JP3793741B2 - Range finder device - Google Patents

Description

【００９６】
を計算し、表示パネル５１８の別の部分に表示する。この例では、ＡＢの長さが２５ｃｍであると表示されている。このようにして、使用者は、撮影された被写体の測りたい点間の距離を、被写体に触れることなく、これが奥行き方向の長さであっても測定することが出来る。
【００９７】
また、同様にして直線ではなく、円状の被写体の大きさを測定することができる。図２６は、円形のテーブルを撮像した場合の例である。例えば、使用者は撮像され表示パネル５１８に表示されたカラー画像を見ながら、測りたい円形の円周の部分の適当な位置３点Ａ５２３、Ｂ５２４、Ｃ５２６をタッチパネルに指または棒状のものを触れることによって指定する。
【００９８】
その後、形状計測カメラは、これらの３点の空間座標値Ａ（Ｘａ，Ｙａ，Ｚａ），Ｂ（Ｘｂ，Ｙｂ，Ｚｂ），Ｃ（Ｘｃ，Ｙｃ，Ｚｃ）から、これらを通る円の方程式を求める。求める方法は色々あるが、例えば、線分ＡＢとＢＣの垂直二等分線を求め、それの交点が円の中心Ｇ（Ｘｇ，Ｙｇ，Ｚｇ）であるする。次に、線分ＧＡ、ＧＢ、ＧＣの長さの平均値を円の半径とすればよい。
【００９９】
このようにして得られた半径を図２６では５０ｃｍとして表示して使用者に知らせている。このようにすることによって、円形のような複雑な形の大きさも、被写体に触れることなく測定することが出来る。他にも、正三角形や楕円など、形状を規定する数式が存在する形であれば、複数の点を使用者が指定することによって奥行き画像から、その大きさを被写体に触れることなく測定することができる。また、この場合は、タッチパネルを用いて使用者が注目点の座標を入力したが、上下左右に動くカーソル（十字事模様など）を表示パネル５１８に表示し、押しボタンによってその位置を動かして指定して注目点の座標を入力してもよい。
【０１００】
また、被写体の大きさ計算結果を、メディア記録・再生部５３８を通して記録メディア５０４に記録すれば、使用者が測定結果を覚えておく必要はなく、記録メディア５０４を取り出して、これを読み書きできるメディア記録・再生部５３８と同等の機能を有する機器（パーソナルコンピュータなど）で使用することも出来、便利である。もちろん、測定結果を撮影されたカラー画像中にスーパーインポーズし、画像として保存しても良い。
【０１０１】
また、以上の例では被写体の長さを測定したが、長さを複数測定し、それを元にして面積や体積を求めることもできる。
【０１０２】
更に、撮影データの他の表示・利用例を述べる。
【０１０３】
図２７に示したように、カメラ裏面には、表示部５１８と、タッチパネル５１９が重ねて配置してあり、撮像されたカラー画像や奥行き画像を表示し、使用者が指や棒状のもので、その画像中の注目位置（座標）を指定できるようになっている。これを利用して、使用者が注目した被写体のみを切り出した画像を得ることのできる被写体抽出カメラを実現することが出来る。
【０１０４】
図２８は、表示・切り出し動作のブロック図を示したものであり、基本的には前述の形状測定カメラと同じ構造である。撮像された距離画像とカラー画像は制御部５３７に入力され、使用者の注目位置指定座標も制御部５３７に入力される。
【０１０５】
制御部５３７は、撮影されたカラー画像を表示パネル５１８に表示し、タッチパネル５１９によって入力された複数の注目指定座標と、奥行き画像から、使用者が意図する被写体のみを切り出して表示部５１８に表示し、記録メディア５０４に記録することが出来る。この動作を図２９を用いて説明する。
【０１０６】
まず、使用者は被写体５２０を切り出したいとする。使用者は被写体５２０の一部をタッチパネル５１９にて指定する。制御部５３７は、この座標の含まれる部分の奥行き値を奥行き画像から得て、それと連続的に連結された奥行きを有する部分を使用者の注目する被写体と判断し、その部分のみを表示して、それ以外の部分をある特定の色に塗りつぶして、表示パネル５１８に表示する。
【０１０７】
連結部分の判断は、指定された座標を始点として、奥行き値が連続的に変化する限りその領域を上下左右に広げていき、奥行き不連続部分があればそこで停止するような、いわゆる画像処理を行えばよい。
【０１０８】
また、使用者が切り出したいと思う被写体のカメラからの距離よりも少し遠い距離、または切り出したいと思う距離の範囲をタッチパネルまたは押しボタンによって指定し、制御部５３７はその値によって指定された距離よりも近い値を持つカラー画像の部分、または指定された距離の範囲の部分のみに含まれるカラー画像を表示し、その他の部分はある特定の色に塗りつぶし、表示パネル５１８に表示し、記録メディア５０４に記録する。
【０１０９】
このようにすることによって、使用者が注目する被写体のみをカメラが判断して切りだし、これを表示・記録することが出来る。また、この場合、画像処理によっては、図３０に示したように、背景部分であるにもかかわらず、誤動作によって前景と判断されてしまう部分が発生する可能性がある。
【０１１０】
この場合は、使用者がタッチパネル５１９によって誤動作したと思われる部分（図２９）を指定して、これは背景であるように、表示結果を修正するようにすれば、品質の高い被写体の切り出しカラー画像を得ることが出来る。もちろんこの場合、誤動作によって背景と判断された部分を使用者が指定して、この部分が前景になるように修正動作を行っても良い。
【０１１１】
以上のようにすれば、奥行き画像の情報を用いて、距離によってカラー画像を切り出すことによって、使用者が注目する被写体のみを切り出した画像を簡単に得て、保存することが出来る。
【０１１２】
また、図２８において、制御部５３７内に画像メモリを配置し、再生・操作する画像を一旦画像メモリ上に置くことによって、画像のアクセス速度を速くしたり、複数の画像を高速に切り替えて表示・操作することもできる。
【０１１３】
以上のように本参考例によれば、被写体に触れることなく、それの実際の大きさを測定することも出来る。また、使用者が注目している被写体のみを、その奥行き情報を元に簡単に切り出して保存することも出来る形状計測カメラ及び被写体抽出カメラを実現することが出来る。
【０１１４】
また、第３の参考例において、形状計測カメラの筐体が、図２１のように構成されていても、同様の効果が得られる。即ち、撮像部５３３が配置されるカメラ部５０９と、光源を形成する第１，第２ストロボ５０５，５０６が配置されるストロボ部５０８が、蝶番のような構造を有する接続部５１０によって接続され、使用者が自由に図２１（ａ）のように折り畳んだり、（ｂ）のように延ばしたりできる構造である。携帯時には、（ａ）のようにすれば小型であり、撮影時には（ｂ）のように広げて使えば、レンズ５０３と光源の第１，第２ストロボ５０５，５０６の間隔Ｄを大きくすることが出来る。
【０１１５】
また、図２１（ｃ）のように、レンズと第１、第２ストロボ５０５，５０６が垂直に配置されるような構造にすることもできる。この場合、奥行き画像計算は前述では角度φ、θが水平方向の変化であったのに対して、垂直方向に変化になるだけで、あとは同様の計算で奥行き画像を算出できる。縦方向の光強度の変化を生成するために、光源は図２１（ｄ）に示したように縦置きの発光管の構成となる。
【０１１６】
この場合、図２３に示したように、図２１のようなカメラ部の入っている筐体５０１と発光部の入っている筐体５０２が、互いに厚みが異なって互いに垂直方向に重なってはめ込むことが出来る構造としても、同様な効果が得られる。この時の光源部の構成は図２３（ｃ）のようになる。
【０１１７】
また、第３の参考例において、形状計測用カメラの筐体が、図２２のように構成されていても、同様の効果が得られる。即ち、光源部の第１、第２ストロボ５０５、５０６を含む部分の筐体５１７を小型とし、カメラ筐体５０１に蝶番構造で接続される。使用時には筐体５１７を使用者が回して光源部の第１、第２ストロボ５０５，５０６を露出させることによって、通常は光源部の第１、第２ストロボ５０５，５０６が露出せず不用意な接触によって破損することを防ぎつつ筐体を小さくでき、同時に撮影時にはこれらとレンズの間隔Ｄを大きく取ることが出来る。
【０１１８】
また、第３の参考例において、光源は図２のように構成されるとしたが、図２４（ａ）のように、発光管５２９が一つであり、その前に液晶バリア５３１を置いた構造にしても同様の光パタン生成機能を有することが出来る。
【０１１９】
この場合、図２４（ｂ）のように発光管５２９に対して左側、（ｃ）のように右側に光透過部が順次設定されるようにし、それぞれの状態において一回づつ順番に発光管５２９が発光するようにして、図２のように２つの発光管を用いることなく、一つの発光管を２回順次発光させることで、図１８と同様な光パターンを生成することができる。
【０１２０】
これによって、発光管の本数が少なく、発光パタンの出射位置が図２のように上下に少しずれた位置から出るのではなく、あたかも同じ位置から光が出射されたようにすることが出来、奥行き計測誤差を小さくすることが出来る。
【０１２１】
これは図２０において、光パタンの出射点Ｑの位置が本参考例では垂直方向にずれていたのに対し、この場合は同じ位置になるので、直線ＰＱが１本の線となり、垂直位置の異なった直線を用いて奥行き計算するよりも誤差が発生しないからである。
【０１２２】
また、この場合、図２４（ｄ）のように液晶バリア５３１の全面を光透過状態にすることによって、通常の２次元画像を撮像するカメラのストロボとしても利用することができる。
【０１２３】
また、第３の参考例では、形状計測カメラ及び被写体抽出カメラ本体において、奥行き画像とカラー画像を計算し、これを記録メディアにて記録したが、図３１に示すように、カメラ本体では、光源の第１、第２ストロボ５０５・５０６に同期して撮像された画像データをメディア記録・再生部５３８を通して記録メディア５０４に記録し、これをパーソナルコンピュータなどで構成された解析装置３９により画像データを読み出して、距離計算部５３５・カラー画像計算部５３６により所望の解析結果を出し、これを表示部５３２を用いて被写体を切り出したり、形状を測定しても良い。
【０１２４】
また、記録メディア５０４を介さずに画像データを解析装置５３９に転送することもできる。例えば、カメラ本体と解析装置５３９をデータ現行の通信手段を用いて接続する。例えば有線通信ではパラレルデータインタフェース、シリアルデータインタフェース、電話回線を用いることが出きる。無線通信では、光通信・赤外線通信・携帯電話網通信・電波通信を用いることが出来る。さらに、解析結果を記録媒体に記録することもできる。
【０１２５】
また、この場合、撮像部５３３は動画撮影用ビデオカメラであり、記録メディア５０４がテープなどの記録媒体の場合、通常はカラー動画像を撮影するカメラとして利用し、使用者が必要なときだけ押しボタンなどを押すことによって、フラッシュを点灯させ、その部分の映像（フレーム、フィールドなど）のみ識別できるようなインデックス信号を記録媒体に記憶しておけば、解析装置５３９において、インデックス信号を有する部分の映像のみを抽出し、その部分のみカラー画像・奥行き画像を計算して出力することができる。
【０１２６】
また、第３の参考例では、カメラ筐体５０１に最初から光源部が付属していたが、光源部のみを取り外し可能にすることによって、通常のカラー画像撮像時には小型で携帯しやすい形状であり、奥行き画像撮像時のみに光源部を取り付けて使用する方法も考えられる。
【０１２７】
図３７（ａ）は、写真用の外部ストロボ装置のような構造であり、図２、図２４のような光源を搭載した外部光源である。カメラとの接続部５４９を介して、図３７（ｂ）のようにカメラ筐体５０１と接続して使用する。図３８は、図３５、図３６に示したような被写体の影をなくすための光源の例である。
【０１２８】
図３８（ａ）では、接続部５４９の両側に対称に光源が配置されている。カメラに接続した様子を図３８（ｂ）に示す。また、図３７、図３８では、フイルムカメラのストロボシューのような構造でカメラ本体と光源を接続したが、図３９（ａ）のように、カメラの三脚取り付けネジを利用して取り付ける方法も考えられる。
【０１２９】
この場合、図３９（ｂ）のように、カメラ筐体５０１の底部のネジを用いて取り付ける構造となる。このような、取り外し可能な外部光源装置として光源を分離すれば、奥行き画像撮像時のみ、カメラが大きくなり、通常のカメラとして使用する場合には小型軽量という利便性を出すことが出来る。
【０１３０】
また、第４の参考例において、図３１の構成ではタッチパネルを用いた構成で使用者の座標指定を行うことが出来るが、他の手段で使用者が指定を行っても良い。例えば、パーソナルコンピュータで実現する場合はマウスやキーボードの入力装置を用いることができる。他にもトラックボール、スイッチ、ボリュームなどを応用することも出来る。
