JP4315545B2 - 3D image detection system and 3D image detection apparatus - Google Patents

Description

Ｍはマスターカメラ、Ｓはスレーブカメラを表しており、’→’記号はマスターカメラ、スレーブカメラ間でのデータの伝送方向を表している。カメラリンク処理に用いられる信号は、１ビット信号であるリンク撮影モード信号（ＭＯＤＥ）と３ビット信号であるカメラ識別信号（Ｃ１、Ｃ２、Ｃ３）である。３ビット信号の照明識別信号（Ｌ１、Ｌ２、Ｌ３）と、１ビット信号のＯＫ信号（ＯＫ＿ＡＣＫ）、ＮＧ信号（ＮＧ＿ＡＣＫ）、撮影終了信号（ＥＮＤ）は、後のリンク撮影動作において用いられる。
【００４１】
図６は、ステップ１００、すなわちカメラ１０ａで実行されるカメラリンク処理のフローチャートであり、図７は、ステップ２００、すなわちカメラ１０ｂ〜カメラ１０ｆで実行されるカメラリンク処理のフローチャートである。
【００４２】
まずステップ３００で、カメラ１０ａ、カメラ１０ｂ間のリンク撮影モード（ＭＯＤＥ）信号（送信側）がハイレベルに設定され、ステップ３０１でカメラ識別番号（送信側）が１にセットされるとともにカメラ１０ｂへ出力される。その後ステップ３０２においてタイマがリセットされ、ステップ３０３でカメラ１０ｆ、カメラ１０ａ間のＭＯＤＥ信号（受信側）がハイレベルであるか否かが判定される。受信側のＭＯＤＥ信号がハイレベルでないと判定されるとステップ３０６においてタイマが所定の時間を超過していないか否かが判定される。所定時間経過していないと判定されると、ステップ３０３に再び処理は戻り、受信側のＭＯＤＥ信号がハイレベルであるか否かが判定される。またステップ３０６でタイマの時間が所定時間を超過していると判定されると、カメラリンク処理が成功したことを表すフラッグをリセットしてこの処理は終了する。
【００４３】
一方ステップ３０３において受信側のＭＯＤＥ信号はハイレベルであると判定されると、ステップ３０４において、受信側のカメラ識別番号が１であるか否かが判定される。受信側のカメラ識別番号が１であると判定されるとステップ３０６に処理は移り、タイマの時間が所定時間を超過しているか否かが判定される。ステップ３０４において受信側のカメラ識別番号が１でないと判定されると、ステップ３０５においてカメラリンク処理が成功したこと表すフラッグが立てられ、この処理は終了する。
【００４４】
カメラ１０ａにおいて図６で示されたカメラリンク処理が行なわれている間、カメラ１０ｂ〜カメラ１０ｆでは、図７で示されるカメラリンク処理が行なわれる。ステップ４００で、受信側のＭＯＤＥ信号がハイレベルであると判定されると、処理はステップ４０１へ移行し、送信側のＭＯＤＥ信号がハイレベルに設定される。例えばカメラ１０ａからのＭＯＤＥ信号がハイレベルに設定され、これをカメラ１０ｂが受信すると、カメラ１０ｂはカメラ１０ｃへのＭＯＤＥ信号をハイレベルに設定する。ステップ４０２では、受信したカメラ識別番号ｎに１を加算したものを送信側のカメラ識別番号に設定して次のカメラへ出力する。例えば、カメラ１０ｂはカメラ１０ａからカメラ識別番号１を受信し、カメラ識別番号２をカメラ１０ｃに出力する。すなわち６台のカメラ１０ａ〜１０ｆは、カメラ識別番号１、２、…、６にそれぞれ対応する。
【００４５】
図８は、各カメラ間におけるＭＯＤＥ信号の立ち上げ及び立ち下げのシーケンスを示したものである。すなわち、図８（ａ）はカメラ１０ａとカメラ１０ｂ、図８（ｂ）はカメラ１０ｂとカメラ１０ｃ、図８（ｃ）はカメラ１０ｃとカメラ１０ｄ、図８（ｄ）はカメラ１０ｄとカメラ１０ｅ、図８（ｅ）はカメラ１０ｅとカメラ１０ｆ、図８（ｆ）はカメラ１０ｆとカメラ１０ａ間のＭＯＤＥ信号の立ち上げ及び立ち下げのシーケンスを表している。ステップ３００での送信側のＭＯＤＥ信号をハイレベルに設定することにより、カメラ１０ａ、カメラ１０ｂ間のＭＯＤＥ信号は、ＳＨ１においてハイレベルに設定される。ハイレベルのＭＯＤＥ信号を受信したカメラ１０ｂはカメラ１０ｂ、カメラ１０ｃ間のＭＯＤＥ信号をＳＨ２においてハイレベルに設定する。このように順次各カメラ間のＭＯＤＥ信号がハイレベルに設定され、ＳＨ６では全てのカメラ間のＭＯＤＥ信号がハイレベルに設定される。
【００４６】
一方、各カメラは割り込み処理で常時受信側のＭＯＤＥ信号を監視しており、受信側のＭＯＤＥ信号がローレベルに設定されると、自らの送信側のＭＯＤＥ信号をローレベルに設定した後、実行されている撮影動作をそれぞれ強制終了する。例えば、カメラ１０ａが送信側のＭＯＤＥ信号をＳＬ１においてローレベルに設定すると、それを検知したカメラ１０ｂもＳＬ２において送信側のＭＯＤＥ信号をローレベルにした後、撮影動作を強制終了する。以下同様にカメラ１０ｃ〜カメラ１０ｆが各ＭＯＤＥ信号をローレベルに設定して、自らの撮影動作を強制終了する。したがって、ＳＬ６では、全てのカメラにおいて図４、図５のフローチャートで示された撮影動作は終了している。なお、受信側のＭＯＤＥ信号の監視は、全てのカメラにおいて常時行なわれているので、何れかのカメラが送信側のＭＯＤＥ信号をローレベルに設定すれば、各カメラのＭＯＤＥ信号が順次ローレベルに設定され、カメラ１０ａの送信側のＭＯＤＥ信号をローレベルに設定したときと同様に全てのカメラの撮影動作を終了させることができる。
【００４７】
図９は、ステップ３０１、ステップ４０２において出力されるカメラ識別信号の例を示したものである。図９（ａ）は、カメラ１０ａからカメラ１０ｂへ出力されるカメラ識別信号を表しており、図９（ｂ）、図９（ｃ）は、カメラ１０ｂからカメラ１０ｃ、カメラ１０ｃからカメラ１０ｄへ出力されるカメラ識別信号をそれぞれ表している。
【００４８】
カメラ識別信号Ｃ１、Ｃ２、Ｃ３はそれぞれ３桁の２進数の各桁に対応しており、Ｃ１は１桁目、Ｃ２は２桁目、Ｃ３は３桁目に対応する。したがって、カメラ識別番号１（２進表記で０１）を出力する図９（ａ）では、送信側のＭＯＤＥ信号がハイレベルに設定されると略同時に、カメラ識別信号Ｃ１にパルス信号が出力される。同様にカメラ識別番号２（２進表記で１０）を出力する図９（ｂ）では、ＭＯＤＥ信号がハイレベルに設定されると略同時に、カメラ識別信号Ｃ２にパルス信号が出力される。また、カメラ識別番号３（２進表記で１１）を出力する図９（ｃ）では、ＭＯＤＥ信号がハイレベルに設定されると略同時に、カメラ識別信号Ｃ１、Ｃ２にそれぞれパルス信号が出力される。
【００４９】
次に図１０〜図１２を参照して図４及び図５のステップ１０２、ステップ２０３とステップ１０４、ステップ２０１で実行されるマスターカメラでのリンク撮影と、スレーブカメラでのリンク撮影について説明する。
【００５０】
図１０は、マスターカメラにおいて実行されるリンク撮影動作のフローチャートである。初めにステップ５００、ステップ５０１において変数Ｍと変数Ｌがそれぞれ０と１に初期設定される。変数Ｍは、リンク撮影動作により検出されたスポットの数に対応する。変数Ｌは照明識別番号であり、カメラに設けられた発光素子２２の各々に対応する数である。例えば図１において、一番上の発光素子２２から時計周りに順に１、２、…、６と各発光素子２２が対応している。
【００５１】
ステップ５０２では、カメラ識別番号がスレーブカメラに出力される。ステップ５０３では、照明識別番号Ｌの発光素子２２からレーザ光が被写体に向けて照射されるとともに、照射されている発光素子２２の照明識別番号Ｌをスレーブカメラに送出する。なお、照明識別番号Ｌは、カメラ識別番号と同様に３ビットの照明識別信号Ｌ１、Ｌ２、Ｌ３によってスレーブカメラに送出される。
【００５２】
ステップ５０４では、スレーブカメラからのＯＫ＿ＡＣＫ信号が受信されたか否かが判定される。ＯＫ＿ＡＣＫ信号は、発光素子２２から照射されたマーキング用のレーザ光によるスポットがスレーブカメラにおいて検出されたときに、スレーブカメラからマスターカメラへ送出される信号である。ＯＫ＿ＡＣＫ信号が受信されていないと判定されるとステップ５０５において、スレーブカメラからのＮＧ＿ＡＣＫ信号が受信されたか否かが判定される。ＮＧ＿ＡＣＫ信号は、発光素子２２から照射されたマーキング用のレーザ光によるスポットがスレーブカメラにおいて検出されないときに、スレーブカメラからマスターカメラへ送出される信号である。ＮＧ＿ＡＣＫ信号が受信されていないと判定されると再びステップ５０４に戻り、ＯＫ＿ＡＣＫ信号の受信がないか判定される。
【００５３】
ステップ５０５においてＮＧ＿ＡＣＫ信号が受信されたと判定されると、ステップ５０６において照明識別番号Ｌがその最大値であるＬ_max と等しいか否かが判定される。本実施形態のカメラの発光素子２２の数は６個なので、Ｌ_max ＝６である。Ｌ＝Ｌ_max ではないと判定されると、ステップ５０７において、照明識別番号Ｌに１が加算され処理は再びステップ５０２へ戻り次の発光素子２２からのレーザ光の照射が行われる。
【００５４】
一方、ステップ５０４において、ＯＫ＿ＡＣＫ信号が受信されたと判定されると、ステップ５０８において変数Ｍに１が加算される。ステップ５０９では、照明識別番号Ｌのレーザ光により被写体表面にできたスポットの画面における位置（画素の位置）の認識するためのスポット位置認識処理が行なわれる。その後ステップ５１０において照明識別番号Ｌと認識されたスポットの位置が画像メモリ３４に一時的に記憶される。
【００５５】
