth image and a texture image corresponding thereto can be picked up at the same time. .

Further, in the present reference example, since the flash light flashes for several hundred microseconds, if the camera 1 is set to perform exposure by the shutter operation only during that period, the background light affects the distance measurement. This can be suppressed, and a range image can be captured even in a bright place to some extent.

Further, in the present reference example, two kinds of light patterns were applied to the subject, and the light intensity ratio at each pixel was calculated using the picked-up images in each case. Images were also taken and a total of 3 types (optical pattern 2
It is also possible to obtain and calculate images of one type and one type without optical pattern).

In this case, when calculating the light intensity ratio of each pixel, the difference value is calculated by subtracting the light intensity in the absence of the light pattern from the light intensity value at the time of each light pattern irradiation. Then, the ratio of these difference values is calculated as the light intensity ratio. This makes it possible to suppress the distance calculation error due to the background light when capturing an image in a bright place.

Further, in the present reference example, the light pattern projected onto the subject is replaced by a light transmissive liquid crystal display element (normal liquid crystal) instead of the ND filters 4a, 4b and the light sources 2a, 2b whose transmissivity changes in the lateral direction. (As used in a video projector) and one light source. By switching the light transmission pattern of the light transmission type liquid crystal display element and causing the light source to emit light twice, or by turning on the light source and switching the two types of light patterns of the light transmission type liquid crystal display element. Similar to the example, two types of light patterns can be radiated to the subject in a time division manner.

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

As shown in FIG. 10A, the semiconductor laser 2
Reference numeral 01 is a light source means for emitting light of wavelength λ. The first optical fiber 202 is means for guiding the light emitted from the semiconductor laser 201 to the light distributor 203. Further, a collimator lens 204 is arranged between the first optical fiber 202 and the semiconductor laser 201. The light distributor 203 is a light distributor that splits the light guided from the first optical fiber 202 into two paths. The light distributor 203 is provided with a shutter mechanism, and is a means for sending the branched light to the second optical fibers a and b in a time division manner. Second optical fiber a
(205a) and the second optical fiber b (205b) each have one end connected to the light distributor 203 and irradiate the subject (for example, the inner wall of the stomach) with the light branched from the opening at the other end. Optical fiber. Camera unit 20
Reference numeral 6 denotes an image pickup unit that acquires image data of the subject by the reflected light from the subject received by the light-receiving optical fiber bundle 207. A lens 210 is arranged close to the tip of the light-receiving optical fiber bundle 207. CCD2
An image sensor 09 is attached to the camera unit 206 so that the light from the light-receiving optical fiber bundle 207 can be received. In addition, the opening 20 of the second optical fiber a (205a)
The light emitted from 8a exhibits the light intensity distribution as shown in FIG. 4 described in the above reference example. Second optical fiber b (205
The same applies to the light emitted from the opening 208b in b).
The light intensity distributions of these lights differ depending on the horizontal position because the light emitted from the opening of the optical fiber diffuses based on the opening angle. Therefore, the shape of the light intensity distribution can be changed by adjusting the opening 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 of the present reference example has a function similar to that of the distance calculation section 6 described in the above reference example, and calculates the distance to the object based on the image data from the camera section 206. Means (not shown) are provided. Further, it is of course possible to use an optical fiber bundle for both or one of the first optical fiber 202 and the second optical fibers a, b (205a, 205b).

With the above-mentioned structure, the operation of this reference example will be described below with reference to FIG.

The range finder of this reference example can be used as an endoscope such as a gastric camera.

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 patient's stomach.

From the openings of the second optical fibers a and b, light having a light intensity distribution characteristic as shown in FIG. Optical fiber for light reception 2
07 receives the reflected light of these lights. Further, the camera unit 206 sends the image data of the inner wall of the stomach obtained from these reflected lights to the distance calculation unit. The distance calculation unit calculates and outputs the three-dimensional distance data of the inner wall of the stomach in the same manner as in Reference Example 1 above. The output distance data is sent to a monitor (not shown) and displayed three-dimensionally. While looking at the monitor, the doctor can move the tip of the second optical fiber and see the image of the affected area that is three-dimensionally projected. As a result, a more accurate medical examination can be performed as compared with the conventional case.