【０１３１】
また、第３、第４の参考例においては、図１３、図２１、図２２、図２３に示したように、撮像部５３３に対して２つの光源部の第１、第２ストロボ５０５・５０６を片方に配置したが、この場合、図３２に示したような配置で被写体５４０、背景５４１を撮像すると、得られる画像は図３３に示したように光源からの光が被写体５４０によって遮られ、影５４２が発生する。
【０１３２】
この部分は光源からの光が届かない領域であり、距離画像としての情報を得ることが出来ない領域である。この場合は、図３４に示すように光源の第１、第２ストロボ５０５・５０６と同じ構成の光源５４３・５４４をレンズを中心として光源の第１、第２ストロボ５０５・５０６の反対側に設置することにより、この影の領域をなくすことが出来る。その方法を以下に示す。
【０１３３】
光源の第１、第２ストロボ５０５・５０６を用いた場合は領域β、光源５４３・５４４を用いたときは領域αの部分が距離画像としての情報を得られない部分である。前述の計算と同様にして、光源の第１、第２ストロボ５０５・５０６を用いたときの距離画像Ａ及びカラー画像Ａ、光源５４３・５４４を用いた時の距離画像Ｂ及びカラー画像Ｂをそれぞれ独立に計算しておく。この時、それぞれの画像において、領域β、αの部分を得られた画像データから、輝度の小さい部分として判断しておく。
【０１３４】
次に、距離画像Ａ、Ｂを合成して影領域のない距離画像を新たに生成する。これは、距離画像Ａ、Ｂでどちらか一方において前述の輝度の小さい部分として判断されていない領域が存在した場合は、その値を採用し、どちらも影領域でない場合は、両方の画像データの平均値を用いることによって実現できる。
【０１３５】
カラー画像についても同様であり、少なくともカラー画像Ａ・Ｂどちらか一方が影部分でないデータを有していれば、影領域の無い新しいカラー画像を合成することができる。
【０１３６】
以上の構成の場合、光源がレンズの左右または上下に配置されている必要がある。その場合、図３５に示したように、カメラ本体５１１の左右に、光源部を有した筐体５１２・５１３を反対方向にスライドして延ばすような筐体の構成にすれば、使用者が携帯時には小さくして図３５（ａ）の状態にして持ち運び、使用する場合は図３５（ｂ）のように延ばして基線長Ｄを大きく取り、奥行き画像計測精度が低下するのを防ぐことが出来る。
【０１３７】
また、図３６に示すように、３段に折り畳めるような構造にしても同様の効果を得ることが出来る。図３６（ａ）のように携帯時には折り畳んで小さくして持ち運び、使用時には図３６（ｂ）のように広げればレンズと光源の間隔である基線長Ｄを大きく取ることが出来る。
【０１３８】
また、図２１（ｃ）のように、レンズと光源の配置を垂直にするために、図３５の筐体５１２・５１３を筐体５１１の上下に配置したり、図３６において筐体５１２、５１３を筐体５１１の上下に配置してもよい。
【０１３９】
【発明の効果】
以上述べたところから明らかな様に本発明のレンジファインダ装置によれば、光源からの光が２次元的なパターンを有する場合においても、精度良く距離測定を行うことが出来る。
【０１４０】
又、本発明レンジファインダ装置によれば、光源からの光を、被写体に直接照射出来ない場所の被写体の距離を計測出来る。
又、本発明のレンジファインダ装置によれば、低コストで、信頼性の高い装置を提供することが出来る。
【図面の簡単な説明】
【図１】本発明の参考例１におけるレンジファインダ装置の構成を示すブロック図である。
【図２】（ａ）：参考例１におけるレンジファインダ装置の光源の構成を示す斜視図、
（ｂ）：参考例１におけるレンジファインダ装置の光源の構成を示す平面図である。
【図３】参考例１における光源の光パタンを示す図である。
【図４】参考例１における光源の光パタン及び複数発光の場合の光パタンを示す図である。
【図５】参考例１における光強度比と、光源からの角度φの関係図である。
【図６】参考例１における３次元位置Ｘ、Ｙ、Ｚの計算概念図である。
【図７】本発明の参考例２におけるレンジファインダ装置の構成を示すブロック図である。
【図８】参考例２における距離計算および光強度変換ブロック図である。
【図９】参考例２における光強度のＸ座標に対する変化を示す図である。
【図１０】（ａ）：本発明の実施の形態１おけるレンジファインダ装置の構成を示すブロック図、
（ｂ）：本発明の実施の形態１におけるレンジファインダ装置の変形例の構成を示すブロック図である。
【図１１】（ａ）〜（ｃ）：実施の形態１におけるレンズ系の配置説明図、
（ｄ）：同実施の形態における透過率変化フィルタの配置説明図である。
【図１２】（ａ）：実施の形態１における透過率変化フィルタの説明図、
（ｂ）：同実施の形態における透過率変化フィルタによる光強度の分布説明図である。
【図１３】（ａ），（ｂ）本発明における第３の参考例の形状計測用、被写体抽出用のカメラの図である。
【図１４】本発明における第３の参考例のカメラの光源部の構成図である。
【図１５】本発明における第３の参考例のカメラの光源部の原理図である。
【図１６】本発明における第３の参考例のカメラの光源部の光強度図である。
【図１７】本発明における第３の参考例のカメラの光源部の光強度パタンを示す図である。
【図１８】本発明における第３の参考例のカメラの光源部の光強度パタンを示す図である。
【図１９】本発明における第３の参考例のカメラの光源部の光強度比を示す図である。
【図２０】（ａ），（ｂ）本発明における第３の参考例のカメラのブロック図である。
【図２１】（ａ）〜（ｄ）本発明の第３の参考例におけるカメラ（２）の構成図である。
【図２２】（ａ），（ｂ）本発明の第３の参考例におけるカメラ（３）の外観図である。
【図２３】（ａ）〜（ｃ）本発明の第３の参考例におけるカメラ（４）の構成図である。
【図２４】（ａ）〜（ｄ）本発明の第３の参考例におけるカメラ（２）の光源部の構成図である。
【図２５】本発明の第４の参考例におけるカメラの表示方法（１）を示す図である。
【図２６】本発明の第４の参考例におけるカメラの表示方法（２）を示す図である。
【図２７】本発明の第４の参考例におけるカメラの背面外観図である。
【図２８】本発明の第４の参考例におけるカメラのブロック図である。
【図２９】本発明の第４の参考例におけるカメラの画像修正動作（１）を示す図である。
【図３０】本発明の第４の参考例におけるカメラの画像修正動作（２）を示す図である。
【図３１】本発明の第３の参考例におけるカメラの他の構成図である。
【図３２】本発明の第３、第４の参考例におけるカメラのオクルージョン発生を示す図である。
【図３３】本発明の第３、第４の参考例におけるカメラのオクルージョンを示す図である。
【図３４】本発明の第３、第４の参考例におけるカメラのオクルージョン回避方法を示す図である。
【図３５】（ａ），（ｂ）本発明の第３、第４の参考例におけるカメラ（１）のオクルージョン回避のための外観図である。
【図３６】（ａ），（ｂ）本発明の第３、第４の参考例におけるカメラ（２）のオクルージョン回避のための外観図である。
【図３７】（ａ），（ｂ）本発明の第３、第４の参考例におけるカメラの外部光源部（１）の外観図である。
【図３８】（ａ），（ｂ）本発明の第３、第４の参考例におけるカメラの外部光源部（２）の外観図である。
【図３９】（ａ），（ｂ）本発明の第３、第４の参考例におけるカメラの外部光源部（３）の外観図である。
【図４０】従来のレンジファインダ装置の構成図である。
【図４１】従来のレンジファインダ装置の光源の波長特性を示す特性図である。
【図４２】 (ａ),(ｂ) 従来のレンジファインダ装置の光源の強度変調の特性図である。
【図４３】 (ａ),(ｂ) ：レンジファインダにおける計測原理図である。
【符号の説明】
１ カメラ
１ａ 赤外カメラ
２ａ 光源
２ｂ 光源
３ａ 赤外透過フィルタ
３ｂ 赤外透過フィルタ
４ａ 水平方向に透過率が変化するＮＤフィルタ
４ｂ 水平方向に透過率が変化するＮＤフィルタ
５ 光源制御部
６ 距離計算部
７ 閃光光源
８ 閃光光源
９ 反射板
１０ 反射板
１１ａ フィールドメモリａ
１１ｂ フィールドメモリｂ
１２ａ 光強度変換部ａ
１２ｂ 光強度変換部ｂ
１３ 光強度比計算部
１４ 距離変換部
１０１Ａ レーザ光源
１０１Ｂ レーザ光源
１０２ ハーフミラー
１０３ 光源制御部
１０４ 回転ミラー
１０５ 回転制御部
１０６ 被写体
１０７ レンズ
１０８Ａ 光波長分離フィルタ
１０８Ｂ 光波長分離フィルタ
１０９Ａ 撮像素子
１０９Ｂ 撮像素子
１０９Ｃ カラー画像撮像素子
１１０Ａ カメラの信号処理部
１１０Ｂ カメラの信号処理部
１１１ カラーカメラの信号処理部
１１２ 距離計算部
１１３ 制御部
２０１ 半導体レーザ
２０２ 第１光ファイバ
２０３ 光分配器
２０４ コリメータレンズ
２０６ カメラ部
２０７ 第２光ファイバ
５０１ 筐体
５０２ 筐体
５０３ レンズ
５０４ 記録メディア
５０５ 第１ストロボ
５０６ 第２ストロボ
５０７ ファインダ
５０８ ストロボ部
５０９ カメラ本体筐体
５１０ 接続部
５１１ カメラ本体
５１２ 光源部筐体
５１３ 光源部筐体
５１４ 第３ストロボ
５１５ 第４ストロボ
５１６ 接続部
５１７ 光源部
５１８ 表示パネル
５１９ タッチパネル
５２０ 被写体（前景）
５２１ 被写体（背景）
５２７ 誤動作により前景と判断された部分
５２８ 遮光板
５２９ ストロボ発光管Ａ
５３０ ストロボ発光管Ｂ
５３１ 液晶バリア
５３２ 表示部
５３３ 撮像部
５３４ 光制御部
５３５ 距離計算部
５３６ カラー画像計算部
５３７ 制御部
５３８ メディア記録・再生部
５３９ 解析部
５４０ 被写体（前景）
５４１ 被写体（背景）
５４２ 光源部からの光が遮られた部分
５４３ 光源部３
５４４ 光源部４
５４５ カメラ取り付けネジ
５４６ 光源部筐体（１）
５４７ 光源部筐体（２）
５４８ 光源部固定台
５４９ 光源部固定具（ストロボシュー金具）
５５０ 画像メモリ
５５１ 反射板（１）
５５２ 反射板（２）
１００ 背景と判断された部分[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a range finder device that measures a three-dimensional shape of an object.
[0002]
[Prior art]
As a range finder device that performs three-dimensional shape measurement based on the triangulation of the projection light and the observation image, for example, an apparatus capable of real-time operation as shown in FIG. 40 has been proposed.
[0003]
In FIG. 40, 101A and 101B are laser light sources having slightly different wavelengths, 102 is a half mirror that combines laser beams from laser light sources having different wavelengths, 103 is a light source control unit that controls the light intensity of the laser light source, 104 Is a rotating mirror that scans the laser beam, 105 is a rotation control unit that controls the rotating mirror, 106 is a subject, 107 is a lens for forming an image on the CCD, and 108A and 108B are light beams that separate light of the wavelength of the laser light source. Wavelength separation filters, 109A and 109B are CCDs for capturing monochrome images, 109C is a CCD for capturing color images, 110A and 110B are signal processing units for monochrome cameras, 111 are signal processing units for color cameras, and 112 are CCD 109A and 109B. Calculate the distance or shape of the subject from the intensity of the captured laser beam Away calculation unit, 113 is a control unit for adjusting the synchronization entire device. Hereinafter, the operation of the range finder apparatus configured as described above will be described.