ステップ５１１では、変数Ｍが３であるか否かが判定される。Ｍ≠３と判定されたときには、ステップ５０６においてＬ＝Ｌ_max が判定される。一方ステップ５１１においてＭ＝３であると判定されると、ステップ５１２においてリンク撮影が成功したことを表すフラッグが立てられ、このマスターカメラでのリンク撮影動作のサブルーチンは終了する。また、ステップ５０６においてＬ＝Ｌ_max であると判定されると、ステップ５１３においてリンク撮影が成功したことを表すフラッグがリセットされるとともに、ＭＯＤＥ信号がローレベルに設定され、このマスターカメラでのリンク撮影動作のサブルーチンは終了する。
【００５６】
一方、スレーブカメラでのリンク撮影動作のサブルーチンは、図１１のフローチャートで示される。
【００５７】
ステップ６００では、検出されたスポットの数を表す変数Ｍの値が０に初期設定される。ステップ６０１では、マスターカメラからのカメラ識別信号（カメラ識別番号）が受信されたか否かが判定され、カメラ識別信号が受信されたと判定されると、ステップ６０２において照明識別信号（照明識別番号Ｌ）が受信されたか否かが判定される。照明識別信号が受信されると、ステップ６０３において、マスターカメラの照明識別番号Ｌから照射されたレーザ光によるスポットのＣＣＤ２８の画面における位置を認識するスポット位置認識処理が行なわれる。ステップ６０３では、スポット位置が認識された場合には、スポット位置が認識されたことを表すフラッグが立てられ、それ以外のときには、同フラッグがリセットされる。
【００５８】
ステップ６０４では、ステップ６０３のスポット位置認識処理で、照明識別番号Ｌの発光素子２２によるスポットの位置が認識できたか否かが、スポット位置が認識されたことを表すフラッグによって判定される。スポットの位置が認識されなかったと判定されると、ステップ６０５においてＮＧ＿ＡＣＫ信号がマスターカメラへ送信される。その後ステップ６０６において受信された照明識別番号ＬがＬ_max に等しいか否かが判定され、等しくないと判定されるとステップ６０１に再び処理が戻る。
【００５９】
一方、ステップ６０４で照明識別番号Ｌによるスポットの位置が認識されたと判定されると、ステップ６０８で変数Ｍに１が加算された後、ステップ６０９においてＯＫ＿ＡＣＫ信号がマスターカメラに送信される。その後ステップ６１０において照明識別番号と認識されたスポットの位置が画像メモリ３４に記憶され、ステップ６１１で、変数Ｍが３であるか否かが判定される。Ｍ＝３であると判定されるとステップ６１２においてリンク撮影が成功したことを表すのフラッグが立てられ、このスレーブカメラにおけるリンク撮影動作のサブルーチンは終了する。またステップ６１１においてＭ≠３であると判定されると、ステップ６０６へ処理が移る。ステップ６０６においてＬ＝Ｌ_max であると判定されるとステップ６０７においてスレーブカメラにおけるリンク撮影が成功したことを表すフラッグがリセットされ、このスレーブカメラにおけるリンク撮影動作のサブルーチンは終了する。
【００６０】
次に図１２を参照してステップ５０９、ステップ６０３のスポット位置認識処理について説明する。図１２はスポット位置認識処理のサブルーチンのフローチャートである。
【００６１】
ステップ７００では、画素値の２値化処理が行われる。すなわち、ＣＣＤ２８において左からｉ番目、上からｊ番目の画素を（ｉ，ｊ）で表すとき、画素（ｉ，ｊ）において画素値ρ（ｉ，ｊ）が閾値Γ以上であれば１、閾値Γよりも小さければ０を対応させる。関数Ｂ（ρ（ｉ，ｊ））は、この様な２値化関数を表している。このとき、Ｂ（ρ（ｉ，ｊ））＝１となる画素は、スポットを構成する画素の１つに対応している。
【００６２】
ステップ７０１では、Ｂ（ｉ，ｊ）、Ｂ（ｉ，ｊ）×ｉ、Ｂ（ｉ，ｊ）×ｊの総和ＳＭ_B 、ＳＭ_i 、ＳＭ_j がそれぞれ求められる。ステップ７０２では、ＳＭ_B ＝０であるか否かが判定される。ＳＭ_B ≠０と判定されたときにはステップ７０３に処理が移り、Ｂ（ρ（ｉ，ｊ））＝１となる画素により構成されたスポットの図心（ｉ₀ ，ｊ₀ ）がスポット位置として求められる。なお、図心（ｉ₀ ，ｊ₀ ）は、数値を四捨五入する関数をＩｎｔとすると、
ｉ₀ ＝Ｉｎｔ（ＳＭ_i ／ＳＭ_B ）
ｊ₀ ＝Ｉｎｔ（ＳＭ_j ／ＳＭ_B ）
によって算出される。
【００６３】
ステップ７０４では、スポット位置が認識されたことを表すフラッグが立てられてこのサブルーチンは終了する。一方、ステップ７０２においてＳＭ_B が０であると判定されると、ステップ７０５において、スポット位置の認識されたことを表すフラッグがリセットされ、このサブルーチンは終了する。
【００６４】
図１３は、カメラ１０ａをマスターカメラ、カメラ１０ｂをスレーブカメラとしてリンク撮影が行われたときの各信号のシーケンスを例示したものである。
【００６５】
Ｔ１では、カメラ識別番号１と照明識別番号１に対応するカメラ識別信号と照明識別信号とがカメラ１０ａからカメラ１０ｂへと略同時に出力されている。すなわち、カメラ識別信号Ｃ１及び照明識別信号Ｌ１のみがパルス信号として出力されている。Ｔ１’では、カメラ１０ｂからカメラ１０ａにＯＫ＿ＡＣＫ信号がパルス信号として出力され、照明識別番号１によるスポットが検出さたことをマスターカメラであるカメラ１０ａに知らせている。
【００６６】
Ｔ２では、再びカメラ識別番号１が出力され、略同時に照明識別番号２に対応する照明識別信号が出力されている。すなわち、カメラ識別信号Ｃ１及び照明識別信号Ｌ２のみがパルス信号として出力されている。Ｔ２’では、カメラ１０ｂからカメラ１０ａにＮＧ＿ＡＣＫ信号がパルス信号として出力され、照明識別番号２によるスポットが検出されなかったことをマスターカメラであるカメラ１０ａに知らせている。以下同様に、Ｔ３、Ｔ４、Ｔ５、Ｔ６では照明識別番号３、４、５、６に対応する３ビットで表された照明識別信号がマスターカメラからスレーブカメラへ送られ、Ｔ３’、Ｔ４’、Ｔ５’、Ｔ６’ではそれぞれＯＫ＿ＡＣＫ信号、ＮＧ＿ＡＣＫ信号、ＮＧ＿ＡＣＫ信号、ＯＫ＿ＡＣＫ信号がスレーブカメラからマスターカメラへと送られている。したがって、このリンク撮影動作では、スレーブカメラであるカメラ１０ｂにおいて３個のスポットが認識（検知）されたので、リンク撮影が成功したことを表すフラッグが立てられる。
【００６７】
以上の方法により、各カメラにおいてそれぞれ３個のスポットが認識されると、各カメラにおいて検出された被写体の距離データから単一の座標系で表された被写体の座標データを得ることができ、例えばカメラ１０ａの液晶表示パネル１６などに全てのリンク撮影が成功した旨が表示される。
【００６８】
次に図４、図５のステップ１０６、ステップ２０６において実行される距離情報検出動作について説明する。
【００６９】
まず、図１４および図１５を参照して、本実施形態における距離測定の原理について説明する。なお図１５において横軸は時間ｔである。
【００７０】
距離測定装置Ｂから出力された測距光は被写体Ｓにおいて反射し、図示しないＣＣＤによって受光される。測距光は所定のパルス幅Ｈを有するパルス状の光であり、したがって被写体Ｓからの反射光も、同じパルス幅Ｈを有するパルス状の光である。また反射光のパルスの立ち上がりは、測距光のパルスの立ち上がりよりも時間δ・ｔ（δは遅延係数）だけ遅れる。測距光と反射光は距離測定装置Ｂと被写体Ｓの間の２倍の距離ｒを進んだことになるから、その距離ｒは
ｒ＝δ・ｔ・Ｃ／２ ・・・（１）
により得られる。ただしＣは光速である。
【００７１】
例えば測距光のパルスの立ち上がりから反射光を検知可能な状態に定め、反射光のパルスが立ち下がる前に検知不可能な状態に切換えるようにすると、すなわち反射光検知期間Ｔを設けると、この反射光検知期間Ｔにおける受光量Ａは距離ｒの関数である。すなわち受光量Ａは、距離ｒが大きくなるほど（時間δ・ｔが大きくなるほど）小さくなる。
【００７２】
本実施形態では上述した原理を利用して、ＣＣＤ２８に設けられ、２次元的に配列された複数のフォトダイオードにおいてそれぞれ受光量Ａを検出することにより、カメラ本体１０から被写体Ｓの表面の各点までの距離をそれぞれ検出し、被写体Ｓの表面形状に関する３次元画像のデータを一括して入力している。
【００７３】
図１６は、ＣＣＤ２８に設けられるフォトダイオード５１と垂直転送部５２の配置を示す図である。図１７は、ＣＣＤ２８を基板５３に垂直な平面で切断して示す断面図である。このＣＣＤ２８は従来公知のインターライン型ＣＣＤであり、不要電荷の掃出しにＶＯＤ（縦型オーバーフロードレイン）方式を用いたものである。
【００７４】
フォトダイオード５１と垂直転送部５２はｎ型基板５３の面に沿って形成されている。フォトダイオード５１は２次元的に格子状に配列され、垂直転送部５２は所定の方向（図１６において上下方向）に１列に並ぶフォトダイオード５１に隣接して設けられている。垂直転送部５２は、１つのフォトダイオード５１に対して４つの垂直転送電極５２ａ，５２ｂ，５２ｃ，５２ｄを有している。したがって垂直転送部５２では、４つのポテンシャルの井戸が形成可能であり、従来公知のように、これらの井戸の深さを制御することによって、信号電荷をＣＣＤ２８から出力することができる。なお、垂直転送電極の数は目的に応じて自由に変更できる。
【００７５】
基板５３の表面に形成されたｐ型井戸の中にフォトダイオード５１が形成され、ｐ型井戸とｎ型基板５３の間に印加される逆バイアス電圧によってｐ型井戸が完全空乏化される。この状態において、入射光（被写体からの反射光）の光量に応じた電荷がフォトダイオード５１において蓄積される。基板電圧Ｖsub を所定値以上に大きくすると、フォトダイオード５１に蓄積した電荷は、基板５３側に掃出される。これに対し、転送ゲート部５４に電荷転送信号（電圧信号）が印加されたとき、フォトダイオード５１に蓄積した電荷は垂直転送部５２に転送される。すなわち電荷掃出信号によって電荷を基板５３側に掃出した後、フォトダイオード５１に蓄積した信号電荷が、電荷転送信号によって垂直転送部５２側に転送される。このような動作を繰り返すことにより、垂直転送部５２において信号電荷が積分され、いわゆる電子シャッタ動作が実現される。