In the reference example described above, the range finder having one semiconductor laser as the light source section is described, but the present invention is not limited to this, and for example, as shown in FIG. It may have a configuration provided with one. That is, in this case, the semiconductor laser 201a as the light source unit,
The optical fibers 205a, 20b for guiding the emitted light individually to the subject side and irradiating the subject with 201b are provided in 201b.
5b is provided. Also, each of these optical fibers 205
Collimator lenses 204a and 204b are arranged between a and 205b and the semiconductor lasers 201a and 201b. With such a configuration, the same effect as described above is exhibited.

In the above reference example, the first optical fiber 20
2 between the two second fibers 205a and 205b,
Although the configuration including the optical distributor 203 has been described, the present invention is not limited to this. For example, the optical distributor 203 and the second optical fiber 2
In place of 05a and 205b, a configuration may be provided in which a light branching unit (not shown) for branching the light guided from the first optical fiber into two paths at the tip of the fiber and irradiating the subject. In this case, the second optical fiber can be omitted and the same effect as described above can be obtained.

Further, in the above reference example, as shown in FIG. 11A, the configuration in which nothing is arranged in front of the optical fibers 205a and 205b has been described. Openings 208 in the fibers 205a, 205b
The collimating lens 301 (see FIG.
(See (b)), the cylindrical lens (or rod lens) 302 (see FIG. 11C), and the opening 20.
It may be arranged on the front surfaces of 8a and 208b. As a result, the intensity of the light emitted from the opening can be changed more efficiently and positionally. It should be noted that the front surface of each of the openings 208a and 208b outputs light whose light intensity does not differ locally, and instead, the light transmittance changing filter 1 (303) whose light transmittance is positionally different.
It is also possible to dispose a) and the transmittance change filter 2 (303b) in front 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. 12 (a) is set so as to be the one indicated by reference numeral 401a in FIG. 12 (b). There is. On the other hand, the transmittance change filter 2
The intensity distribution of light transmitted through (303b) is set so as to be denoted by reference numeral 401b in the figure. Figure 1
FIG. 2B is a diagram showing the light intensity distribution in the range of α shown in FIG. The present invention can be realized by using such a transmittance changing filter.

Further, in the above-mentioned reference example, the case where the light distributor is provided with the shutter mechanism and the object is irradiated with the light in a time-division manner has been described, but not limited to this, for example, the light from the light source is used. Contains multiple frequencies of light,
By providing a filter in the light distributor, light of different wavelengths is emitted from the opening. Then, by providing the camera unit with a filter and a light receiving element capable of separately receiving these two types of wavelengths, a
It becomes possible to irradiate each light of two kinds of wavelengths at the same time. This makes it possible to reduce the measurement time. Figure 10
The semiconductor laser 201 also has the configuration shown in FIG.
a, 201b with different wavelengths,
If the filter and the light receiving element capable of separately receiving the two types of wavelengths are provided, the measurement time can be shortened as in the above case.

Further, although the semiconductor laser is used as the light source in the above-mentioned reference example, it is not limited to this and, for example, an LED or a lamp may be used.

Next, a camera of the present invention will be described in which the range finder device as a reference example related to the present invention described above is realized in a more compact and simple structure.

That is, in the range finder device described above, the light reflectors of the light sources 2a and 2b are displaced as shown in FIG. 2, or an optical filter having a different light transmittance depending on the horizontal position is provided in front of the arc tube. It has to be installed, and the structure is complicated.

In addition, the accuracy of measurement cannot be obtained because triangulation is used unless the distance between the lens of the camera and the light source is more than several tens of centimeters. Become.

Further, there is a drawback that the size and size of an object imaged by a conventionally known camera cannot be easily calculated unless the distance to the subject is known. In addition, it is impossible to know the size of the subject from the color image once taken.

Further, when an object is to be extracted from an image captured by a conventionally known camera, an environment in which the background has a single color has to be prepared in advance, which requires extensive preparation.

A camera for shape measurement and a camera for object extraction according to an embodiment of the present invention which can solve these disadvantages will be described below with reference to the drawings. (First Embodiment) FIGS. 13A and 13B are configuration diagrams of a shape measuring camera and a subject extracting camera according to a first embodiment of the present invention. FIG. 20 is a block diagram of this camera.