[0004]
The laser light sources 101A and 101B emit laser beams having slightly different wavelengths. This laser light is a line light having an optical cross section perpendicular to the scanning direction of a rotating mirror, which will be described later, and becomes a vertical line light when the rotating mirror scans in the horizontal direction.
[0005]
The wavelength characteristics of these two light sources are shown in FIG. The reason why two light sources having close wavelengths are used is to make them less susceptible to the wavelength dependence of the reflectance of the subject. Laser light emitted from the laser light sources 101 </ b> A and 101 </ b> B is combined by the half mirror 102, and scanned by the subject 6 by the rotating mirror 104.
[0006]
This laser beam scanning is performed by the rotation control unit 105 driving the rotating mirror 104 in a field cycle. At that time, the light intensities of both light sources are changed within one field period 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 monitored by the CCDs 109A and 109B, and the light intensity ratio is calculated, thereby measuring the time in one scanning cycle. it can. For example, as shown in FIG. 42B, when the light intensity is Ia / Ib, the scanning time is measured as t0, and the rotation angle (φ) of the rotating mirror 104 is determined from the measured value.
[0007]
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) one-to-one, the distance calculation unit described later allows the light from both light sources to be emitted. The distance or shape of the subject is calculated from the ratio of the photographed signal levels according to the principle of triangulation.
[0008]
The lens 107 forms an image of the subject on the CCDs 109A, 109B, and 109C. The optical wavelength separation filter 108A transmits light having the wavelength of the light source 101A and reflects light having other wavelengths. The optical wavelength separation filter 108B transmits light having the wavelength of the light source 101B and reflects light having other wavelengths. As a result, the reflected light from the subject of the light from the light sources 101A and 101B is photographed by the CCDs 109A and 109B, and light of other wavelengths is photographed by the CCD 109C as a color image.
[0009]
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.
[0010]
The distance calculation unit 112 calculates the distance for each pixel from the ratio of signal levels photographed by the CCDs 109A and 109B, the base line length, and the pixel coordinate values for the wavelengths of the respective light sources.
[0011]
43 (a) and 43 (b) are diagrams for explaining the distance calculation graphically. In the figure, O is the center of the lens 107, P is a point on the subject, and Q is the position of the rotation axis of the rotating mirror. For the sake of simplicity, the position of the CCD 109 is shown folded to the subject side. Further, if the length of OQ (baseline length) is L, the angle of P viewed from Q in the XZ plane is φ, the angle of P viewed from O is θ, and the angle of P viewed from O in the YZ plane is ω. From the graphical relationship, the three-dimensional coordinates of P are calculated by the following equation (1).
[0012]
Z = Dtanθtanφ / (tanθ + tanφ)
X = Z / tanθ
Y = Z / tanω (1)
As described above, φ in equation (1) is calculated based on the light intensity ratio of the laser light sources 101A and 101B monitored by the CCDs 109A and 109B, and θ and ω are calculated from the coordinate values of the pixels. If all the values shown in Expression (1) are calculated, the shape is obtained, and if only Z is obtained, the distance image is obtained.
[0013]
On the other hand, a camera using an optical fiber is known for photographing a place where light from a light source cannot be directly irradiated onto a subject. For example, there is a stomach camera or the like as one of endoscopes used for examining the inside of a human body. In the case of a gastric camera, the inner wall of the stomach is usually irradiated by light from an optical fiber, the reflected light from the inner wall is received by another optical fiber, and guided to an external camera unit, which is two-dimensionally In this configuration, a normal image is displayed on the monitor after processing.
[Problems to be solved by the invention]
[0014]
However, as in the case of the above-described conventional endoscopes and the like, when photographing a place where light from a light source cannot be directly applied to a subject, a camera using an optical fiber has two-dimensional data. There was a problem that it was difficult to examine the presence or absence of a part.
Further, in the conventional configuration as described above, a light source that can be modulated and a light source sweeping unit are indispensable, and there is a problem that the reliability of the apparatus is low and the cost of the apparatus is high because it includes a mechanical operation.
[0015]
In view of the above-described conventional problems, an object of the present invention is to provide a range finder that can measure the distance of a subject in a place where light from a light source cannot be directly irradiated onto the subject.