【００７６】
図１８は距離情報検出動作におけるタイミングチャートであり、図１、図２、図１６〜図１８を参照して本実施形態における距離情報検出動作について説明する。なお本実施形態の距離情報検出動作では、図１５を参照して行なった距離測定の原理の説明とは異なり、外光の影響による雑音を低減するために測距光のパルスの立ち下がりから反射光を検知可能な状態に定め、反射光のパルスが立ち下がった後に検知不可能な状態に切換えるようにタイミングチャートを構成しているが原理的には何ら異なるものではない。
【００７７】
垂直同期信号（図示せず）の出力に同期して電荷掃出し信号（パルス信号）Ｓ１が出力され、これによりフォトダイオード５１に蓄積していた不要電荷が基板５３の方向に掃出され、フォトダイオード５１における蓄積電荷量はゼロになる（符号Ｓ２）。電荷掃出し信号Ｓ１の出力の開始の後、一定のパルス幅を有するパルス状の測距光Ｓ３が出力される。測距光Ｓ３が出力される期間（パルス幅）は調整可能であり、図示例では、電荷掃出し信号Ｓ１の出力と同時に測距光Ｓ３がオフするように調整されている。
【００７８】
測距光Ｓ３は被写体において反射し、ＣＣＤ２８に入射する。すなわちＣＣＤ２８によって被写体からの反射光Ｓ４が受光されるが、電荷掃出し信号Ｓ１が出力されている間は、フォトダイオード５１において電荷は蓄積されない（符号Ｓ２）。電荷掃出し信号Ｓ１の出力が停止されると、フォトダイオード５１では、反射光Ｓ４の受光によって電荷蓄積が開始され、反射光Ｓ４と外光とに起因する信号電荷Ｓ５が発生する。反射光Ｓ４が消滅すると（符号Ｓ６）フォトダイオード５１では、反射光に基く電荷蓄積は終了するが（符号Ｓ７）、外光のみに起因する電荷蓄積が継続する（符号Ｓ８）。
【００７９】
その後、電荷転送信号Ｓ９が出力されると、フォトダイオード５１に蓄積された電荷が垂直転送部５２に転送される。この電荷転送は、電荷転送信号の出力の終了（符号Ｓ１０）によって完了する。すなわち、外光が存在するためにフォトダイオード５１では電荷蓄積が継続するが、電荷転送信号の出力が終了するまでフォトダイオード５１に蓄積されていた信号電荷Ｓ１１が垂直転送部５２へ転送される。電荷転送信号の出力終了後に蓄積している電荷Ｓ１４は、そのままフォトダイオード５１に残留する。
【００８０】
このように電荷掃出し信号Ｓ１の出力の終了から電荷転送信号Ｓ９の出力が終了するまでの期間Ｔ_U1の間、フォトダイオード５１には、被写体までの距離に対応した信号電荷が蓄積される。そして、反射光Ｓ４の受光終了（符号Ｓ６）までフォトダイオード５１に蓄積している電荷が、被写体の距離情報と対応した信号電荷Ｓ１２（斜線部）として垂直転送部５２へ転送され、その他の信号電荷Ｓ１３は外光のみに起因するものである。
【００８１】
電荷転送信号Ｓ９の出力から一定時間が経過した後、再び電荷掃出し信号Ｓ１が出力され、垂直転送部５２への信号電荷の転送後にフォトダイオード５１に蓄積された不要電荷が基板５３の方向へ掃出される。すなわち、フォトダイオード５１において新たに信号電荷の蓄積が開始する。そして、上述したのと同様に、電荷蓄積期間Ｔ_U1が経過したとき、信号電荷は垂直転送部５２へ転送される。
【００８２】
このような信号電荷Ｓ１１の垂直転送部５２への転送動作は、次の垂直同期信号が出力されるまで、繰り返し実行される。これにより垂直転送部５２において、信号電荷Ｓ１１が積分され、１フィールドの期間（２つの垂直同期信号によって挟まれる期間）に積分された信号電荷Ｓ１１は、その期間被写体が静止していると見做せれば、被写体までの距離情報に対応している。なお信号電荷Ｓ１３は信号電荷Ｓ１２に比べ微小であるため信号電荷Ｓ１１は信号電荷Ｓ１２と等しいと見なすことができる。
【００８３】
以上説明した信号電荷Ｓ１１の検出動作は１つのフォトダイオード５１に関するものであり、全てのフォトダイオード５１においてこのような検出動作が行なわれる。１フィールドの期間における検出動作の結果、各フォトダイオード５１に隣接した垂直転送部５２の各部位には、そのフォトダイオード５１によって検出された距離情報が保持される。この距離情報は垂直転送部５２における垂直転送動作および図示しない水平転送部における水平転送動作によってＣＣＤ２８から出力される。
【００８４】
図１９は、図４のステップ１０６および図５のステップ２０６において実行される距離情報検出動作のフローチャートである。図１９を参照して距離情報検出動作について説明する。なお、距離情報検出動作は、モード切替ダイヤル１７の設定をＤモードに設定することにより、独立して駆動することもできる。このときカメラでは他のカメラと連動することなく、独立して距離情報検出動作が実行される。
【００８５】
ステップ８０１では、垂直同期信号が出力されるとともに測距光制御が開始される。すなわち発光装置１４が駆動され、パルス状の測距光Ｓ３が断続的に出力される。次いでステップ８０２が実行され、ＣＣＤ２８による検知制御が開始される。すなわち図１８を参照して説明した距離情報検出動作が開始され、電荷掃出信号Ｓ１と電荷転送信号Ｓ９が交互に出力されて、距離情報の信号電荷Ｓ１１が垂直転送部５２において積分される。
【００８６】
ステップ８０３では、距離情報検出動作の開始から１フィールド期間が終了したか否か、すなわち新たに垂直同期信号が出力されたか否かが判定される。１フィールド期間が終了するとステップ８０４へ進み、垂直転送部５２において積分された距離情報の信号電荷がＣＣＤ２８から出力される。この信号電荷はステップ８０５において画像メモリ３４に一時的に記憶される。
【００８７】
ステップ８０６では測距光制御がオフ状態に切換えられ、発光装置１４の発光動作が停止する。ステップ８０７では、距離データの演算処理が行なわれ、ステップ８０８において距離データが画像メモリ３４に一時的に記憶され、このサブルーチンは終了する。
【００８８】
次にステップ８０７において実行される演算処理の内容を図１８を参照して説明する。
【００８９】
反射率Ｒの被写体が照明され、この被写体が輝度Ｉの２次光源と見做されてＣＣＤに結像された場合を想定する。このとき、電荷蓄積時間ｔの間にフォトダイオードに発生した電荷が積分されて得られる出力Ｓｎは、
Ｓｎ＝ｋ・Ｒ・Ｉ・ｔ ・・・（２）
で表される。ここでｋは比例定数で、撮影レンズのＦナンバーや倍率等によって変化する。
【００９０】
図１８に示されるように電荷蓄積時間をＴ_U1、測距光Ｓ３のパルス幅をＴ_S 、距離情報の信号電荷Ｓ１２のパルス幅をＴ_D とし、１フィールド期間中のその電荷蓄積時間がＮ回繰り返されるとすると、得られる出力ＳＭ₁₀は、

となる。なお、パルス幅Ｔ_D は

と表せる。このとき被写体までの距離ｒは
ｒ＝Ｃ・ＳＭ₁₀／（２・ｋ・Ｎ・Ｒ・Ｉ） ・・・（５）
で表せる。したがって比例定数ｋ、反射率Ｒ、輝度Ｉを予め求めておけば距離ｒが求められる。
【００９１】
次に図２０を参照して図４、図５のステップ１０７、ステップ２０７において実行される画像情報検出動作について説明する。なお、画像情報検出動作も距離情報検出動作と同様に、モード切替ダイアル１７をＶモードに設定することにより、独立して駆動することができる。すなわち、モード切替ダイアル１７がＶモードに設定されているカメラにおいては、他のカメラと連動することなく独立して距離情報検出動作が実行される。
【００９２】
ステップ９０１では、ＣＣＤ２８による通常の撮影動作（ＣＣＤビデオ制御）がオン状態に定められ、距離情報検出動作において撮像された被写体と同一の被写体の画像が撮像され画像データとして検出される。検出された画像データは、ステップ９０２において画像メモリ３４に一時的に記憶され、このサブルーチンは終了する。
【００９３】
以上の３次元画像検出システムの撮影動作により、カメラ１０ａ〜カメラ１０ｆにおいて取得されデータは、コンピュータ４１に転送され合成される。カメラからコンピュータへのデータの転送は、各カメラの記録媒体Ｍをコンピュータ４１に設けられたデータ読取装置４６（図２参照）に装着してコンピュータに読み込むか、インターフェースコネクタ２１ｃに接続されたインターフェースケーブルを介してコンピュータ４１へ転送される。
【００９４】
次に図２１〜図２６を参照して、リンク撮影動作により検出された３個のスポットを用いて各カメラにより検出された被写体までの距離データから、被写体の全体的な３次元形状を表す座標データを得る方法について説明する。
【００９５】
まず、各カメラにおいて検出される被写体までの距離データから、各カメラを基準とした座標系における被写体の座標値を算出する方法について説明する。
【００９６】
図２１は、カメラの撮影光学系における焦点Ｐ_f を座標原点に取ったカメラ座標系ｘｙｚと、ＣＣＤ２８上の任意の点Ｐ（画素）と、それに対応する被写体表面上の点Ｑとの関係を模式的に示している。ｙ軸は光軸Ｌｐに一致しており、ｚ軸はＣＣＤ２８の垂直軸に並行に取られ、その向きは上向きである。またｘ軸はＣＣＤ２８の水平軸に並行にとられている。点Ｐ_c はＣＣＤ２８の受光面と光軸Ｌｐの交点であり、受光面の中心に一致する。点ＱはＣＣＤ２８上の点Ｐの画素に対応する被写体上の点であり、その座標は（ｘ_Q ，ｙ_Q ，ｚ_Q ）である。平面Πは点Ｑを含むＣＣＤ２８に平行な平面である。点Ｑ_C は光軸Ｌｐ（ｙ軸）と平面Πの交点であり、その座標は（０，ｙ_Q ，０）である。
【００９７】
図２２は、ＣＣＤ２８の受光面を正面から見た図である。ＣＣＤ２８の水平、垂直方向の長さはそれぞれ２×Ｈ₀ 、２×Ｖ₀ である。点ＰはＣＣＤ２８の中心Ｐ_C から左へＨ_P 、上へＶ_P の距離にある。点Ｐ_H は、点ＰからＣＣＤ２８の水平軸Ｌ_H へ下ろした垂線の足である。また点Ｐ_V は、点ＰからＣＣＤ２８の垂直軸Ｌ_V へ下ろした垂線の足である。