In FIG. 13, 501 and 502 are camera housings, 503 is a taking lens, 504 is a recording medium, and 5 is a recording medium.
Reference numerals 05 and 506 are first and second strobes forming a light source unit, respectively, and 507 is a finder. In FIG. 20,
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,
Reference numeral 538 is a media recording / playback 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 are different in thickness from each other and have a structure in which they can be fitted to each other and overlap each other. The state of (a) and the state of (b) can be selected by the user by sliding the housings 501 and 502. When carrying, it is kept in a small state in the state of (a), and when shooting, the case is extended to the state as in (b) for use. Thereby, 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 at the time of use. 20A is a simple method that does not use the image memory 550, and FIG. 20B is a type that has an image memory and is capable of high-speed imaging / display.

The strobes 505 and 506 of the light source section are constructed, for example, as shown in FIG.
And a light shielding plate 528 having a hole whose center position is shifted. At this time, as shown in the plan view of FIG. 15, the light emitted from the line segment of the arc tube 530 is caused by the light shielding plate 528.
Light is emitted while changing the way light is blocked depending on the location. At this time, the position of the hole of the light shielding plate 528 is displaced from the strobe light emitting tube 530, and light such that the light gradually becomes stronger between points A and B on the straight line l is generated. As a result, as shown in FIG. 16, two strobe arc tubes generate light patterns in which the light intensity changes in opposite directions. 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 thus obtained is shown in FIG.
7, the pattern is such that the light intensity changes. FIG. 1 shows this change in light intensity one-dimensionally in the lateral X direction.
8 In the α portion of this light pattern, the light emitted from the two light sources to the subject space is bright on the right side on one side and bright on the left side on the other side when 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 above-mentioned two projection lights in the subject illumination and the angle φ in the horizontal direction from the light source in the α part of FIG. In the α part, the light intensity ratio and the horizontal angle φ from the light source
The relationship is one-to-one. In order to measure the distance, two types of light patterns are alternately projected in advance on a vertically standing plane, and the reflected light is imaged by the camera 501. As a result, as shown in FIG. 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 the line segment connecting the lens center of the camera 501 and the light source is horizontal to the X-axis of the image pickup surface, the light intensity ratio determined for each Y coordinate and the horizontal direction. The distance can be accurately calculated by using the data of the positional relationship from the light source. This is shown in FIG.
It is calculated by the distance calculator of (a). The method of calculating the distance using the light intensity ratio will be described below.

When the point P in FIG. 20A is the point of interest, the light source strobes 505 and 506 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 Y-coordinate value of the point P and the luminance ratio obtained from the imaging data output from the imaging unit 533 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 relationship of 19, the angle φ of the point P viewed from the light source is measured.

As described above, the relationship of FIG. 19 has different characteristics depending on the Y coordinate value, and the relationship between the light intensity ratio and the angle φ in the horizontal direction from the light source is prepared for each Y coordinate by a preliminary measurement. It has been done. Further, 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 the camera parameters (focal length, optical center position of the lens system). Then, the distance is calculated by the principle of triangulation from the above two angles and the distance (base line length D) between the light source position and the optical center position of the camera.

With the optical center of the camera as the origin, the optical axis direction of the camera is set to the Z axis, the horizontal direction is set to the X axis, and the vertical direction is set to the Y axis, and the angle between the point of interest as viewed from the light source and the X axis is φ. , The angle between the direction of the point of interest viewed from the camera and the X axis 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 formula Z = Dtanθtanφ / (tanθ It can be calculated as −tan φ). 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 becomes poor. For example, for a subject up to a distance of about 3 m, if the value of D is set to 20 to 30 cm, the measured distance is about 1
Depth can be measured with an error of%. As the value of D becomes smaller than this, the measurement error becomes larger than this. The X and Y coordinates of the point of interest P are given by the following formula.

X = Z / tan θ Y = Z / tan ω Further, the color image calculation unit 536 calculates an image obtained by averaging the image pickup data at the time of the above-mentioned two types 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 complementarily to each other, and by adding and averaging these, it is possible to obtain a color image equivalent to that captured by a strobe with uniform brightness.

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

Further, as shown in FIG. 20B, the image pickup section 53
If the image data from 3 is once stored in the image memory 550, images can be continuously input.
Further, 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, it is possible to generate a plurality of light patterns with a simple structure by using a linear strobe light emitting tube and a light shielding plate with a hole for the light intensity change pattern. It is possible to realize a shape measuring camera with a stable structure.

Further, it is small when carried, and the main body is extended during photography so that the lens 503 and the strobe 50 of the light source section are extended.
It is possible to realize a shape measuring camera capable of taking a large distance D of 5,506 and measuring highly accurate depth images.