[0016]
[Means for Solving the Problems]
Book The invention comprises a light source;
A first optical fiber for guiding light emitted from the light source;
Light distribution means for branching light guided from the first optical fiber into a plurality of paths;
A plurality of second optical fibers having one end connected to the light distribution means and irradiating the branched light from an opening at the other end to the subject;
Imaging means for receiving reflected light of the irradiated light and acquiring image data of the subject;
A distance calculating means for calculating a distance to the subject based on the image data;
Duplicate Number Said A range finder characterized in that the intensity of light emitted to the subject from the other end of each of the second optical fibers has a distribution that differs in each place. Dress It is a position.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a range finder apparatus according to an embodiment of the present invention will be described with reference to the drawings.
[0018]
(First reference example)
FIG. 1 is a configuration diagram of a range finder according to a first reference example related to the present invention. In FIG. 1, 1 camera, 2a and 2b are light sources, 5 is a light source control unit, and 6 is a distance calculation unit. The operation of the above configuration will be described below.
[0019]
The light source control unit 5 causes the light sources 2a and 2b to alternately emit light every field period in synchronization with the vertical synchronization signal of the camera 1. As the light sources 2a and 2b, for example, as shown in FIG. 2 (a), flash light sources 7 and 8 such as xenon flash lamps are vertically arranged, and the rear reflector is displaced left and right. it can. FIG. 2B is a plan view of FIG. The light sources 2a and 2b radiate light in the ranges A and B, respectively. The xenon lamp preferably has a small light emitting portion and can be regarded as a point light source when viewed from above. Furthermore, although the light sources 2a and 2b are arranged in the vertical direction, the distance is about 1 cm, and it can be considered that light is emitted from almost one point.
[0020]
The light pattern radiated from such a light source is as shown in FIG. This shows the magnitude of the brightness of the screen surface in the → direction in the figure when light is projected onto a temporary screen. That is, each light source has the characteristic that the center axis is brightest and becomes darker toward the periphery. The reason why the center is bright and the periphery is dark is that the semicylindrical reflectors 9 and 10 are arranged behind the flash light sources 7 and 8. Further, the directions of the semi-cylindrical reflectors 9 and 10 are deviated, and the respective projection lights are emitted so as to partially overlap.
[0021]
FIG. 4 shows the relationship between the angle of the projection light from the light source and the light intensity on the surface in the H direction of FIG. The H direction is a direction of a cross line between an arbitrary surface S and a temporary screen among a plurality of surfaces including a light source center and a lens center. In the α portion of the light pattern, the light emitted from the two light sources to the subject space is bright on the right side and bright on the left side when viewed from each light source. However, this pattern is different also in the height direction (Y direction).
[0022]
FIG. 5 shows the relationship between the light intensity ratio in subject illumination with the two projection lights and the angle φ formed by projecting the projection light on the XZ plane with respect to the X axis in the α part of FIG. It is a thing. In the α portion, the relationship between the light intensity ratio and the angle φ has a one-to-one correspondence. In order to measure the distance, two types of light patterns are projected in advance on a plane that is vertically spaced apart from the light source by a predetermined distance, and the reflected light is captured by the camera 1 to obtain each Y coordinate. Data on the relationship between the light intensity ratio and the angle of the projection light as shown in FIG. 5 is obtained for each (corresponding to the Y coordinate on the CCD). “For each Y coordinate” means for each of a plurality of surfaces including the light source center and the lens center.
[0023]
Also, 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 imaging surface, the light intensity ratio determined for each Y coordinate and the angle of the projection light The distance can be calculated accurately by using the relational data. The distance calculation method using the light intensity ratio will be described below.
[0024]
When the point P in FIG. 1 is a point of interest, it corresponds to the luminance ratio obtained from the imaging data at the time of two types of light pattern irradiation for the point P of the image captured by the camera 1 and the Y coordinate value of the point P. By using the relationship of FIG. 5, the angle φ of the point P viewed from the light source is measured. As described above, the relationship in FIG. 5 has different characteristics depending on the Y coordinate value, and the relationship between the light intensity ratio and the horizontal angle φ from the light source is prepared by prior measurement for each Y coordinate. Shall. The angle θ with respect to the point P as 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 based on the principle of triangulation from the above two angles and the distance (base line length) between the light source position and the optical center position of the camera.
[0025]
The camera's optical center is the origin, the camera's optical axis direction is the Z axis, the horizontal direction is the X axis, and the vertical direction is the Y axis. When the angle between the viewed point of interest and the X axis is θ, 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 the above-described equation (1).
Z = Dtanθtanφ / (tanθ-tanφ)
Can be calculated as
[0026]
As described above, according to this reference example, the distance measurement is performed by correcting the change in the light intensity caused by the light source or the optical system at the time of distance measurement by the range finder using the light intensity. A stable and accurate range finder device that can be realized can be realized.
[0027]
By arranging a half mirror or dichroic mirror and a color camera in front of the infrared camera of the range finder according to this reference example, a color image of the same viewpoint can be obtained simultaneously with a distance image, and is included in the present invention.
[0028]
In 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. 6, the third order is obtained from the expressions (1) and (2). All of the original coordinate values X, Y, and Z may be calculated and three-dimensional coordinate data may be output, which is included in the present invention.
[0029]
X = Z / tanθ
Y = Z / tanω (2)
Note that in this reference example, if the light sources 2a and 2b are made to emit light at the same time and used as a normal flash lamp in which the brightness at one center is large and the periphery is dark as shown by the dotted line in FIG. Can be imaged.
[0030]
Further, 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 region, the flash light is turned on to the user and other camera images. It is possible to prevent interference. In addition, if an image is picked up by a normal color camera at the same time coaxially as an infrared camera with a half mirror or a dichroic mirror, a depth image and a texture image corresponding to the image can be picked up simultaneously.
[0031]
In this reference example, since the flash light is flashed for several hundred microseconds, if the camera 1 is set to be exposed by the shutter operation only during that period, the influence of the background light on the distance measurement is suppressed. It is possible to take a distance image even in a bright place.
[0032]
In this reference example, the object is irradiated with two types of light patterns, and the light intensity ratio at each pixel is calculated using the captured images in each case. However, an image when no light pattern is irradiated is also captured. Then, a total of three types of images (two types of optical patterns and one type without optical patterns) may be obtained and calculated. In this case, when calculating the light intensity ratio of each pixel, a difference value is calculated by subtracting the light intensity when there is no light pattern from the light intensity value when each light pattern is irradiated. Then, the ratio of these difference values is calculated to obtain the light intensity ratio. In this way, in the case of imaging in a bright place, it is possible to suppress distance calculation errors due to background light.
[0033]
(Second reference example)
FIG. 7 is a configuration diagram of a range finder according to a second reference example related to the present invention. In FIG. 7, 1a is a camera sensitive to infrared light, 2a and 2b are light sources, 3a and 3b are infrared transmission filters, 4a and 4b are ND filters whose transmittance varies in the horizontal direction, and 5 is a light source control unit. , 6 are distance calculation units. The operation of the above configuration will be described below.
[0034]
The light source controller 5 causes the light sources 2a and 2b to emit light for each field period in synchronization with the vertical synchronization signal of the infrared camera 1a. As the light sources 2a and 2b, a light source that emits flash light such as a xenon lamp and a light emitting portion that is small (can be regarded as a point light source) is desirable. The light sources 2a and 2b are arranged in the vertical direction.
[0035]
Infrared transmission filters 3a and 3b and ND filters 4a and 4b are arranged in front of each light source. The transmittance of the ND filters 4a and 4b changes in the horizontal direction. FIG. 2 shows the relationship between the angle from the light source in the horizontal direction and the transmittance of the ND filters 4a and 4b.
[0036]
With these ND filters, the light emitted from the two light sources to the subject space is bright on the right side and bright on the left side when viewed from the light sources. As a result, bright light on the right side or the left side is alternately projected onto the subject for each field period.
[0037]
FIG. 5 shows the relationship between the light intensity ratio of the two projection lights and the horizontal angle from the light source. The distance calculation method using the light intensity ratio will be described below.
[0038]
When the point P in FIG. 7 is used as the point of interest, the angle of the point P viewed from the light source is measured from the luminance ratio between the fields of the point P of the image captured by the camera 1a by using the relationship of FIG. To do. Further, 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, the distance is calculated based on the principle of triangulation from the above two angles and the distance (base line length) between the light source position and the optical center position of the camera.
[0039]
The camera's optical center is the origin, the camera's optical axis direction is the Z axis, the horizontal direction is the X axis, and the vertical direction is the Y axis. When the angle between the viewed point of interest 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 Z = Dtanθtanφ / (tanθ−tanφ). Can be calculated.
[0040]
The distance calculation unit 6 calculates a distance image from the video signal of the camera 1a. The method may be the same as in Reference Example 1, but there is another method that allows more accurate measurement as described 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 are light intensity correction means, 13 is a light intensity ratio calculation means, and 14 is a distance conversion means. The operation of each component will be described below.
[0041]
Images captured by the camera 1a are written to the field memories 11a and 11b for each field.
[0042]
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 next. FIG. 9 shows the relationship between the imaged light intensity and the pixel coordinate value when a screen having a constant distance Z is irradiated with light from a point light source (without an ND filter) and reflected light from the surface is imaged. Show. In FIG. 9, for the sake of simplicity, only the lateral direction is shown one-dimensionally, but the light intensity also shows a curved distribution in the vertical direction.
[0043]
Possible causes of this distribution include peripheral dimming by the lens system of the camera, changes in reflected light intensity due to changes in the incident angle of light rays on the subject surface, changes in light intensity due to angles from the light source, and the like. The change in the light intensity caused by these factors becomes an error at the time of light intensity ratio observation, that is, an error at the time of distance measurement. Therefore, in order to improve the distance measurement accuracy, it is necessary to convert the light intensity. If there is this error, a portion that is not a monotonically increasing curve occurs in the characteristic curve of FIG. In such a portion, the light intensity and the angle do not have a one-to-one correspondence. As a result, the measurement result will be out of order. Further, if there is no such error, the light intensity (ratio) is constant in the Y-axis direction, and there is an advantage that only one conversion table in FIG. 5 is required (in Reference Example 1, conversion tables for the number of Y coordinate values are required). Become).