【００９８】
図２３は、焦点Ｐ_f とＣＣＤ２８との関係を焦点Ｐ_f とＣＣＤ２８の水平軸Ｌ_H を含む平面上で表したものであり、角Θ₀ は水平画角、ｆは焦点距離である。線分Ｐ_f Ｐ_H が光軸Ｌｐとなす角をΘ_P とすると、角Θ_P は、
Θ_P ＝ｔａｎ^-1（Ｈ_p ／ｆ） ・・・（６）
によって求められる。
【００９９】
図２４は、焦点Ｐ_f とＣＣＤ２８との関係を焦点Ｐ_f とＣＣＤ２８の垂直軸Ｌ_V を含む平面上で表したものであり、角θ₀ は垂直画角である。線分Ｐ_f Ｐ_V が光軸Ｌｐとなす角をθ_P とすると、角θ_P は、
θ_P ＝ｔａｎ^-1（Ｖ_p ／ｆ） ・・・（７）
によって求められる。
【０１００】
焦点Ｐ_f と点Ｐを結ぶ線分Ｐ_f Ｐの長さは、線分Ｐ_f Ｐ_H と線分Ｐ_C Ｐ_V の長さから、
Ｐ_f Ｐ＝（Ｐ_f Ｐ_H ² ＋Ｐ_C Ｐ_V ² ）^1/2 ・・・（８）
によって求められる。ここで、（８）式のＰ_f Ｐ_H 、Ｐ_C Ｐ_V は、
Ｐ_C Ｐ_V ＝Ｖ_P 、
Ｐ_f Ｐ_H ＝ｆ／ｃｏｓΘ_P
なので、
Ｐ_f Ｐ＝（（ｆ／ｃｏｓΘ_P ）² ＋Ｖ_P ² ）^1/2 ・・・（９）
と表すことができる。
【０１０１】
線分Ｐ_f Ｑの長さと、線分Ｐ_f Ｐの長さの比Ｐ_f Ｐ／Ｐ_f Ｑをμとすると、点Ｑの座標成分ｘ_Q 、ｙ_Q 、ｚ_Q は、
ｘ_Q ＝Ｈ_P ／μ ・・・（１０）
ｙ_Q ＝Ｖ_P ／μ ・・・（１１）
ｚ_Q ＝ｆ／μ ・・・（１２）
で算出される。焦点距離ｆおよびＣＣＤ２８の任意の画素に対応する点Ｐまでの距離Ｈ_P 、Ｖ_P は既知である。また、線分Ｐ_f Ｑの長さは、焦点Ｐ_f から点Ｐに対応する被写体の点Ｑまでの距離であり、焦点距離ｆは既知なので、ステップ８０７の演算処理の結果を用いて算出可能である。点Ｐは、ＣＣＤ２８の１つの画素を代表したものであり、上述の計算はＣＣＤ２８の全ての画素に対して可能であり、全ての画素（点Ｐ）に対応する被写体（点Ｑ）の座標（ｘ_Q ，ｙ_Q ，ｚ_Q ）が算出される。
【０１０２】
次に、参照点である３個のスポットに基づいて、あるカメラ（スレーブカメラ）を基準とした座標系ｘ’ｙ’ｚ’をリンク撮影において対を成したカメラ（マスターカメラ）を基準とした座標系ｘｙｚへ変換する方法について説明する。
【０１０３】
図２５、図２６は人頭模型の正面に据えたカメラと、模型の左斜め前に据えたカメラで撮影した画像を表しており、図２５は、マスターカメラにより撮影された画像、図２６はスレーブカメラにより撮影された画像にそれぞれ対応している。
【０１０４】
図２５における３個のスポットＳｐ₁ 、Ｓｐ₂ 、Ｓｐ₃ は、図２６における３個のスポットＳｐ₁ ’、Ｓｐ₂ ’、Ｓｐ₃ ’にそれぞれ対応し、同一スポットを２つの異なる方向から撮影したものである。座標系ｘｙｚにおける３個のスポットＳｐ₁ 、Ｓｐ₂ 、Ｓｐ₃ の座標（位置ベクトル）をそれぞれ（ｘ₁ ，ｙ₁ ，ｚ₁ ）、（ｘ₂ ，ｙ₂ ，ｚ₂ ）、（ｘ₃ ，ｙ₃ ，ｚ₃ ）とし、座標系ｘ’ｙ’ｚ’における３個のスポットＳｐ₁ ’、Ｓｐ₂ ’、Ｓｐ₃ ’の座標をそれぞれ（ｘ₁ ’，ｙ₁ ’，ｚ₁ ’）、（ｘ₂ ’，ｙ₂ ’，ｚ₂ ’）、（ｘ₃ ’，ｙ₃ ’，ｚ₃ ’）とする。これらの座標は図２１〜図２４を参照して説明した方法により算出することができる。
【０１０５】
座標系ｘ’ｙ’ｚ’から座標系ｘｙｚへの座標変換は、並行移動分を（Δｘ，Δｙ，Δｚ）で表すと、直交変換（回転）Ｔ_r により
【数１】

のように行なえる。直交変換Ｔ_r の成分α_ijは、参照点である３個のスポットの座標値から以下のように求めることができる。
【０１０６】
Ｓｐ₁ からＳｐ₂ 、Ｓｐ₂ からＳｐ₃ 、Ｓｐ₃ からＳｐ₁ への変位ベクトルをそれぞれ、
ΔＳｐ₁ ＝（ｘ₂ −ｘ₁ ，ｙ₂ −ｙ₁ ，ｚ₂ −ｚ₁ ）
ΔＳｐ₂ ＝（ｘ₃ −ｘ₂ ，ｙ₃ −ｙ₂ ，ｚ₃ −ｚ₂ ）
ΔＳｐ₃ ＝（ｘ₁ −ｘ₃ ，ｙ₁ −ｙ₃ ，ｚ₁ −ｚ₃ ）
とし、Ｓｐ₁ ’からＳｐ₂ ’、Ｓｐ₂ ’からＳｐ₃ ’、Ｓｐ₃ ’からＳｐ₁ ’への変位ベクトルをそれぞれ、
ΔＳｐ₁ ’＝（ｘ₂ ’−ｘ₁ ’，ｙ₂ ’−ｙ₁ ’，ｚ₂ ’−ｚ₁ ’）
ΔＳｐ₂ ’＝（ｘ₃ ’−ｘ₂ ’，ｙ₃ ’−ｙ₂ ’，ｚ₃ ’−ｚ₂ ’）
ΔＳｐ₃ ’＝（ｘ₁ ’−ｘ₃ ’，ｙ₁ ’−ｙ₃ ’，ｚ₁ ’−ｚ₃ ’）
とすると、変位ベクトルは、座標系の並行移動に関して不変なので、
【数２】

となり、これにより直交変換Ｔ_r の成分α_ijを求めることができる。また、並行移動（Δｘ，Δｙ，Δｚ）は、求められた直交変換Ｔ_r と、例えばＳｐ₁ （Ｓｐ₁ ’）の座標値から
【数３】

と求められる。
【０１０７】
以上により、あるスレーブカメラを基準とした座標系で求めらた被写体の座標データを、マスターカメラを基準とした座標系に変換することができる。各カメラは隣り合うカメラの一方に対してマスターカメラであり、他方に対してはスレーブカメラなので、各組において求められる座標変換を繰り返し実行することにより、任意のカメラを基準とした座標系で表された被写体の座標値を所定のカメラを基準とした座標系に変換することができる。したがって、被写体の全体的な３次元形状を単一の座標系によって表すことができる。
【０１０８】
なお、本実施形態では、３個のスポット（参照点）がマスターカメラ及びスレーブカメラ双方において認識されたか否かの判定は、リンク撮影動作中において行われた。しかし、予め６個の発光素子２２を全て同時に発光させて３個以上の同一スポットが認識されるか否かを判定してもよく、そのためのモードを各カメラに設けてもよい。また、本実施形態では、スポットは撮影の目的である被写体表面上に投影されたが、目的とする被写体付近に存在し、撮影領域内にある目的としない被写体表面上に投影されていてもよい。
【０１０９】
本実施形態では、３個のスポットを座標変換のための参照点として認識したが、直線状にない４個以上のスポットを認識するようにしてもよく、このとき認識された４個以上のスポットを用いて、より高い精度で座標変換の式を算出してもよい。
【０１１０】
【発明の効果】
以上のように本発明によれば、被写体を複数の方向から撮影し、各撮影により得られる被写体の３次元形状を表す座標データを１つの座標系に合成するための３次元画像検出システム及び３次元画像検出装置を得ることができる。
【図面の簡単な説明】
【図１】本発明の一実施形態であるカメラ型の３次元画像検出装置の斜視図である。
【図２】図１に示すカメラの回路構成を示すブロック図である。
【図３】３次元画像検出システムの構成を模式的に表した図である。
【図４】マスターカメラにおいて実行される３次元画像検出システムの撮影動作のプログラムのフローチャートである。
【図５】スレーブカメラにおいて実行される３次元画像検出システムの撮影動作のプログラムのフローチャートである。
【図６】リンク撮影モードを最初に立ち上げたカメラにおいて実行されるカメラリンク処理のプログラムのフローチャートである。
【図７】図６のカメラ以外のカメラにおいて実行されるカメラリンク処理のプログラムのフローチャートである。
【図８】各カメラ間におけるＭＯＤＥ信号の立ち上げ及び立ち下げのシーケンスを示したものである。
【図９】カメラ識別信号の送信状態を例示したものである。
【図１０】マスターカメラにおいて実行されるリンク撮影動作のプログラムのフローチャートである。
【図１１】スレーブカメラにおいて実行されるリンク撮影動作のプログラムのフローチャートである。
【図１２】スポット位置認識処理のプログラムのフローチャートである。
【図１３】リンク撮影時において出力される各信号のシーケンスである。
【図１４】測距光による距離測定の原理を説明するための図である。
【図１５】測距光、反射光、ゲートパルス、およびＣＣＤが受光する光量分布を示す図である。
【図１６】ＣＣＤに設けられるフォトダイオードと垂直転送部の配置を示す図である。
【図１７】ＣＣＤを基板に垂直な平面で切断して示す断面図である。
【図１８】被写体までの距離に関するデータを検出する距離情報検出動作のタイミングチャートである。
【図１９】距離情報検出動作のフローチャートである。
【図２０】画像情報検出動作のフローチャートである。
【図２１】焦点Ｐ_f を座標原点にとったカメラ座標系ｘｙｚと、ＣＣＤ２８上の任意の点Ｐと、それに対応する被写体表面上の点Ｑとの関係を模式的に表した図である。
【図２２】ＣＣＤ２８の正面図である。
【図２３】カメラの撮影光学系における焦点とＣＣＤ２８との関係を示す水平断面図である。
【図２４】カメラの撮影光学系における焦点とＣＣＤ２８との関係を示す垂直断面図である。
【図２５】人頭模型を正面から撮影したときの画像を表している。
【図２６】人頭模型を左斜め前から撮影したときの画像を表している。
【符号の説明】
１０ カメラ本体（３次元画像検出装置）
２２ 発光装置（スポット光発光装置）
２２ａ 発光素子（スポット光発光素子）
２８ ＣＣＤ（撮像面）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional image detection system and a three-dimensional image detection apparatus that detect a three-dimensional shape or the like of a subject using a light propagation time measurement method.