(Second Embodiment) FIG. 28 is a configuration diagram of a shape measuring camera and a subject extracting camera according to a second embodiment of the present invention. In FIG. 28, 501, 5
Reference numeral 02 is a camera housing, 505 and 506 are first and second strobes forming light source portions, respectively, and 518 is 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,
Reference numeral 538 is a media recording / playback unit, and 537 is a control unit. The operations of the shape measuring camera and the subject extracting camera having the above configurations will be described below.

FIG. 27 shows the back surface of the shape measuring camera. On the back side, a display panel 518 and a touch panel 519 are arranged so as to overlap with each other, and a captured color image or depth image is displayed.
The attention position (coordinates) in the image can be specified.

FIG. 28 is a block diagram of display / distance measurement. The captured distance image and color image are input to the control unit 537, and the user's attention position designation coordinates are also input to the control unit 537. To be 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 designated coordinates input by the touch panel 519 and the depth image, and then displays the display panel 5
18 is displayed.

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

When specified, the shape measuring camera determines 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, that is,

[0095]

[Equation 1]

## EQU14 ## 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 this is the length in the depth direction.

Similarly, it is possible to measure the size of a circular subject instead of a straight line. FIG. 26 is an example when a circular table is imaged. For example, the user touches a touch panel with a finger or a rod-shaped object at three appropriate positions A523, B524, and C526 on the circular circumference to be measured while looking at the color image captured and displayed on the display panel 518. Specify by.

Thereafter, the shape measuring camera uses the spatial coordinate values A (Xa, Ya, Za), B (Xb, Y) of these three points.
From b, Zb) and C (Xc, Yc, Zc), the equation of the circle passing through these is obtained. There are various methods for obtaining, but for example, a perpendicular bisector of line segments AB and BC is obtained, and the intersection point 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 the radius of the circle.

The radius thus obtained is displayed as 50 cm in FIG. 26 to inform the user. By doing so, the size of a complicated shape such as a circle can be measured without touching the subject. In addition, if there is a mathematical formula that defines the shape such as an equilateral triangle or an ellipse, the user can specify multiple points to measure the size from the depth image without touching the subject. You can Further, in this case, although the user inputs the coordinates of the point of interest using the touch panel, a cursor (a cross pattern etc.) that moves vertically and horizontally is displayed on the display panel 518, and the position is moved by the push button to specify. Then, the coordinates of the point of interest may be input.

If the object size calculation result is recorded on the recording medium 504 through the medium recording / reproducing unit 538, the user need not remember the measurement result.
It is convenient because the recording medium 504 can be taken out and used in a device (personal computer or the like) having the same function as the medium recording / reproducing unit 538 capable of reading and writing. Of course, the measurement result may be superimposed on the photographed color image and stored as an image.

In the above example, the length of the subject is measured, but it is also possible to measure a plurality of lengths and obtain the area or volume based on the measured lengths.

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

As shown in FIG. 27, on the back surface of the camera,
The display unit 518 and the touch panel 519 are arranged so as to overlap with each other, and the captured color image or depth image is displayed so that the user can specify the attention position (coordinates) in the image with a finger or a stick. It has become. Utilizing this,
It is possible to realize a subject extraction camera capable of obtaining an image in which only the subject focused on by the user is cut out.

FIG. 28 is a block diagram of the display / cutout operation, which basically has the same structure as the shape measuring camera described above. The captured distance image and color image are input to the control unit 537, and the user's attention 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 from the plurality of designated designated coordinates input by the touch panel 519 and the depth image,
Only the subject intended by the user is cut out and displayed on the display unit 518.
, And can be recorded in the recording medium 504. This operation will be described with reference to FIG.

First, the user wants to cut out the subject 520. The user designates a part of the subject 520 on the touch panel 519. The control unit 537 obtains the depth value of the portion including the coordinates from the depth image, determines that the portion having the depth continuously connected thereto is the subject of interest to the user, and displays only that portion. , The other part is filled with a specific color, and the display panel 518
To display.

The determination of the connected portion is based on the designated coordinates as a starting point, and as long as the depth value continuously changes, the area is expanded vertically and horizontally, and if there is a depth discontinuous portion, it is stopped there. Image processing may be performed.

Further, the user designates a distance a little more than the distance of the subject to be cut out from the camera or the range of the distance to be cut out by the touch panel or the push button, and the control unit 537 is designated by the value. The color image having a value closer to the specified distance, or the color image included only in the specified distance range is displayed, and the other part is filled with a specific color and displayed on the display panel 518. The data is recorded on the recording medium 504.