[0044]
Therefore, in order to reduce the measurement error, the light intensity conversion means 12a, 12b generates a two-dimensional light intensity curve distribution in an image on a screen separated by a reference distance when there is no ND filter. When measuring in advance and obtaining the relationship between the light intensity and the angle of the projection light (corresponding to FIG. 5), or when measuring the distance of the actual subject, according to the curve distribution of the light intensity measured in advance, The light intensity of the field memory is corrected and converted. In the correction conversion, a coefficient for correcting the curve distribution of the light intensity to a constant value (that is, the ratio of the light intensity captured at each pixel with respect to a peak value or an arbitrary value) is held as a two-dimensional LUT (look-up table). Then, the data in the field memory is multiplied by the correction count for each pixel.
[0045]
When the distance at which the subject is placed is known in advance, the reference distance can be improved in the vicinity of the distance by measuring the distance.
[0046]
As described above, according to this reference example, the distance measurement is performed by correcting the error of the light intensity caused by the light source or the optical system when measuring the distance by the range finder using the light intensity. A stable and accurate range finder device can be realized.
[0047]
By arranging a half mirror or dichroic mirror and a color camera in front of the infrared camera of the range finder according to this reference example, a color image of the same viewpoint can be obtained simultaneously with a distance image.
[0048]
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.
Z = Dtanθtanφ / (tanθ-tanφ)
X = Z / tanθ
Y = Z / tanω
Thus, all three-dimensional coordinate values X, Y, and Z can be calculated and three-dimensional coordinate data can be output.
[0049]
In the light intensity correction in the distance calculation unit of the present reference example, when the subject is away from the reference distance described above, the position of the imaged pixel is shifted (that is, a parallax is generated), so that the distance measurement accuracy is lowered. In such a case, a light intensity correction amount for a plurality of reference distances is prepared in advance, the correction is first performed at one reference distance, the distance is calculated, and then the correction amount at a reference distance close thereto is calculated. The measurement accuracy can be improved by calculating the distance again using.
[0050]
Note that in this reference example, if the light sources 2a and 2b are made to emit light at the same time and used as a normal flash lamp in which the brightness at one center is large and the periphery is dark as shown by the dotted line in FIG. Can be imaged.
[0051]
In this reference example, if an image is picked up by a normal color camera simultaneously with an infrared camera using a half mirror or a dichroic mirror, a depth image and a texture image corresponding to the depth image can be picked up simultaneously.
[0052]
In this reference example, since the flash light is flashed for several hundred microseconds, if the camera 1 is set to be exposed by the shutter operation only during that period, the influence of the background light on the distance measurement is suppressed. It is possible to take a distance image even in a bright place.
[0053]
In this reference example, the object is irradiated with two types of light patterns, and the light intensity ratio at each pixel is calculated using the captured images in each case. However, an image when no light pattern is irradiated is also captured. Then, a total of three types of images (two types of optical patterns and one type without optical patterns) may be obtained and calculated.
[0054]
In this case, when calculating the light intensity ratio of each pixel, a difference value is calculated by subtracting the light intensity when there is no light pattern from the light intensity value when each light pattern is irradiated. Then, the ratio of these difference values is calculated to obtain the light intensity ratio. In this way, in the case of imaging in a bright place, it is possible to suppress distance calculation errors due to background light.
[0055]
Further, in this reference example, the light pattern projected onto the subject is changed to the light transmission type liquid crystal display element (in a normal liquid crystal image projector) instead of the ND filters 4a and 4b and the light sources 2a and 2b whose transmittance changes in the horizontal direction. As well as 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 switching on the two light patterns of the light transmission type liquid crystal display element while the light source is turned on. Similar to the example, two types of light patterns can be irradiated onto the subject in a time-sharing manner.
[0056]
(First embodiment)
FIG. 10A is a schematic perspective view showing the configuration of the first embodiment of the rangefinder of the present invention. The configuration of the present embodiment will be described below with reference to FIG.
[0057]
As shown in FIG. 10A, the semiconductor laser 201 is light source means for emitting light having a wavelength λ. The first optical fiber 202 is means for guiding light emitted from the semiconductor laser 201 to the optical distributor 203. A collimator lens 204 is disposed between the first optical fiber 202 and the semiconductor laser 201. The optical distributor 203 is an optical distribution unit that branches the light guided from the first optical fiber 202 into two paths. The light distributor 203 includes a shutter mechanism, and is means for sending the branched light to the second optical fibers a and b in a time division manner. Each of the second optical fiber a (205a) and the second optical fiber b (205b) has one end connected to the light distributor 203 and transmits light branched from the opening at the other end to the subject (for example, the inner wall of the stomach). ). The camera unit 206 is an imaging unit that acquires image data of a subject by 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. The CCD 209 is an image sensor attached to the camera unit 206 so that light from the light receiving optical fiber bundle 207 can be received. The light emitted from the opening 208a of the second optical fiber a (205a) exhibits a light intensity distribution as shown in FIG. 4 described in the above embodiment. The same applies to the light emitted from the opening 208b of the second optical fiber b (205b). The reason why the light intensity distribution differs in this way depending on the position in the horizontal direction is that 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 aperture angle. This 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.
[0058]
Note that the range finder of the present embodiment has a function similar to the distance calculation unit 6 described in the above embodiment, and calculates a distance to the subject based on image data from the camera unit 206. (Not shown). Of course, an optical fiber bundle may be used for both or one of the first optical fiber 202 and the second optical fibers a and b (205a and 205b).
[0059]
Next, the operation of this embodiment will be described with reference to FIG.
[0060]
The range finder according to the present embodiment can be used as an endoscope such as a stomach camera.
[0061]
That is, the distal ends of the second optical fibers a and b (205a and 205b) and the distal end of the light receiving optical fiber 207 are inserted into the stomach of the patient.
[0062]
From the openings of the second optical fibers a and b, light having a light intensity distribution characteristic as shown in FIG. 4 is irradiated in a time-sharing manner as in the first embodiment. The light receiving optical fiber 207 receives the reflected light of these lights. Further, the camera unit 206 sends image data of the stomach inner wall obtained from the reflected light to the distance calculation unit. The distance calculation unit calculates and outputs the three-dimensional distance data of the stomach inner wall in the same manner as in the first embodiment. 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 view the image of the affected area projected three-dimensionally. As a result, a more accurate diagnosis can be made compared to the conventional case.
[0063]
In the above-described embodiment, the range finder having one semiconductor laser as the light source unit has been described. However, the present invention is not limited to this. For example, as shown in FIG. 10B, two light source units are provided. The structure may be different. That is, in this case, the semiconductor lasers 201a and 201b as the light source units are provided with optical fibers 205a and 205b for individually guiding the emitted light to the subject side and irradiating the subject. Collimator lenses 204a and 204b are disposed between the optical fibers 205a and 205b and the semiconductor lasers 201a and 201b. Such a configuration exhibits the same effects as described above.
[0064]
In the above-described embodiment, the configuration in which the light distributor 203 is provided between the first optical fiber 202 and the two second fibers 205a and 205b has been described. In place of the second optical fibers 205a and 205b, a light branching unit (not shown) is provided for branching the light guided from the first optical fiber into two paths at the tip of the fiber and irradiating the subject. It may be configured. In this case, the second optical fiber can be omitted, and the same effect as described above is exhibited.
[0065]
In the above-described embodiment, as shown in FIG. 11A, a configuration in which nothing is arranged in front of the optical fibers 205a and 205b has been described. , 205b are provided with collimating lens 301 (see FIG. 11B) or cylindrical lens (or rod lens) 302 (see FIG. 11C) in front of openings 208a and 208b. The structure arrange | positioned in the front may be sufficient. As a result, the intensity of light emitted from the opening can be more efficiently and uniformly changed in position. It should be noted that the front surfaces of the openings 208a and 208b output light that does not have different light intensity in place, and instead, the transmittance change filter 1 (303a) having different light transmittance and the transmittance change. It is also possible to arrange the filter 2 (303b) in front of each opening 208a, 208b.
[0066]
Here, the characteristics of the filter shown in FIG. 11 (d) will be further described with reference to FIGS. 12 (a) and 12 (b).
[0067]
For example, the intensity distribution of the light transmitted through the transmittance changing filter 1 (303a) shown in FIG. 12A is set to have a reference numeral 401a in FIG. 12B. On the other hand, the intensity distribution of the light transmitted through the transmittance change filter 2 (303b) is set so as to have the reference numeral 401b in the figure. FIG. 12B is a diagram showing the light intensity distribution in the range of α shown in FIG. The present invention can also be realized using such a transmittance change filter.
[0068]
In the above embodiment, the shutter mechanism is provided in the light distributor and the subject is irradiated with light in a time division manner. However, the present invention is not limited to this. The light of the different frequency is irradiated by providing a filter in the optical distributor. Then, by providing the camera unit with a filter and a light receiving element that can distinguish and receive these two types of wavelengths, it is possible to simultaneously irradiate the subject with each light of the two types of wavelengths. . As a result, the measurement time can be shortened. Also in the configuration shown in FIG. 10B, if the wavelengths of the semiconductor lasers 201a and 201b are different and the camera unit 206 includes a filter and a light receiving element that can receive light by distinguishing two types of wavelengths, Similar to the above, the measurement time can be shortened.
[0069]
In the above embodiment, the semiconductor laser is used as the light source. However, the present invention is not limited to this. For example, an LED or a lamp may be used.