[0002]
[Prior art]
Conventional distance measuring devices that detect the distance to the subject for each pixel include those described in “Measurement Science and Technology” (S. Christie et al., Vol. 6, p1301-1308, 1995), The one disclosed in / 01111 is known. In these distance measuring devices, pulse-modulated laser light is irradiated onto a subject, and the reflected light is received by a two-dimensional CCD sensor and converted into an electrical signal. At this time, by controlling the shutter operation of the two-dimensional CCD, an electrical signal correlated with the distance to the subject can be detected for each pixel of the CCD. The distance from the electrical signal to the subject corresponding to each pixel of the CCD is detected.
[0003]
[Problems to be solved by the invention]
When these three-dimensional image detection devices detect a three-dimensional shape of a subject, only a partial three-dimensional shape of the subject can be detected by photographing from one direction. In order to detect the overall three-dimensional shape of the subject, it is necessary to photograph the subject from a plurality of different directions. However, the coordinate data of the subject obtained by photographing from different directions is based on different coordinate systems, and in order to represent the subject integrally based on these coordinate data, the coordinate data of the subject represented by each coordinate system is used. It is necessary to convert the coordinate data into one coordinate system. Conventionally, in these conversions, a three-dimensional image of a subject obtained from each direction is displayed on a computer display, and the visual feature point of the subject is used as a clue to manually integrate the three-dimensional graphic software. This is done by combining subject images.
[0004]
The present invention obtains a three-dimensional image detection system and a three-dimensional image detection apparatus for photographing a subject from a plurality of directions and synthesizing coordinate data representing the three-dimensional shape of the subject obtained by each photographing into one coordinate system. The purpose is that.
[0005]
[Means for Solving the Problems]
A three-dimensional image detection system of the present invention is a three-dimensional image detection system provided with first and second three-dimensional image detection devices that detect distance information to a subject for each pixel. Provided in both the first and second three-dimensional image detection devices, and the spot light emitting device provided on at least one of the three-dimensional image detection devices, which projects three or more light spots arranged in a non-linear manner onto the subject. Spot position recognition that detects whether or not the projected light spot is imaged on the imaging surface, and if it is imaged, detects the position on the imaging surface where the light spot is imaged A correspondence relationship between the means and the light spots provided on at least one of the first and second three-dimensional image detection devices and imaged on the imaging surfaces of the first and second three-dimensional image detection devices, respectively. Correspondence recognition means The wherein at least three or more spots are characterized to be detected by the spot position recognition means in each imaging plane of the first and second three-dimensional image detector.
[0006]
The light emitted from the spot light emitting device is preferably a laser beam. Preferably, the spot light emitting device includes three or more spot light emitting elements, and the light spots are caused by light projected from different spot light emitting elements. More preferably, the spot light emitting elements are arranged at equal intervals in an annular shape around the edge of the lens barrel of the three-dimensional image detection apparatus.
[0007]
Preferably, the correspondence relationship recognition means recognizes the correspondence relationship between the light spots detected by the first and second three-dimensional image detection devices by causing each spot light emitting element to emit light one by one.
[0008]
The first and second three-dimensional image detection devices preferably include communication means for performing communication between the first and second three-dimensional image detection devices, and the first or second three-dimensional image detection device includes the spot light emitting device. 2 emits each spot light emitting element one by one and transmits a light emitting element identification code for identifying each spot light emitting element to the other three-dimensional image detecting apparatus by communication means. The correspondence relationship identifying means recognizes the correspondence relationship between the light spots detected in each three-dimensional image detection device by the light emitting element identification code.
[0009]
For example, in a spot position recognition unit of a three-dimensional image apparatus that does not include a spot light emitting device, a signal for notifying that a projected light spot is not detected is detected when a light spot is detected. By transmitting a signal for notifying that the light has been detected to a three-dimensional image detecting device including a spot light emitting device, three or more light spots are detected in the three-dimensional image detecting device not including the spot light emitting device. It can be determined in the first three-dimensional image detection apparatus whether or not it has been done.
[0010]
Preferably, in a three-dimensional image detection system including N three-dimensional image detection devices, at least one pair of three-dimensional image detection devices exists in all three-dimensional image detection devices, and a pair of three-dimensional image detection devices. One of the detection devices functions as a first three-dimensional image detection device, and the other functions as a second three-dimensional image detection device. More preferably, in a one-time driving of a three-dimensional image detection system provided with N three-dimensional image detection devices, all the three-dimensional image detection devices function as the first and second three-dimensional image devices only once. To do. At this time, preferably, a device identification code for identifying each of the N three-dimensional image detection devices is generated in each of the three-dimensional image detection devices.
[0011]
The three-dimensional image detection system preferably has a first information based on the first and second three-dimensional image detection devices based on distance information to the subject detected by each of the first and second three-dimensional image detection devices. Coordinate data calculating means for calculating first coordinate data and second coordinate data representing the three-dimensional shape of the subject in each of the second coordinate system and the second coordinate system. More preferably, the three-dimensional image detection system performs coordinate conversion between the first coordinate system and the second coordinate system based on the three light spots detected by the spot position recognition unit. Coordinate conversion means for performing is provided.
[0012]
A three-dimensional image detection apparatus of the present invention is a three-dimensional image detection apparatus that is used in the above-described three-dimensional image detection system and detects distance information to a subject for each pixel, and a spot of light projected on the subject is detected. At least one of spot position recognition means for detecting a position on the imaging surface to be imaged or a spot light emitting device for projecting three or more light spots arranged in a non-linear manner onto a subject is provided.
[0013]
The three-dimensional image detection device is preferably one of the first and second three-dimensional image detection devices provided with spot position recognition means, the first and second three-dimensional image detection devices. Correspondence recognition means for recognizing the correspondence between the light spots detected on the imaging surface. More preferably, a spot light emitting device is provided at this time.
[0014]
The three-dimensional image detection apparatus preferably includes data input means for inputting data used in the correspondence recognition means.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view of a camera-type three-dimensional image detection apparatus according to an embodiment of the present invention, and is used in a three-dimensional image detection system.
[0016]
On the front surface of the camera body 10, a finder window 12 is provided at the upper left of the taking lens 11, and a strobe 13 is provided at the upper right. An annular marking light emitting device (spot light emitting device) 22 is disposed on the outer peripheral edge of the imaging lens 11, and the light emitting device 22 includes six light emitting elements (spot light emitting elements) 22 a and the like. Arranged at intervals. The light emitting element 22a is for irradiating a marking laser beam. On the upper surface of the camera body 10, a light emitting device 14 that irradiates a laser beam that is a distance measuring light is disposed just above the photographing lens 11. A release switch 15, a link shooting mode setting switch 18, and a liquid crystal display panel 16 are provided on the left side of the light emitting device 14, and a mode switching dial 17 is provided on the right side. On the right side of the camera body 10 in the figure, a card insertion slot 19 for inserting a recording medium such as an IC memory card is formed, and a video output terminal 20 and interface connectors 21a and 21c are provided. An interface connector 21b is provided on the left side (not shown) of the camera body 10 in the drawing.
[0017]
FIG. 2 is a block diagram showing a circuit configuration of the camera shown in FIG.
A diaphragm 25 is provided in the photographic lens 11. The opening degree of the diaphragm 25 is adjusted by the iris drive circuit 26. The focus adjustment operation and zooming operation of the photographic lens 11 are controlled by the lens driving circuit 27.
[0018]
An imaging device (CCD) 28 is disposed on the optical axis of the photographing lens 11. A subject image is formed on the imaging surface of the CCD 28 by the photographing lens 11, and as a result, a charge corresponding to the subject image is generated in the CCD 28. Operations such as charge accumulation operation and charge read operation in the CCD 28 are controlled by the CCD drive circuit 30. The charge signal read from the CCD 28, that is, the image signal is amplified by the amplifier 31 and converted from an analog signal to a digital signal by the A / D converter 32. The digital image signal is subjected to processing such as gamma correction in the imaging signal processing circuit 33 and temporarily stored in the image memory 34. The iris drive circuit 26, lens drive circuit 27, CCD drive circuit 30, and imaging signal processing circuit 33 are controlled by a system control circuit 35.
[0019]
The image signal is read from the image memory 34 and supplied to the LCD drive circuit 36. The LCD drive circuit 36 operates in accordance with the image signal, whereby an image corresponding to the image signal is displayed on the image display LCD panel 37.
[0020]
The image signal read from the image memory 34 can be transmitted to the monitor device 39 via the TV signal encoder 38 and the video output terminal 20 by connecting with a monitor device 39 provided outside the camera body 10 with a cable. It is. The system control circuit 35 is connected to the interface circuit 40, and the interface circuit 40 is connected to the interface connectors 21a, 21b, and 21c. The interface connectors 21a and 21b are used for connection with other cameras in the link shooting mode in which a plurality of cameras are linked to perform shooting. The interface connector 21c is for connecting to a computer 41 provided outside the camera body 10 via an interface cable. The system control circuit 35 is connected to the data recording device 43 via the recording medium control circuit 42. Therefore, the image signal read from the image memory 34 can be recorded on a recording medium M such as an IC memory card attached to the data recording device 43.