By doing so, the camera can determine and cut out only the subject of interest to the user, and display / record this. Further, in this case, depending on the image processing, as shown in FIG. 30, there is a possibility that a portion, which is a background portion, may be determined to be the foreground due to a malfunction.

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

As described above, by cutting out the color image according to the distance using the information of the depth image, it is possible to easily obtain and save the image in which only the subject of interest to the user is cut out.

Further, in FIG. 28, by arranging an image memory in the control unit 537 and temporarily placing an image to be reproduced / manipulated in the image memory, the access speed of the image can be increased or a plurality of images can be speeded up. You can also switch and display / operate.

As described above, according to this embodiment, the actual size of the 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 the subject of interest to the user based on the depth information.

Further, in the first embodiment, even if the housing of the shape measuring camera is constructed as shown in FIG. 21,
The same effect can be obtained. That is, the camera unit 509 on which the imaging unit 533 is arranged and the strobe unit 508 on which the first and second strobes 505 and 506 forming the light source are arranged are connected by the connecting unit 510 having a hinge-like structure. The structure is such that the user can freely fold it as shown in FIG. 21A or extend it as shown in FIG. 21B. When carrying, it is small as shown in (a), and when it is widened and used as shown in (b) during shooting, the distance D between the lens 503 and the first and second strobes 505, 506 of the light source can be increased. I can.

Further, as shown in FIG. 21C, the lens and the first and second strobes 505 and 506 may be arranged vertically. In this case, in the depth image calculation, the angles φ and θ change in the horizontal direction in the above description, but only in the vertical direction, the depth image can be calculated by the same calculation after that. In order to generate a change in the 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.
A case 501 having a camera part and a case 502 having a light emitting part, which are different in thickness from each other and can be fitted to each other in the vertical direction, are fitted.
Similar effects are obtained. The structure of the light source unit at this time is shown in FIG.
It becomes like (c).

Further, in the first embodiment, the same effect can be obtained even if the housing of the shape measuring camera is constructed as shown in FIG. That is, the first and second light source units
The housing 517 of the portion including the strobes 505 and 506 is downsized, and is connected to the camera housing 501 with a hinge structure. At the time of use, the user rotates the housing 517 to rotate the first and second light source units.
By exposing the strobes 505 and 506, it is possible to prevent the first and second strobes 505 and 506 of the light source unit from being exposed and being damaged due to inadvertent contact, and to reduce the size of the housing. The lens interval D can be set large.

Further, in the first embodiment, the light source is configured as shown in FIG. 2. However, as shown in FIG. 24A, there is one light emitting tube 529, and before that, the liquid crystal barrier is provided. 5
Even with the structure in which 31 is provided, the same optical pattern generating function can be provided.

In this case, the arc tube 5 as shown in FIG.
2, the light transmitting portions are sequentially set on the left side and the right side as shown in (c), and the arc tube 529 emits light one by one in each state, as shown in FIG. 2 arc tubes without using one arc tube
A light pattern similar to that in FIG. 18 can be generated by sequentially emitting light.

As a result, the number of arc tubes is small, and the emission position of the light emission pattern does not come out from the position slightly shifted up and down as shown in FIG. 2, but it is as if the light were emitted from the same position. It is possible to reduce the depth measurement error.

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

In this case, as shown in FIG. 24 (d), the entire surface of the liquid crystal barrier 531 can be used as a strobe light for a camera for picking up a normal two-dimensional image by setting the light transmission state.

Further, in the first embodiment, the depth image and the color image are calculated in the shape measuring camera and the subject extracting camera main body, and these are recorded in the recording medium. However, as shown in FIG. In the main body, 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 medium recording / reproducing unit 538, and the analyzing device 39 configured by a personal computer or the like. The image data is read by the distance calculation unit 535 and the color image calculation unit 536.
A desired analysis result may be obtained by using the display unit 532, and the subject may be cut out or the shape may be measured.

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

Further, in this case, the image pickup unit 533 is a video camera for shooting a moving image, and when the recording medium 504 is a recording medium such as a tape, it is usually used as a camera for shooting a color moving image and is required by the user. If the push button or the like is pressed only when the flash is turned on, and the index signal for identifying only the image (frame, field, etc.) of that portion is stored in the recording medium, the analyzing device 539 can output the index signal. Extract only the video of the part you have, and color image only that part.
Depth images can be calculated and output.