[0070]
Next, an example of a more compact and simple camera related to the above-described range finder apparatus according to the present invention will be described.
[0071]
In other words, in the above-described range finder device, it is necessary to shift the light reflectors of the light sources 2a and 2b as shown in FIG. 2 or to install optical filters having different light transmittances depending on the horizontal place in front of the arc tube. It can be said that the structure is complicated.
[0072]
In addition, if the distance between the camera lens and the light source is not more than several tens of centimeters, triangulation is used and measurement accuracy cannot be obtained. Even if this is attempted to be housed in the camera housing, the camera becomes considerably large.
[0073]
Further, measuring the size and dimensions of an object imaged by a conventionally known camera has a drawback that it cannot be easily calculated unless the distance to the subject is known. Further, it has been impossible to know the size of the subject from the color image once taken.
[0074]
In addition, if an object is to be extracted from an image captured by a conventionally known camera, an environment with a single background must be prepared in advance, requiring extensive preparation.
[0075]
A shape measuring camera and a subject extracting camera according to a reference example of the present invention capable of solving such inconveniences will be described below with reference to the drawings.
(Third reference example)
FIGS. 13A and 13B are configuration diagrams of the shape measurement camera and the subject extraction camera in the third reference example of the present invention. FIG. 20 is a block diagram of this camera.
[0076]
In FIG. 13, reference numerals 501 and 502 denote camera housings, 503 denotes a photographing lens, 504 denotes a recording medium, 505 and 506 denote first and second strobes forming a light source unit, and 507 denotes 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, 538 is a media recording / playback unit, and 550 is an image memory.
[0077]
As shown in FIG. 13A, the shape measurement camera has a structure in which a case 501 containing a camera unit and a case 502 containing a light emitting unit are overlapped with each other with different thicknesses. Further, the state shown in FIG. 13A and the state shown in FIG. 13B can be selected by sliding the casings 501 and 502 by the user. When carrying, a small state is set in the state (a), and the case is extended and used in the state (b) at the time of photographing. Accordingly, the distance D between the center of the lens 503 and the strobes 505 and 506 of the light source unit can be set large during use. FIG. 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 can be imaged and displayed at high speed.
[0078]
The strobes 505 and 506 of the light source unit are configured as shown in FIG. 2, for example, and include a strobe arc tube 530 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 emitted by the light shielding plate 528 while changing how light is blocked. At this time, the position of the hole of the light shielding plate 528 is shifted from the strobe arc tube 530, and light is generated such that the light gradually increases between points A and B on the straight line l. As a result, as shown in FIG. 16, an optical pattern in which the light intensity changes in the opposite directions from the two strobe arc tubes is generated. Next, a method for calculating the depth distance using such light will be described. The content is almost the same as the depth distance calculation method already described.
[0079]
The optical pattern thus obtained is a pattern in which the light intensity changes as shown in FIG. FIG. 18 shows one-dimensionally the change in light intensity in the horizontal X direction. In the α part of the light pattern, light emitted from the two light sources to the subject space is bright on the right side and bright on the left side when viewed from the light sources. However, this pattern also changes in the height direction (Y direction).
[0080]
FIG. 19 shows the relationship between the light intensity ratio in subject illumination with the two projection lights and the angle φ in the horizontal direction from the light source in the α portion of FIG. In the α portion, the relationship between the light intensity ratio and the horizontal angle φ from the light source has a one-to-one correspondence. In order to measure the distance, two types of light patterns are alternately projected in advance onto a vertically set plane, and the reflected light is captured by the camera 501, and as shown in FIG. It is necessary to obtain data on the relationship between the light intensity ratio and the position from the horizontal light source.
[0081]
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 with the X axis of the imaging surface, the light intensity ratio determined for each Y coordinate and the horizontal light source By using the positional relationship data, the distance can be calculated accurately. This is calculated by the distance calculation unit in FIG. The distance calculation method using the light intensity ratio will be described below.
[0082]
When the point P in FIG. 20A is the point of interest, two types of light patterns from the light source strobes 505 and 506 with respect to the point P of the image captured by the image capturing unit 533 based on the user's intention to capture images. By using the relationship of FIG. 19 corresponding to the Y coordinate value of the point P and the luminance ratio obtained from the imaging data that is the output of the imaging unit 533 when projected by the light source control unit 534 in a time division manner, the light source Measure the angle φ of the point P viewed from.
[0083]
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 horizontal angle φ from the light source is prepared by prior measurement for each Y coordinate. Shall. The angle θ with respect to the point P as 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 based on the principle of triangulation from the above two angles and the distance (baseline length D) between the light source position and the optical center position of the camera.
[0084]
The camera's optical center is the origin, the camera's optical axis direction is the Z axis, the horizontal direction is the X axis, and the vertical direction is the Y axis. If the angle between the viewed point of interest and the X axis is θ, 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 an expression.
Z = Dtanθtanφ / (tanθ-tanφ)
Can be calculated as 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 is deteriorated. For example, in the case of a subject up to a distance of about 3 m, if the value of D is set to 20 to 30 cm, the depth can be measured with an error of about 1% of the measurement distance. As the value of D becomes smaller, the measurement error becomes larger. Further, the X and Y coordinates of the point of interest P are given by the following equations.
[0085]
X = Z / tanθ
Y = Z / tanω
In addition, the color image calculation unit 536 calculates an image obtained by adding and averaging the imaging data at the time of the above-described two types of light pattern irradiation, and uses this as a color image. As shown in FIG. 18, the two types of light patterns have the characteristic that the brightness changes complementarily to each other, and by averaging these, it is equivalent to taking an image with a strobe with uniform brightness. A color image can be obtained.
[0086]
The color image and the depth image obtained as described above are displayed on the display unit 532 and recorded on the recording medium 504 through the media recording / reproducing unit 538. Of course, the once recorded color image and depth image can be read out by the media recording / reproducing unit 538 and displayed on the display unit 532.
[0087]
Further, as shown in FIG. 20B, if the image data from the imaging unit 533 is once stored in the image memory 550, images can be continuously input. In addition, a plurality of images once recorded on the recording medium 504 can be read out to the image memory 550 and displayed at high speed.
[0088]
As described above, according to this reference example, it is possible to generate a plurality of light patterns with a simple structure simply by using a linear strobe arc tube and a perforated light-shielding plate as a light intensity change pattern. A shape measuring camera can be realized.
[0089]
In addition, the shape measurement camera can be realized which is small when carried and can be used to extend the main body during shooting to increase the distance D between the lens 503 and the strobes 505 and 506 of the light source unit, and can measure a highly accurate depth image. .
[0090]
(Fourth reference example)
FIG. 28 is a configuration diagram of the shape measurement camera and the subject extraction camera in the fourth reference example of the present invention. 28, reference numerals 501 and 502 denote camera housings, 505 and 506 denote first and second strobes forming a light source unit, 518 denotes a display panel, 519 denotes a touch panel, 532 denotes a display unit, 533 denotes an imaging unit, 535, respectively. Is a distance calculation unit, 536 is a color image calculation unit, 538 is a media recording / playback unit, and 537 is a control unit. Hereinafter, operations of the shape measuring camera and the subject extraction camera having the above-described configuration will be described.
[0091]
FIG. 27 shows the back surface of the shape measuring camera. On the back surface, a display panel 518 and a touch panel 519 are arranged so as to overlap each other, and the captured color image and depth image are displayed. The user is a finger or a stick-shaped object, and the position of interest (coordinates) in the image Can be specified.
[0092]
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. The control unit 537 displays the photographed color image on the display panel 518, calculates an actual distance and the like from the plurality of designated attention coordinates input by the touch panel 519 and the depth image, and displays them on the display panel 518.
[0093]
FIG. 25 shows how attention positions are designated. First, it is assumed that a color image of a desk photographed by the user is displayed on the display unit 518. The user designates designated points A523 and B524 with fingers or sticks.
[0094]
When specified, the shape measurement camera uses the values of the actual coordinates A (Xa, Ya, Za) and B (Xb, Yb, Zb) at the respective coordinate positions of the obtained depth image to generate points A, B The distance Lab of the line segment AB connecting
[0095]
[Expression 1]

[0096]
Is calculated and displayed on another part 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 points of the photographed subject to be measured without touching the subject even if it is the length in the depth direction.
[0097]
Similarly, it is possible to measure the size of a circular object instead of a straight line. FIG. 26 shows an example when a circular table is imaged. For example, the user touches a touch panel with a finger or a bar-like object at three appropriate points A523, B524, and C526 in a circular circumference to be measured while viewing a color image that is captured and displayed on the display panel 518. Specify by.
[0098]
After that, the shape measuring camera calculates the equation of the circle passing through these three spatial coordinate values A (Xa, Ya, Za), B (Xb, Yb, Zb), and C (Xc, Yc, Zc). Ask. There are various methods for obtaining, for example, a perpendicular bisector of line segments AB and BC is obtained, and the intersection thereof is the center G (Xg, Yg, Zg) of the circle. Next, an average value of the lengths of the line segments GA, GB, and GC may be set as the radius of the circle.
[0099]
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 formula that defines the shape, such as an equilateral triangle or an ellipse, the user can measure the size of the depth image without touching the subject by specifying multiple points. Can do. In this case, the user inputs the coordinates of the point of interest using the touch panel, but a cursor (such as a cross pattern) that moves up, down, left, and right is displayed on the display panel 518, and the position is moved by the push button. Then, the coordinates of the point of interest may be input.
[0100]
Also, if the subject size calculation result is recorded on the recording medium 504 through the media recording / reproducing unit 538, the user does not need to remember the measurement result, and the recording medium 504 can be taken out and read and written. It can be used with a device (such as a personal computer) having a function equivalent to that of the recording / reproducing unit 538, which is convenient. Of course, the measurement result may be superimposed on the photographed color image and stored as an image.