[0021]
The light emitting device 14 includes a light emitting element 14a and an illumination lens 14b, and the light emitting operation of the light emitting element 14a is controlled by a light emitting element control circuit 44. The light emitting element 14a is a laser diode (LD), and the irradiated laser light is used as distance measuring light for detecting the distance of the subject. This laser light is applied to the entire subject via the illumination lens 14b. The laser light reflected by the subject enters the photographing lens 11 and is detected by the CCD 28, whereby distance information to the subject is detected. The plurality of light emitting elements 22 a are also laser diodes, and the light emitting elements 22 a are controlled by the light emitting element control circuit 41. The laser light emitted from the light emitting element 22a is projected in a spot shape on the surface of the subject, serves as a marker representing a feature point, and is referred to when obtaining a coordinate transformation matrix.
[0022]
A switch group 45 including a release switch 15, a mode switching dial 17, and a link shooting mode setting switch 18 and a liquid crystal display panel (display element) 16 are connected to the system control circuit 35.
[0023]
Next, an outline of a three-dimensional image detection system according to an embodiment of the present invention will be described with reference to FIGS.
[0024]
FIG. 3 schematically shows a method for photographing the subject S.
The six cameras 10 a to 10 f are the cameras shown in FIGS. 1 and 2, are arranged at substantially equal intervals surrounding the subject S, and the imaging lens of each camera is directed to the subject S. Adjacent cameras are respectively connected by an interface cable 50, and the six cameras 10a to 10f form an annular network, and constitute one three-dimensional image detection system as a whole. For example, when the operator presses the link shooting mode setting switch 18 of the camera 10a to start up the link shooting mode, the link shooting mode is also started up sequentially in the cameras 10b to 10f connected by the interface cable 50. The number of cameras can be changed as necessary, but at least two cameras are required to configure the system. In the following description, the description will be made on the assumption that the link shooting mode is started by operating the link shooting mode setting switch 18 of the camera 10a.
[0025]
In each camera, distance data to the subject S is detected, and coordinate data representing a three-dimensional shape of the subject S calculated based on the distance data is based on a coordinate system based on each camera. Therefore, in order to obtain the overall coordinate data of the subject S based on a single coordinate system by synthesizing the coordinate data of the subject S based on the coordinate system based on each camera, the coordinate system based on a certain camera is different from other coordinate systems. It must be possible to convert to a coordinate system based on the camera. In the link shooting mode, link shooting for detecting a reference point to be referred to when obtaining a coordinate transformation matrix for performing this coordinate transformation is performed, and thereafter distance information to the subject and image information are detected.
[0026]
Link shooting is performed as a set of two cameras that are directly connected to each other via an interface cable 50. That is, the cameras 10a and 10b, the cameras 10b and 10c, the cameras 10c and 10d,... In link shooting, one of the two cameras irradiates a marking laser beam, and spots projected on the surface of the subject are detected by the two cameras, respectively, and used as reference points during coordinate conversion. Of the two cameras, the camera that irradiates the marking laser light is called a master camera, and the other camera is called a slave camera.
[0027]
FIG. 4 is a flowchart of a program executed in the camera 10a when the link shooting mode is set, and FIG. 5 is a flowchart of a program executed in the other cameras 10b to 10f.
[0028]
First, when the operator presses the link shooting mode setting switch 18 of the camera 10a, the camera link process of step 100 is executed in the camera 10a. In the camera link process, an initial process for controlling the cameras 10a to 10f in conjunction with each other is performed. In conjunction with the camera link process (step 100) executed in the camera 10a, the camera link process (step 200) is also executed in each of the cameras 10b to 10f. When the link (link) between the cameras is successful, that is, when it is confirmed that the power of each connected camera is set to the ON state and each camera is set to the communicable state, the camera of the camera 10a In the link process (step 100), a flag indicating that the link was successful is set.
[0029]
In step 101 of the camera 10a, it is determined by referring to the above-mentioned flag whether or not the link between the cameras is successful. If it is determined that the link has failed, a warning indicating that the link has failed is displayed on the liquid crystal display panel 16 or the like, and the setting of the link shooting mode is cancelled. Thereby, the photographing operation of the three-dimensional image detection system is completed. On the other hand, if it is determined that the link is successful, link shooting is performed using the camera 10a as a master camera in step 102, and at the same time, step 201 is executed in the camera 10b, and link shooting as a slave camera is performed. That is, link shooting is performed with the camera 10a and the camera 10b as one set. When the link shooting of the camera 10a and the camera 10b is successful, a flag indicating that the link shooting is successful is set in each of steps 102 and 201. Note that while the link shooting with the camera 10a and the camera 10b as one set is being performed, the cameras 10c to 10f are in a standby state for link shooting as described later (step 201).
[0030]
In step 103 (camera 10a) and step 202 (camera 10b), whether or not the link shooting has been successful is determined based on the above-described flags. If it is determined that link shooting has failed, the setting of the link shooting mode is canceled, and the shooting operation of the three-dimensional image detection system ends.
[0031]
On the other hand, if it is determined that the link shooting is successful, the camera 10a moves to step 104, and enters a standby state until link shooting is performed with the camera 10f as a master camera and itself as a slave camera. In the camera 10b, the process moves to step 203, and link shooting using the camera 10b as a master camera is started. At this time, in the camera 10c, the standby state in step 201 is canceled, and link shooting as a slave camera is started. That is, link shooting is performed with the camera 10b and the camera 10c as one set. If link shooting with each camera is successful, a flag indicating that link shooting has been successful is set in step 203 (camera 10b) and step 201 (camera 10c).
[0032]
In the camera 10b, in step 204, whether or not the link shooting (link shooting using the camera 10b as a master camera) is successful is performed with reference to the above flag. On the other hand, in the camera 10c, in step 202, whether or not link shooting (link shooting using the camera 10b as a master camera) is successful is performed with reference to the above-described flag. When it is determined that the link shooting has failed in the cameras 10b and 10c, the setting of the link shooting mode is cancelled, and the shooting operation of the three-dimensional image detection system ends.
[0033]
When it is determined that the link shooting is successful, the camera 10b moves to step 205 and determines whether a shooting end signal (described later) is received from the camera 10a. That is, the camera 10a waits for a shooting end signal (END) from the camera 10a. In the camera 10c, the process moves to step 203, and the standby state in step 201 of the camera 10d is released as a result of this, and link shooting with the camera 10c and the camera 10d as one set (the camera 10c is the master and the camera 10d is the master). Slave) starts. Similarly, link shooting of the camera 10d and the camera 10e, and the camera 10e and the camera 10f is performed, and all the cameras of the cameras 10b to 10e are in the standby state in step 205. That is, each camera waits for a shooting end signal from the master camera when the camera itself performs link shooting as a slave camera.
[0034]
When link shooting (step 201) as a slave camera of the camera 10f is completed successfully, the camera 10f starts link shooting (step 203) as a master camera. On the other hand, in the camera 10a, the standby state in step 104 is canceled, and link shooting as a slave camera is started. If the link shooting is successful, a flag indicating that is set in step 104 and step 203 of each of the cameras 10a and 10f, and it is determined in step 105 and step 204 whether the link shooting is successful. When it is determined that the link shooting has failed, the setting of the link shooting mode is canceled, and the shooting operation of this three-dimensional image detection system is ended.
[0035]
If it is determined that the link shooting is successful, the camera 10f moves to step 205 and waits for a shooting end signal from the camera 10e. In the camera 10a, the process proceeds to step 106, the distance information detection operation is executed, and distance data to the subject is acquired. In step 107, the image information detection operation is executed, and the image data of the subject is acquired. .
[0036]
Thereafter, in the camera 10a, a photographing end signal is output to the camera 10b in step 108, and various data (information on marking, distance data, image data, etc.) are recorded on the recording medium M in step 109. In step 110, a standby state is entered until a shooting end signal is received from the camera 10f. When the photographing end signal is received from the camera 10f, the photographing operation of the three-dimensional image detection system in the camera 10a is finished.
[0037]
The shooting end signal is a signal indicating that shooting in the distance information detection operation or the image information detection operation executed in the camera is ended. When the camera 10b receives the shooting end signal, the processing of the camera 10b, which has been waiting to receive the shooting end signal in step 205, moves to step 206 and step 207, and the distance information detection operation and the image information detection operation are executed. Then, subject distance data and image data are acquired. Thereafter, in step 208, the camera 10b outputs a photographing end signal to the camera 10c, and in step 209, the acquired various data is recorded in the recording medium M, and the photographing operation of the three-dimensional image detection system in the camera 10b is finished.
[0038]
Similarly, the distance information detection operation and the image information detection operation are performed in each camera, and a shooting end signal is output to the next camera. Various data acquired in each camera is recorded in the recording medium M, and All the photographing operations of the three-dimensional image detection system in the camera are completed. That is, the shooting end signal is sequentially output as the camera 10a, the camera 10b, the camera 10c,..., And the shooting end signal output from the camera 10f at the end is received by the camera 10a. The shooting operation of the camera ends.
[0039]
Next, the camera link process executed in step 100 and step 200 will be described with reference to FIGS.
[0040]
Table 1 shows a list of typical signals communicated between the cameras via the interface cable 50.
[Table 1]

M represents a master camera, S represents a slave camera, and a symbol “→” represents a data transmission direction between the master camera and the slave camera. Signals used for the camera link process are a link shooting mode signal (MODE) that is a 1-bit signal and camera identification signals (C1, C2, and C3) that are 3-bit signals. The 3-bit illumination identification signals (L1, L2, L3), the 1-bit signal OK signal (OK_ACK), the NG signal (NG_ACK), and the shooting end signal (END) are used in the subsequent link shooting operation.
[0041]
FIG. 6 is a flowchart of the camera link process executed in step 100, that is, the camera 10a, and FIG. 7 is a flowchart of the camera link process executed in step 200, that is, the camera 10b to the camera 10f.
[0042]
First, in step 300, the link shooting mode (MODE) signal (transmission side) between the cameras 10a and 10b is set to high level, and in step 301, the camera identification number (transmission side) is set to 1 and to the camera 10b. Is output. Thereafter, in step 302, the timer is reset, and in step 303, it is determined whether or not the MODE signal (reception side) between the camera 10f and the camera 10a is at a high level. If it is determined that the MODE signal on the receiving side is not at a high level, it is determined in step 306 whether or not the timer has exceeded a predetermined time. If it is determined that the predetermined time has not elapsed, the process returns to step 303, and it is determined whether or not the MODE signal on the receiving side is at a high level. If it is determined in step 306 that the time of the timer has exceeded the predetermined time, the flag indicating that the camera link process is successful is reset and the process ends.