Also, in the first embodiment, the light source unit was attached to the camera housing 501 from the beginning, but by making only the light source unit removable, it is small and portable during normal color image pickup. The shape is easy, and a method in which the light source unit is attached and used only when capturing a depth image is also considered.

FIG. 37 (a) shows an external light source having a structure like an external strobe device for photography and having the light source as shown in FIGS. It is used by being connected to the camera housing 501 via the camera connection section 549 as shown in FIG. 37 (b). FIG. 38 shows an example of a light source for eliminating the shadow of the subject as shown in FIGS. 35 and 36.

In FIG. 38A, the light sources are symmetrically arranged on both sides of the connecting portion 549. FIG. 38 (b) shows how the camera is connected. Further, in FIG. 37 and FIG. 38, the camera body and the light source are connected by a structure like a strobe shoe of a film camera, but as shown in FIG. 39 (a), a method of mounting using a tripod mounting screw of the camera is also considered. To be

In this case, as shown in FIG. 39 (b), the structure is such that the camera housing 501 is attached using the screws at the bottom. If the light source is separated as such a removable external light source device, the camera becomes large only when a depth image is captured, and when used as a normal camera, the convenience of small size and light weight can be obtained.

In addition, in the second embodiment, as shown in FIG.
In the above configuration, the user can specify the coordinates by using the 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. Besides, you can also apply trackball, switch, volume, etc.

In the first and second embodiments, as shown in FIGS. 13, 21, 22, and 23,
The first and second strobes 505 and 506 of the two light source units are arranged on one side of the image pickup unit 533. In this case, as shown in FIG.
When the subject 540 and the background 541 are imaged in the arrangement as shown in FIG. 2, in the obtained image, the light from the light source is blocked by the subject 540 and a shadow 542 is generated as shown in FIG.

This part is a region where the light from the light source does not reach, and is a region where information as a range 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.
This shadow area can be eliminated by disposing 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 method is shown below.

First and second strobes 505 and 506 of the light source
Is a region β, and when the light sources 543 and 544 are used, a region α is a portion where information as a distance image cannot be obtained. Similar 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 areas β and α are determined as the areas of low brightness 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 range image A,
If there is an area that has not been determined as a portion with low brightness in either one of B, the value is adopted, and if neither is a shadow area, it is realized by using the average value of both image data. it can.

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

In the case of the above configuration, the light source needs to be arranged on the left and right sides or the upper and lower sides of the lens. In that case,
As shown in FIG. 5, if the housings 512 and 513 having the light source parts are slid to the left and right of the camera body 511 and extended in the opposite direction, the size can be reduced when the user carries it. When carrying and using in the state of FIG. 35 (a), it can be extended as shown in FIG. 35 (b) to have a large base line length D, and it is possible to prevent the depth image measurement accuracy from deteriorating.

Further, as shown in FIG. 36, the same effect can be obtained even if the structure is such that it can be folded in three stages. As shown in FIG. 36 (a), when being carried, it can be folded and made small and carried, and when used, it can be widened as shown in FIG. 36 (b) to increase the baseline length D, which is the distance between the lens and the light source.

Further, as shown in FIG. 21C, in order to make the arrangement of the lens and the light source vertical, the casings 512 and 5 shown in FIG.
13 may be arranged above and below the housing 511, or in FIG. 36, the housings 512 and 513 may be arranged above and below the housing 511.

[0139]

As is apparent from the above description, according to the range finder apparatus of the present invention, a low cost and highly reliable apparatus that can be realized by all electronic operations without including mechanical operations. Can be provided.

Further, as described above, according to the camera of the present invention, a light source section having a simple structure and high practicality can be realized.
Further, although it is small when carried, it can secure a distance of several tens of centimeters or more between the camera lens and the light source when used, and has an effect of not lowering the depth image measurement accuracy. In addition, the length and size of the subject can be easily measured in a non-contact manner, the size of the subject can be known from the color image once captured, and the subject of interest can be easily extracted from the captured image. It is possible to provide a camera for shape measurement and subject extraction that can be performed.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a range finder device according to a first reference example of the present invention.

2A is a perspective view showing a configuration of a light source of the range finder apparatus in Reference Example 1, and FIG. 2B is a plan view showing a configuration of a light source of the range finder apparatus in Reference Example 1. FIG.