[0101]
In the above example, the length of the subject is measured, but a plurality of lengths can be measured, and the area and volume can be obtained based on the measured lengths.
[0102]
Furthermore, other display / use examples of the photographing data will be described.
[0103]
As shown in FIG. 27, a display unit 518 and a touch panel 519 are arranged on the back surface of the camera so as to display the captured color image and depth image, and the user can use a finger or a stick-like one. An attention position (coordinates) in the image can be designated. By using this, it is possible to realize a subject extraction camera that can obtain an image obtained by cutting out only the subject that the user has noticed.
[0104]
FIG. 28 shows a block diagram of the display / cutout operation, which is basically 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 attention position designation coordinates of the user are also input to the control unit 537.
[0105]
The control unit 537 displays the photographed color image on the display panel 518, cuts out only the subject intended by the user from the plurality of attention designation coordinates and the depth image input by the touch panel 519, and displays them on the display unit 518. And can be recorded on the recording medium 504. This operation will be described with reference to FIG.
[0106]
First, it is assumed that 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 the portion having the depth continuously connected to the depth image as the subject to be noticed by the user, and displays only the portion. The other parts are filled with a specific color and displayed on the display panel 518.
[0107]
Judgment of the connected part starts from the designated coordinates as the starting point, so-called image processing that expands the area vertically and horizontally as long as the depth value changes continuously, and stops if there is a discontinuous depth part. Just do it.
[0108]
Further, a distance slightly longer than the distance from the camera of the subject that the user wants to cut out, or a range of the distance that the user wants to cut out is specified by a touch panel or a push button, and the control unit 537 is more than the distance specified by the value. A color image included in only a part of a color image having a close value or a part within a specified distance range is displayed, and the other part is painted in a specific color and displayed on the display panel 518, and the recording medium 504 is displayed. To record.
[0109]
In this way, the camera can determine and cut out only the subject that the user is interested in, and can display and record this. Further, in this case, depending on the image processing, as shown in FIG. 30, there is a possibility that a portion that is determined to be the foreground due to a malfunction is generated although it is the background portion.
[0110]
In this case, if the user designates a part (FIG. 29) that seems to have malfunctioned by using the touch panel 519, and corrects the display result so that this is the background, the cutout color of the subject with high quality can be obtained. An image can be obtained. Of course, in this case, the user may specify a portion determined to be the background due to a malfunction, and the correction operation may be performed so that this portion becomes the foreground.
[0111]
In this way, by cutting out a color image according to distance using the depth image information, it is possible to easily obtain and save an image in which only the subject that the user is interested in is cut out.
[0112]
In FIG. 28, an image memory is arranged in the control unit 537, and an image to be played back / operated is temporarily placed on the image memory, so that the access speed of the image is increased or a plurality of images are switched at a high speed for display. -Can be operated.
[0113]
As described above, according to this reference example, the actual size of the subject can be measured without touching the subject. In addition, it is possible to realize a shape measurement camera and a subject extraction camera that can easily cut out and save only the subject that the user is paying attention to based on the depth information.
[0114]
In the third reference example, the same effect can be obtained even if the housing of the shape measurement camera is configured as shown in FIG. That is, the camera unit 509 in which the imaging unit 533 is arranged and the strobe unit 508 in which the first and second strobes 505 and 506 forming the light source are connected by the connection unit 510 having a hinge-like structure, It is a structure that the user can freely fold as shown in FIG. 21 (a) or extend as shown in (b). When portable, the distance D between the lens 503 and the first and second strobes 505 and 506 of the light source can be increased by using a small size as shown in FIG. I can do it.
[0115]
Further, as shown in FIG. 21C, the lens and the first and second strobes 505 and 506 can be arranged vertically. In this case, in the depth image calculation, the angles φ and θ are changed in the horizontal direction as described above. However, the depth image can be calculated by the same calculation only by changing in the vertical direction. In order to generate a change in the light intensity in the vertical direction, the light source has a configuration of a vertically-arranged arc tube as shown in FIG.
[0116]
In this case, as shown in FIG. 23, the housing 501 containing the camera unit and the housing 502 containing the light emitting unit as shown in FIG. 21 have different thicknesses and overlap each other in the vertical direction. The same effect can be obtained even if the structure is capable of. The configuration of the light source unit at this time is as shown in FIG.
[0117]
In the third reference example, the same effect can be obtained even if the housing of the shape measurement camera is configured as shown in FIG. That is, the housing 517 of the portion including the first and second strobes 505 and 506 of the light source unit is made small and connected to the camera housing 501 with a hinge structure. In use, the user turns the casing 517 to expose the first and second strobes 505 and 506 of the light source unit, so that the first and second strobes 505 and 506 of the light source unit are not normally exposed and are inadvertent. The housing can be made small while preventing damage due to contact, and at the same time, the distance D between the lens and the lens can be made large during photographing.
[0118]
In the third reference example, the light source is configured as shown in FIG. 2, but as shown in FIG. 24A, there is one arc tube 529, and a liquid crystal barrier 531 is placed in front of it. Even if it has a structure, it can have the same optical pattern generation function.
[0119]
In this case, the light transmitting portions are sequentially set on the left side with respect to the arc tube 529 as shown in FIG. 24B and on the right side with respect to the arc tube 529, and the arc tube 529 is sequentially turned once in each state. As shown in FIG. 2, a light pattern similar to that in FIG. 18 can be generated by sequentially emitting one light-emitting tube twice without using two light-emitting tubes as shown in FIG.
[0120]
As a result, the number of arc tubes is small, and the emission position of the emission pattern does not exit from a position slightly shifted up and down as shown in FIG. 2, but it is as if light is emitted from the same position. Measurement error can be reduced.
[0121]
In FIG. 20, the position of the emission point Q of the optical pattern is shifted in the vertical direction in this reference example, but in this case, it is the same position, so the straight line PQ becomes one line, and the vertical position This is because an error does not occur as compared to the depth calculation using different straight lines.
[0122]
In this case, as shown in FIG. 24D, the entire surface of the liquid crystal barrier 531 is in a light-transmitting state so that it can be used as a strobe of a camera that captures a normal two-dimensional image.
[0123]
In the third reference example, the depth image and the color image are calculated in the shape measurement camera and the subject extraction camera main body and recorded on the recording medium. However, as shown in FIG. The image data captured in synchronism with the first and second strobes 505 and 506 is recorded on the recording medium 504 through the media recording / reproducing unit 538, and the image data is recorded by the analyzing device 39 constituted by a personal computer or the like. It may be read out and a desired analysis result may be obtained by the distance calculation unit 535 and the color image calculation unit 536, and a subject may be cut out using the display unit 532 or the shape may be measured.
[0124]
In addition, the image data can be transferred to the analysis device 539 without using 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 a wire communication, a parallel data interface, a serial data interface, and a telephone line can be used. In wireless communication, optical communication, infrared communication, cellular phone network communication, and radio wave communication can be used. Furthermore, the analysis result can be recorded on a recording medium.
[0125]
In this case, the image pickup unit 533 is a video camera for moving image shooting. When the recording medium 504 is a recording medium such as a tape, it is normally used as a camera for shooting a color moving image and is pushed only when necessary by the user. By pressing a button or the like, the flash is turned on, and an index signal that can identify only the video (frame, field, etc.) of that portion is stored in the recording medium. It is possible to extract only the video and calculate and output a color image / depth image for only that portion.
[0126]
In the third reference example, the light source unit is attached to the camera housing 501 from the beginning. However, by making only the light source unit removable, the camera case 501 has a shape that is small and easy to carry when capturing normal color images. A method of attaching and using a light source unit only when taking a depth image is also conceivable.
[0127]
FIG. 37A shows a structure similar to an external strobe device for photography, which is an external light source equipped with a light source as shown in FIGS. It is used by being connected to the camera housing 501 as shown in FIG. 37 (b) via the camera connection portion 549. FIG. 38 shows an example of a light source for eliminating the shadow of the subject as shown in FIGS.
[0128]
In FIG. 38A, light sources are arranged symmetrically on both sides of the connection portion 549. A state of being connected to the camera is shown in FIG. In FIGS. 37 and 38, the camera body and the light source are connected in a structure similar to a strobe shoe of a film camera. However, as shown in FIG. 39 (a), a method of attaching using a camera tripod mounting screw is also considered. It is done.
[0129]
In this case, as shown in FIG. 39 (b), the camera housing 501 is attached using a screw at the bottom. If the light source is separated as such a detachable external light source device, the camera becomes large only at the time of taking a depth image, and when used as a normal camera, the convenience of being small and light can be obtained.
[0130]
In the fourth reference example, in the configuration of FIG. 31, the user's coordinates can be specified by a configuration using a touch panel, but the user may specify by other means. For example, when implemented by a personal computer, a mouse or keyboard input device can be used. Other applications such as trackballs, switches, and volumes are also possible.
[0131]
In the third and fourth reference examples, as shown in FIGS. 13, 21, 22, and 23, the first and second strobes 505 and 506 of the two light source units with respect to the imaging unit 533 are used. In this case, when the subject 540 and the background 541 are imaged in the arrangement as shown in FIG. 32, the light from the light source is blocked by the subject 540 as shown in FIG. A shadow 542 is generated.
[0132]
This portion is a region where light from the light source does not reach, and is a region where information as a distance image cannot be obtained. In this case, as shown in FIG. 34, light sources 543 and 544 having the same configuration as the first and second strobes 505 and 506 of the light source are installed on the opposite side of the first and second strobes 505 and 506 of the light source with the lens as the center. By doing so, this shadow area can be eliminated. The method is shown below.