[0043]
On the other hand, if it is determined in step 303 that the MODE signal on the receiving side is at a high level, it is determined in step 304 whether or not the camera identification number on the receiving side is 1. If it is determined that the camera identification number on the receiving side is 1, the process proceeds to step 306, where it is determined whether or not the timer has exceeded a predetermined time. If it is determined in step 304 that the camera identification number on the receiving side is not 1, a flag indicating that the camera link process is successful is set in step 305, and this process ends.
[0044]
While the camera link process shown in FIG. 6 is performed in the camera 10a, the camera link process shown in FIG. 7 is performed in the cameras 10b to 10f. If it is determined in step 400 that the reception-side MODE signal is at a high level, the process proceeds to step 401, where the transmission-side MODE signal is set to a high level. For example, when the MODE signal from the camera 10a is set to the high level and the camera 10b receives the MODE signal, the camera 10b sets the MODE signal to the camera 10c to the high level. In step 402, the received camera identification number n plus 1 is set as the camera identification number on the transmission side and output to the next camera. For example, the camera 10b receives the camera identification number 1 from the camera 10a and outputs the camera identification number 2 to the camera 10c. That is, the six cameras 10a to 10f correspond to the camera identification numbers 1, 2,.
[0045]
FIG. 8 shows the sequence of the rise and fall of the MODE signal between the cameras. 8A shows a camera 10a and a camera 10b, FIG. 8B shows a camera 10b and a camera 10c, FIG. 8C shows a camera 10c and a camera 10d, FIG. 8D shows a camera 10d and a camera 10e, FIG. 8E shows the sequence of the rise and fall of the MODE signal between the camera 10e and the camera 10f, and FIG. 8F shows the MODE signal between the camera 10f and the camera 10a. By setting the MODE signal on the transmission side in step 300 to a high level, the MODE signal between the camera 10a and the camera 10b is set to a high level in SH1. The camera 10b that has received the high-level MODE signal sets the MODE signal between the camera 10b and the camera 10c to the high level in SH2. In this way, the MODE signal between the cameras is sequentially set to the high level, and in SH6, the MODE signal between all the cameras is set to the high level.
[0046]
On the other hand, each camera constantly monitors the MODE signal on the receiving side by interrupt processing. When the MODE signal on the receiving side is set to a low level, the camera executes it after setting the MODE signal on its transmitting side to a low level. Forcibly terminate each shooting operation. For example, when the camera 10a sets the transmission-side MODE signal to the low level in SL1, the camera 10b that detects this also forcibly terminates the photographing operation after setting the transmission-side MODE signal to the low level in SL2. Similarly, the cameras 10c to 10f set their MODE signals to low level and forcibly end their own photographing operation. Therefore, in SL6, the photographing operation shown in the flowcharts of FIGS. 4 and 5 is completed for all cameras. Since the monitoring of the MODE signal on the receiving side is always performed in all cameras, if any camera sets the MODE signal on the transmitting side to a low level, the MODE signal of each camera is sequentially set to a low level. The shooting operation of all the cameras can be ended in the same manner as when the MODE signal on the transmission side of the camera 10a is set to the low level.
[0047]
FIG. 9 shows an example of the camera identification signal output in step 301 and step 402. FIG. 9A shows a camera identification signal output from the camera 10a to the camera 10b. FIGS. 9B and 9C output the camera 10b to the camera 10c and the camera 10c to the camera 10d. The camera identification signals to be displayed are respectively shown.
[0048]
The camera identification signals C1, C2, and C3 correspond to the three-digit binary numbers, C1 corresponds to the first digit, C2 corresponds to the second digit, and C3 corresponds to the third digit. Therefore, in FIG. 9A in which camera identification number 1 (01 in binary notation) is output, a pulse signal is output to the camera identification signal C1 substantially simultaneously with the MODE signal on the transmission side being set to a high level. . Similarly, in FIG. 9B in which the camera identification number 2 (10 in binary notation) is output, a pulse signal is output to the camera identification signal C2 almost simultaneously with the MODE signal being set to the high level. In FIG. 9C, which outputs camera identification number 3 (11 in binary notation), pulse signals are output to the camera identification signals C1 and C2 substantially simultaneously with the MODE signal being set to a high level. .
[0049]
Next, with reference to FIGS. 10 to 12, the link shooting with the master camera and the link shooting with the slave camera executed in steps 102, 203 and 104, and 201 in FIGS. 4 and 5 will be described.
[0050]
FIG. 10 is a flowchart of the link shooting operation executed in the master camera. First, in step 500 and step 501, variables M and L are initialized to 0 and 1, respectively. The variable M corresponds to the number of spots detected by the link shooting operation. The variable L is an illumination identification number, which is a number corresponding to each of the light emitting elements 22 provided in the camera. For example, in FIG. 1, each light emitting element 22 corresponds to 1, 2,..., 6 in order from the top light emitting element 22 in the clockwise direction.
[0051]
In step 502, the camera identification number is output to the slave camera. In step 503, laser light is emitted from the light emitting element 22 having the illumination identification number L toward the subject, and the illumination identification number L of the emitted light emitting element 22 is sent to the slave camera. The illumination identification number L is transmitted to the slave camera by 3-bit illumination identification signals L1, L2, and L3, similarly to the camera identification number.
[0052]
In step 504, it is determined whether an OK_ACK signal from the slave camera is received. The OK_ACK signal is a signal sent from the slave camera to the master camera when a spot by the marking laser light emitted from the light emitting element 22 is detected by the slave camera. If it is determined that the OK_ACK signal has not been received, it is determined in step 505 whether an NG_ACK signal from the slave camera has been received. The NG_ACK signal is a signal sent from the slave camera to the master camera when a spot due to the marking laser light emitted from the light emitting element 22 is not detected by the slave camera. If it is determined that the NG_ACK signal has not been received, the process returns to step 504 again to determine whether an OK_ACK signal has been received.
[0053]
If it is determined in step 505 that the NG_ACK signal has been received, in step 506, the illumination identification number L is the maximum value L._maxWhether or not is equal. Since the number of the light emitting elements 22 of the camera of this embodiment is 6, L_max= 6. L = L_maxIf not, in step 507, 1 is added to the illumination identification number L, the process returns to step 502, and laser light irradiation from the next light emitting element 22 is performed.
[0054]
On the other hand, if it is determined in step 504 that the OK_ACK signal has been received, 1 is added to the variable M in step 508. In step 509, spot position recognition processing for recognizing the position (pixel position) on the screen of the spot formed on the subject surface by the laser beam with the illumination identification number L is performed. Thereafter, the position of the spot recognized as the illumination identification number L in step 510 is temporarily stored in the image memory 34.
[0055]
In step 511, it is determined whether or not the variable M is 3. When it is determined that M ≠ 3, in step 506, L = L_maxIs determined. On the other hand, if it is determined in step 511 that M = 3, a flag indicating that link shooting has been successful is set in step 512, and the subroutine of the link shooting operation in the master camera ends. In step 506, L = L_maxIf it is determined that the link photographing is successful, the flag indicating that the link photographing is successful is reset and the MODE signal is set to the low level, and the subroutine of the link photographing operation in the master camera is completed.
[0056]
On the other hand, the subroutine of the link shooting operation in the slave camera is shown in the flowchart of FIG.
[0057]
In step 600, the value of variable M representing the number of detected spots is initialized to zero. In step 601, it is determined whether a camera identification signal (camera identification number) from the master camera has been received. If it is determined that a camera identification signal has been received, an illumination identification signal (illumination identification number L) is determined in step 602. It is determined whether or not is received. When the illumination identification signal is received, in step 603, spot position recognition processing for recognizing the position of the spot on the CCD 28 screen by the laser light emitted from the illumination identification number L of the master camera is performed. In step 603, when the spot position is recognized, a flag indicating that the spot position has been recognized is set. In other cases, the flag is reset.
[0058]
In step 604, whether or not the position of the spot by the light emitting element 22 with the illumination identification number L has been recognized in the spot position recognition processing in step 603 is determined by a flag indicating that the spot position has been recognized. If it is determined that the spot position has not been recognized, an NG_ACK signal is transmitted to the master camera in step 605. Thereafter, the illumination identification number L received in step 606 is L_maxIf it is determined that they are not equal to each other, the process returns to step 601 again.
[0059]
On the other hand, if it is determined in step 604 that the position of the spot with the illumination identification number L is recognized, 1 is added to the variable M in step 608, and then an OK_ACK signal is transmitted to the master camera in step 609. Thereafter, the position of the spot recognized as the illumination identification number in step 610 is stored in the image memory 34. In step 611, it is determined whether or not the variable M is 3. If it is determined that M = 3, a flag indicating that the link shooting has been successful is set in step 612, and the subroutine of the link shooting operation in this slave camera ends. If it is determined in step 611 that M ≠ 3, the process proceeds to step 606. In step 606, L = L_maxIn step 607, the flag indicating that link shooting in the slave camera is successful is reset, and the subroutine of link shooting operation in the slave camera ends.
[0060]
Next, the spot position recognition process in steps 509 and 603 will be described with reference to FIG. FIG. 12 is a flowchart of a subroutine of spot position recognition processing.
[0061]
In step 700, pixel value binarization processing is performed. That is, when the i-th pixel from the left and the j-th pixel from the top in the CCD 28 are represented by (i, j), 1 if the pixel value ρ (i, j) is greater than or equal to the threshold Γ in the pixel (i, j). If it is smaller than Γ, 0 is made to correspond. The function B (ρ (i, j)) represents such a binarization function. At this time, the pixel where B (ρ (i, j)) = 1 corresponds to one of the pixels constituting the spot.
[0062]
In step 701, the sum SM of B (i, j), B (i, j) × i, B (i, j) × j._B, SM_i, SM_jIs required. In step 702, SM_BIt is determined whether = 0. SM_BIf it is determined that ≠ 0, the process proceeds to step 703, where the centroid (i of the spot formed by the pixels where B (ρ (i, j)) = 1 (i₀, J₀) As the spot position. The centroid (i₀, J₀) Is a function that rounds off a numerical value, Int,
i₀= Int (SM_i/ SM_B)
j₀= Int (SM_j/ SM_B)
Is calculated by
[0063]
In step 704, a flag indicating that the spot position has been recognized is set, and the subroutine ends. On the other hand, in step 702, SM_BIs determined to be 0, in step 705, the flag indicating that the spot position has been recognized is reset, and this subroutine ends.