FIG. 3 is a diagram showing an optical pattern of a light source in Reference Example 1.

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 Reference Example 1.

5 is a relationship diagram between a light intensity ratio and an angle φ from a light source in Reference Example 1. FIG.

FIG. 6 is a conceptual diagram of calculation of three-dimensional positions X, Y and Z in Reference Example 1.

FIG. 7 is a block diagram showing a configuration of a range finder device according to a second reference example of the present invention.

8 is a block diagram of distance calculation and light intensity conversion in Reference Example 2. FIG.

9 is a diagram showing a change in light intensity with respect to an X coordinate in Reference Example 2. FIG.

10A is a block diagram showing a configuration of a range finder device in Reference Example 3 of the present invention, and FIG. 10B is a block diagram showing a configuration of a modified example of the range finder device in Reference Example 3 of the present invention. .

11A to 11C are layout explanatory diagrams of a lens system in Reference Example 3, and FIG. 11D is a layout explanatory diagram of a transmittance change filter in the same Reference Example.

12A is an explanatory diagram of a transmittance changing filter in Reference Example 3, and FIG. 12B is an explanatory diagram of a light intensity distribution by the transmittance changing filter in Reference Example 3.

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

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

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

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

FIG. 17 is a diagram showing a light intensity pattern of a light source unit of the camera of the first embodiment of the present invention.

FIG. 18 is a diagram showing a light intensity pattern of a light source unit of the camera of the first embodiment of the present invention.

FIG. 19 is a diagram showing a light intensity ratio of a light source unit of the camera of the first embodiment of the present invention.

20 (a) and 20 (b) are block diagrams of the camera of the first embodiment according to the present invention.

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

22 (a) and (b) are external views of the camera (3) according to the first embodiment of the present invention.

23 (a) to (c) are configuration diagrams of the camera (4) according to the first embodiment of the present invention.

24 (a) to (d) are configuration diagrams of a light source unit of the camera (2) according to the first embodiment of the present invention.

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

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

FIG. 27 is a rear external view of the camera of the second embodiment of the present invention.

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

FIG. 29 is a diagram showing an image correction operation (1) of the camera of the second embodiment of the invention.

FIG. 30 is a diagram showing an image correction operation (2) of the camera of the second embodiment of the present invention.

FIG. 31 is another configuration diagram of the camera of the first embodiment of the present invention.

FIG. 32 is a diagram showing occlusion occurrence of the camera in the first and second embodiments of the present invention.

FIG. 33 is a diagram showing occlusion of the camera according to the first and second embodiments of the present invention.

FIG. 34 is a diagram showing a method for avoiding occlusion of a camera according to the first and second embodiments of the present invention.

35 (a) and (b) are external views for avoiding occlusion of the camera (1) according to the first and second embodiments of the present invention.

36A and 36B are external views for avoiding occlusion of the camera (2) according to the first and second embodiments of the present invention.

37 (a) and (b) are external views of the external light source unit (1) of the camera according to the first and second embodiments of the present invention.

38 (a) and 38 (b) are external views of the external light source unit (2) of the camera according to the first and second embodiments of the present invention.

39A and 39B are external views of the external light source unit (3) of the camera according to the first and second 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 diagrams of measurement principles in the range finder.

[Explanation of symbols]

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 calculator 7 Flash light source 8 Flash light source 9 Reflector 10 Reflector 11a Field memory a 11b Field memory b 12a Light intensity converter a 12b Light intensity converter b 13 Light intensity ratio calculator 14 Distance converter 101A laser light source 101B laser light source 102 half mirror 103 light source controller 104 rotating mirror 105 Rotation control unit 106 subject 107 lens 108A Optical wavelength separation filter 108B Optical wavelength separation filter 109A image sensor 109B image sensor 109C color image sensor 110A camera signal processor 110B camera signal processor 111 Color camera signal processor 112 Distance calculator 113 control unit 201 semiconductor laser 202 First optical fiber 203 Optical distributor 204 collimator lens 206 camera section 207 Second optical fiber 501 housing 502 housing 503 lens 504 recording media 505 First Strobe 506 Second Strobe 507 Finder 508 Strobe part 509 camera body housing 510 connection 511 camera body 512 light source unit housing 513 light source unit housing 514 Third Strobe 515 4th Strobe 516 connection 517 light source 518 display panel 519 touch panel 520 subject (foreground) 521 Subject (background) 527 Portion determined to be foreground due to malfunction 528 light shield 529 Strobe arc tube A 530 Strobe arc tube B 531 LCD barrier 532 display 533 Imaging unit 534 Light control unit 535 Distance calculator 536 color image calculator 537 Control unit 538 Media recording / playback unit 539 Analysis Department 540 subject (foreground) 541 Subject (background) 542 Portion where light from the light source 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 fixed base 549 Light source fixture (strobe shoe fitting) 550 image memory 551 Reflector (1) 552 Reflector (2) 100 part determined to be background