[0133]
When the first and second strobes 505 and 506 of the light source are used, the area β is the part from which information as a distance image cannot be obtained when the light sources 543 and 544 are used. Similar to the above calculation, the distance image A and color image A when the first and second strobes 505 and 506 of the light source are used, and the distance image B and color image B when the light sources 543 and 544 are used, respectively. Calculate independently. At this time, in each image, the regions β and α are determined from the obtained image data as a portion having a low luminance.
[0134]
Next, the distance images A and B are combined to newly generate a distance image without a shadow area. This is the case where either one of the distance images A and B has an area that is not determined as the aforementioned low-luminance part, and that value is used. If neither area is a shadow area, both image data This can be realized by using an average value.
[0135]
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 without a shadow region can be synthesized.
[0136]
In the case of the above configuration, the light sources need to be arranged on the left and right or top and bottom of the lens. In this case, as shown in FIG. 35, if the casing 512/513 having the light source unit is slid in the opposite direction on the left and right sides of the camera body 511, the user can carry the casing. It is sometimes reduced and carried in the state shown in FIG. 35A, and when used, it is extended as shown in FIG. 35B to increase the base line length D, thereby preventing the depth image measurement accuracy from being lowered.
[0137]
Also, as shown in FIG. 36, the same effect can be obtained even if the structure is folded in three stages. As shown in FIG. 36 (a), it can be folded and carried when carried, and when used, it can be extended as shown in FIG. 36 (b) to increase the base length D, which is the distance between the lens and the light source.
[0138]
Further, as shown in FIG. 21C, the casings 512 and 513 in FIG. 35 are arranged above and below the casing 511 in order to make the arrangement of the lens and the light source vertical, or in FIGS. May be arranged above and below the housing 511.
[0139]
【The invention's effect】
As is apparent from the above description, according to the range finder device of the present invention, it is possible to accurately measure the distance even when the light from the light source has a two-dimensional pattern.
[0140]
Further, according to the range finder device of the present invention, it is possible to measure the distance of the subject where the light from the light source cannot be directly irradiated onto the subject.
Further, according to the range finder apparatus of the present invention, it is possible to provide a highly reliable apparatus at low cost.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a range finder apparatus in Reference Example 1 of the present invention.
2A is a perspective view illustrating a configuration of a light source of a range finder device in Reference Example 1. FIG.
(B): It is a top view which shows the structure of the light source of the range finder apparatus in the reference example 1. 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 multiple emission in Reference Example 1. FIG.
FIG. 5 is a relationship diagram between a light intensity ratio in Reference Example 1 and an angle φ from a light source.
6 is a conceptual diagram of calculation of three-dimensional positions X, Y, and Z in Reference Example 1. FIG.
FIG. 7 is a block diagram showing a configuration of a range finder device in Reference Example 2 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 illustrating a change in light intensity with respect to an X coordinate in Reference Example 2. FIG.
FIG. 10A is a block diagram showing a configuration of a range finder device in Embodiment 1 of the present invention;
(B): It is a block diagram which shows the structure of the modification of the range finder apparatus in Embodiment 1 of this invention.
FIGS. 11A to 11C are explanatory diagrams of arrangement of lens systems in Embodiment 1. FIGS.
(D): It is arrangement | positioning explanatory drawing of the transmittance | permeability change filter in the embodiment.
12A is an explanatory diagram of a transmittance change filter in Embodiment 1. FIG.
(B): It is light intensity distribution explanatory drawing by the transmittance | permeability change filter in the embodiment.
FIGS. 13A and 13B are diagrams of a camera for shape measurement and subject extraction of a third reference example according to the present invention. FIGS.
FIG. 14 is a configuration diagram of a light source unit of a camera according to a third reference example of the present invention.
FIG. 15 is a principle diagram of a light source unit of a camera according to a third reference example of the present invention.
FIG. 16 is a light intensity diagram of a light source unit of a camera according to a third reference example of the present invention.
FIG. 17 is a diagram illustrating a light intensity pattern of a light source unit of a camera according to a third reference example of the present invention.
FIG. 18 is a diagram illustrating a light intensity pattern of a light source unit of a camera according to a third reference example of the present invention.
FIG. 19 is a diagram illustrating a light intensity ratio of a light source unit of a camera according to a third reference example of the present invention.
20A and 20B are block diagrams of a camera according to a third reference example of the present invention.
FIGS. 21A to 21D are configuration diagrams of a camera (2) in a third reference example of the present invention. FIGS.
22A and 22B are external views of a camera (3) in a third reference example of the present invention.
FIGS. 23A to 23C are configuration diagrams of a camera (4) in a third reference example of the present invention. FIGS.
24A to 24D are configuration diagrams of a light source unit of a camera (2) according to a third reference example of the present invention.
FIG. 25 is a diagram showing a camera display method (1) in a fourth reference example of the present invention;
FIG. 26 is a diagram showing a camera display method (2) according to a fourth reference example of the present invention;
FIG. 27 is a rear external view of a camera according to a fourth reference example of the present invention.
FIG. 28 is a block diagram of a camera according to a fourth reference example of the present invention.
FIG. 29 is a diagram showing an image correction operation (1) of the camera in the fourth reference example of the invention.
FIG. 30 is a diagram showing an image correction operation (2) of the camera in the fourth reference example of the present invention.
FIG. 31 is another configuration diagram of the camera according to the third reference example of the present invention.
FIG. 32 is a diagram illustrating the occurrence of occlusion in a camera according to third and fourth reference examples of the present invention.
FIG. 33 is a diagram showing camera occlusion in the third and fourth reference examples of the present invention.
FIG. 34 is a diagram showing camera occlusion avoidance methods according to third and fourth reference examples of the present invention.
FIGS. 35 (a) and 35 (b) are external views for avoiding occlusion of the camera (1) in the third and fourth reference examples of the present invention. FIGS.
36 (a) and 36 (b) are external views for avoiding occlusion of the camera (2) in the third and fourth reference examples of the present invention.
FIGS. 37A and 37B are external views of an external light source section (1) of a camera according to third and fourth reference examples of the present invention. FIGS.
FIGS. 38A and 38B are external views of an external light source section (2) of a camera according to third and fourth reference examples of the present invention. FIGS.
FIGS. 39A and 39B are external views of an external light source section (3) of a camera according to third and fourth reference examples of the present invention. FIGS.
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.
FIGS. 43A and 43B are measurement principle diagrams in the range finder. FIGS.
[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 varies in the horizontal direction
4b ND filter whose transmittance varies in the horizontal direction
5 Light source controller
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 conversion part a
12b Light intensity conversion part 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 subjects
107 lenses
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 section
509 Camera housing
510 connections
511 Camera body
512 Light source housing
513 Light source 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 Foreground part due to malfunction
528 shading plate
529 Strobe arc tube A
530 Strobe arc tube B
531 Liquid crystal 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 Part where light from light source is blocked
543 Light Source 3
544 Light Source 4
545 Camera mounting screw
546 Light Source Unit Housing (1)
547 Light source housing (2)
548 Light source fixing base
549 Light source fixture (strobe shoe bracket)
550 image memory
551 Reflector (1)
552 Reflector (2)
100 Parts judged to be background

Claims (11)

A light source;
A first optical fiber for guiding light emitted from the light source;
Light distribution means for branching light guided from the first optical fiber into a plurality of paths;
A plurality of second optical fibers having one end connected to the light distribution means and irradiating the branched light from an opening at the other end to the subject;
Imaging means for receiving reflected light of the irradiated light and acquiring image data of the subject;
A distance calculating means for calculating a distance to the subject based on the image data;
Each of the intensity of the other end from the light irradiated to the subject, the range finder equipment, characterized in that it has a both spatially different distribution of the second optical fiber of several. A light source;
A first optical fiber for guiding light emitted from the light source;
Light branching means for branching light guided from the first optical fiber into a plurality of paths and irradiating the subject;
Imaging means for receiving reflected light of the irradiated light and acquiring image data of the subject;
A distance calculating means for calculating a distance to the subject based on the image data;
Light intensity of any of the path to be irradiated on the object from the light branching means also rangefinder, characterized in that a location distinct distributions. Multiple light sources;
A plurality of optical fibers for individually guiding the light emitted from the light source to the subject side and irradiating the subject;
Imaging means for receiving reflected light of the irradiated light and acquiring image data of the subject;
A distance calculating means for calculating a distance to the subject based on the image data;
Light intensity from any of the optical fiber to be irradiated on the object is also rangefinder, characterized in that a location distinct distributions.   4. The range finder apparatus according to claim 1, further comprising a lens system disposed in front of an opening of the optical fiber that irradiates the subject with light.   4. An optical filter having a different light transmittance depending on the location is provided in front of the opening of the optical fiber that irradiates the light in order to obtain a local distribution of the light intensity. Rangefinder device.   3. The range finder apparatus according to claim 2, further comprising a lens system disposed in front of an opening of the light branching unit that irradiates the subject with light.   3. An optical filter having a different light transmittance depending on a place is provided in front of an opening of the light branching means for irradiating the light in order to obtain a local distribution of the light intensity. Rangefinder device.   The range finder apparatus according to any one of claims 1 to 7, wherein the lens system is a collimating lens, a cylindrical lens, or a rod lens. 2. The range according to claim 1, wherein the opening angles of the other ends of the plurality of second optical fibers are set such that the intensity of the light applied to the subject has a distribution that differs in each place. Finder device. The opening angles on the subject side of the first optical fiber branched into the plurality of paths are set so that the intensity of light irradiated on the subject has a distribution that differs in each place. Item 3. A rangefinder device according to item 2. 4. The range finder apparatus according to claim 3, wherein the opening angle on the subject side of each of the plurality of optical fibers is set such that the intensity of light applied to the subject has a distribution that differs in each place. .

Images