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-8-286100 (JP, A) JP-A-61-84515 (JP, A) JP-A-8-278533 (JP, A) Jikken Hei 6- 43770 (JP, Y2) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01B 11/00-11/30 G02B 7/32

Claims (7)

(57) [Claims] 1. A are arranged close to each other, and having a plurality of light emitting means for irradiating the object with projected light having a predetermined radiation pattern, irradiating an object from the plurality of light emitting means, the subject light reflected by said light emitting means Is a camera for shape measurement or subject extraction, which obtains a depth image using the light intensity of the captured image, and has a structure in which the distance between the plurality of light emitting means and the imaging lens can be changed. the camera in use is characterized in that it is configured to take a large interval between the plurality of light emitting means and the imaging lens. 2. Radiation patterns which are arranged close to each other and have a predetermined radiation pattern.
A plurality of light emitting means for irradiating the subject with projected light having turns
Illuminating the subject from the plurality of light emitting means,
The reflected light of the subject is captured by the light emitting means, and the captured image is
For depth measurement using light intensity, for shape measurement or
A camera for object extraction, wherein the distance between the plurality of light emitting means and the imaging lens can be changed
Having a structure, a plurality of light emitting means when carrying and photographing
A camera that can change the distance between the lens and the imaging lens. 3. Radiation patterns which are arranged close to each other and have a predetermined radiation pattern.
A plurality of light emitting means for irradiating the subject with projected light having turns
Illuminating the subject from the plurality of light emitting means,
The reflected light of the subject is captured by the light emitting means, and the captured image is
For depth measurement using light intensity, for shape measurement or
A camera for object extraction, wherein the distance between the plurality of light emitting means and the imaging lens can be changed
It has a structure, and the measurement precision of the depth image is
The plurality of light emitting means and the imaging lens so as not to deteriorate the degree
Characterized by being configured to be able to set the interval between
And the camera. 4. Radiation patterns arranged in proximity to each other and having a predetermined radiation pattern.
A plurality of light emitting means for irradiating the subject with projected light having turns
Illuminating the subject from the plurality of light emitting means,
The reflected light of the subject is captured by the light emitting means, and the captured image is
For depth measurement using light intensity, for shape measurement or
A camera for object extraction, wherein the distance between the plurality of light emitting means and the imaging lens can be changed
It has a structure, and when used, it can be used with the plurality of light emitting means.
It is configured to allow a large distance from the image lens,
One subject by simultaneously emitting a plurality of light emitting means
A camera characterized by being able to project light onto
Mela. 5. Radiation patterns arranged in close proximity to each other and having a predetermined radiation pattern.
A plurality of light emitting means for irradiating the subject with projected light having turns
Illuminating the subject from the plurality of light emitting means,
The reflected light of the subject is captured by the light emitting means, and the captured image is
For depth measurement using light intensity, for shape measurement or
A camera for object extraction, wherein the distance between the plurality of light emitting means and the imaging lens can be changed
It has a structure, and when used, it can be used with the plurality of light emitting means.
It is configured to allow a large distance from the image lens,
One is obtained by time-divisionally emitting the plurality of light emitting means.
Configured to add and average a plurality of captured images
A camera characterized by. 6. The structure in which the distance between the light emitting means and the image pickup lens can be changed is realized by a structure in which the light emitting means and the main body including the image pickup lens are relatively slidable. 6. The device according to claim 1, wherein the light emitting means and the main body are slid so as to be relatively separated from each other so that a sufficient distance can be provided between the light emitting means and the camera lens. camera. 7. The structure in which the distance between the light emitting means and the imaging lens can be changed is realized by connecting the light emitting means and the main body including the imaging lens to each other by a hinge structure, and in use, by opening the hinged structure between the body and the light emitting unit, according to claim wherein said light emitting means and the camera lens distance is configured to sufficiently take
The camera according to any one of 1 to 5 .