[0064]
FIG. 13 illustrates a sequence of signals when link shooting is performed using the camera 10a as a master camera and the camera 10b as a slave camera.
[0065]
At T1, the camera identification number 1 and the camera identification signal corresponding to the illumination identification number 1 and the illumination identification signal are output almost simultaneously from the camera 10a to the camera 10b. That is, only the camera identification signal C1 and the illumination identification signal L1 are output as pulse signals. At T <b> 1 ′, an OK_ACK signal is output as a pulse signal from the camera 10 b to the camera 10 a to notify the camera 10 a that is a master camera that a spot with the illumination identification number 1 has been detected.
[0066]
At T2, the camera identification number 1 is output again, and the illumination identification signal corresponding to the illumination identification number 2 is output substantially simultaneously. That is, only the camera identification signal C1 and the illumination identification signal L2 are output as pulse signals. At T2 ', an NG_ACK signal is output as a pulse signal from the camera 10b to the camera 10a to notify the camera 10a, which is the master camera, that a spot with the illumination identification number 2 has not been detected. Similarly, at T3, T4, T5, and T6, an illumination identification signal represented by 3 bits corresponding to the illumination identification numbers 3, 4, 5, and 6 is sent from the master camera to the slave camera, and T3 ′, T4 ′, At T5 ′ and T6 ′, an OK_ACK signal, an NG_ACK signal, an NG_ACK signal, and an OK_ACK signal are sent from the slave camera to the master camera, respectively. Therefore, in this link shooting operation, since three spots are recognized (detected) by the camera 10b as the slave camera, a flag indicating that the link shooting has been successful is set.
[0067]
When three spots are recognized in each camera by the above method, subject coordinate data represented in a single coordinate system can be obtained from the subject distance data detected in each camera, for example, The fact that all link photographing has been successful is displayed on the liquid crystal display panel 16 of the camera 10a.
[0068]
Next, the distance information detection operation executed in steps 106 and 206 in FIGS. 4 and 5 will be described.
[0069]
First, the principle of distance measurement in this embodiment will be described with reference to FIGS. In FIG. 15, the horizontal axis is time t.
[0070]
The distance measuring light output from the distance measuring device B is reflected by the subject S and received by a CCD (not shown). The distance measuring light is pulsed light having a predetermined pulse width H. Therefore, the reflected light from the subject S is also pulsed light having the same pulse width H. The rising edge of the reflected light pulse is delayed by a time δ · t (where δ is a delay coefficient) from the rising edge of the ranging light pulse. Since the distance measuring light and the reflected light have traveled a distance r twice that between the distance measuring device B and the subject S, the distance r is
r = δ · t · C / 2 (1)
Is obtained. However, C is the speed of light.
[0071]
For example, when the reflected light is detected from the rising edge of the ranging light pulse and switched to the undetectable state before the reflected light pulse falls, that is, when the reflected light detection period T is provided, The received light amount A in the reflected light detection period T is a function of the distance r. That is, the received light amount A decreases as the distance r increases (the time δ · t increases).
[0072]
In the present embodiment, by utilizing the above-described principle, each point on the surface of the subject S is detected from the camera body 10 by detecting the received light amount A in each of a plurality of photodiodes provided in the CCD 28 and two-dimensionally arranged. 3D image data relating to the surface shape of the subject S are input in a lump.
[0073]
FIG. 16 is a diagram showing the arrangement of the photodiodes 51 and the vertical transfer units 52 provided in the CCD 28. FIG. 17 is a cross-sectional view showing the CCD 28 cut along a plane perpendicular to the substrate 53. The CCD 28 is a conventionally known interline CCD, and uses a VOD (vertical overflow drain) system for sweeping out unnecessary charges.
[0074]
The photodiode 51 and the vertical transfer portion 52 are formed along the surface of the n-type substrate 53. The photodiodes 51 are two-dimensionally arranged in a grid pattern, and the vertical transfer units 52 are provided adjacent to the photodiodes 51 arranged in a line in a predetermined direction (vertical direction in FIG. 16). The vertical transfer unit 52 has four vertical transfer electrodes 52 a, 52 b, 52 c, 52 d for one photodiode 51. Therefore, in the vertical transfer section 52, wells with four potentials can be formed, and signal charges can be output from the CCD 28 by controlling the depths of these wells as is conventionally known. The number of vertical transfer electrodes can be freely changed according to the purpose.
[0075]
A photodiode 51 is formed in a p-type well formed on the surface of the substrate 53, and the p-type well is completely depleted by a reverse bias voltage applied between the p-type well and the n-type substrate 53. In this state, charges corresponding to the amount of incident light (reflected light from the subject) are accumulated in the photodiode 51. When the substrate voltage Vsub is increased to a predetermined value or more, the charge accumulated in the photodiode 51 is swept out to the substrate 53 side. On the other hand, when a charge transfer signal (voltage signal) is applied to the transfer gate portion 54, the charge accumulated in the photodiode 51 is transferred to the vertical transfer portion 52. That is, after the charge is swept to the substrate 53 side by the charge sweep signal, the signal charge accumulated in the photodiode 51 is transferred to the vertical transfer unit 52 side by the charge transfer signal. By repeating such an operation, the signal charges are integrated in the vertical transfer unit 52, and a so-called electronic shutter operation is realized.
[0076]
FIG. 18 is a timing chart in the distance information detection operation, and the distance information detection operation in this embodiment will be described with reference to FIGS. 1, 2, and 16 to 18. In the distance information detection operation of the present embodiment, unlike the description of the principle of distance measurement performed with reference to FIG. 15, the distance information is reflected from the falling edge of the distance measuring light pulse in order to reduce noise due to the influence of external light. Although the timing chart is configured so that the light can be detected and switched to an undetectable state after the reflected light pulse falls, there is no difference in principle.
[0077]
A charge sweep signal (pulse signal) S1 is output in synchronization with the output of a vertical synchronization signal (not shown), whereby unnecessary charges stored in the photodiode 51 are swept in the direction of the substrate 53, and the photodiode The accumulated charge amount at 51 becomes zero (reference S2). After the start of the output of the charge sweep signal S1, pulsed ranging light S3 having a constant pulse width is output. The period (pulse width) during which the ranging light S3 is output can be adjusted, and in the illustrated example, the ranging light S3 is adjusted to be turned off simultaneously with the output of the charge sweep signal S1.
[0078]
The distance measuring light S <b> 3 is reflected by the subject and enters the CCD 28. That is, the reflected light S4 from the subject is received by the CCD 28, but no charge is accumulated in the photodiode 51 while the charge sweep signal S1 is being output (reference S2). When the output of the charge sweep signal S1 is stopped, the photodiode 51 starts to accumulate charges by receiving the reflected light S4, and a signal charge S5 caused by the reflected light S4 and external light is generated. When the reflected light S4 is extinguished (reference S6), in the photodiode 51, the charge accumulation based on the reflected light ends (reference S7), but the charge accumulation caused only by the external light continues (reference S8).
[0079]
Thereafter, when the charge transfer signal S9 is output, the charges accumulated in the photodiode 51 are transferred to the vertical transfer unit 52. This charge transfer is completed when the output of the charge transfer signal ends (reference S10). That is, the charge accumulation is continued in the photodiode 51 due to the presence of external light, but the signal charge S11 accumulated in the photodiode 51 is transferred to the vertical transfer unit 52 until the output of the charge transfer signal is completed. The charge S14 accumulated after the completion of the output of the charge transfer signal remains in the photodiode 51 as it is.
[0080]
Thus, the period T from the end of the output of the charge sweep signal S1 to the end of the output of the charge transfer signal S9._U1In the meantime, the signal charge corresponding to the distance to the subject is accumulated in the photodiode 51. Then, the charges accumulated in the photodiode 51 until the reception of the reflected light S4 (symbol S6) is transferred to the vertical transfer unit 52 as a signal charge S12 (shaded portion) corresponding to the distance information of the subject, and other signals. The charge S13 is caused only by outside light.
[0081]
After a predetermined time has elapsed from the output of the charge transfer signal S9, the charge sweep signal S1 is output again, and unnecessary charges accumulated in the photodiode 51 after the transfer of the signal charge to the vertical transfer unit 52 are swept in the direction of the substrate 53. Is issued. That is, signal charge accumulation is newly started in the photodiode 51. Then, as described above, the charge accumulation period T_U1When elapses, the signal charge is transferred to the vertical transfer unit 52.
[0082]
The transfer operation of the signal charge S11 to the vertical transfer unit 52 is repeatedly executed until the next vertical synchronization signal is output. As a result, in the vertical transfer unit 52, the signal charge S11 is integrated, and the signal charge S11 integrated in a period of one field (a period sandwiched between two vertical synchronization signals) is considered that the subject is stationary during that period. If possible, it corresponds to distance information to the subject. Since the signal charge S13 is minute compared to the signal charge S12, the signal charge S11 can be regarded as being equal to the signal charge S12.
[0083]
The detection operation of the signal charge S11 described above relates to one photodiode 51, and such a detection operation is performed in all the photodiodes 51. As a result of the detection operation in the period of one field, distance information detected by the photodiode 51 is held in each part of the vertical transfer unit 52 adjacent to each photodiode 51. This distance information is output from the CCD 28 by a vertical transfer operation in the vertical transfer unit 52 and a horizontal transfer operation in a horizontal transfer unit (not shown).
[0084]
FIG. 19 is a flowchart of the distance information detection operation executed in step 106 of FIG. 4 and step 206 of FIG. The distance information detection operation will be described with reference to FIG. The distance information detection operation can be driven independently by setting the mode switching dial 17 to the D mode. At this time, the distance information detection operation is independently performed in the camera without interlocking with other cameras.
[0085]
In step 801, a vertical synchronizing signal is output and ranging light control is started. That is, the light emitting device 14 is driven, and the pulsed ranging light S3 is intermittently output. Next, step 802 is executed, and detection control by the CCD 28 is started. That is, the distance information detection operation described with reference to FIG. 18 is started, the charge sweep signal S1 and the charge transfer signal S9 are alternately output, and the signal charge S11 of the distance information is integrated in the vertical transfer unit 52.
[0086]
In step 803, it is determined whether one field period has ended since the start of the distance information detection operation, that is, whether a new vertical synchronization signal has been output. When one field period is completed, the process proceeds to step 804, and the signal charge of the distance information integrated in the vertical transfer unit 52 is output from the CCD 28. This signal charge is temporarily stored in the image memory 34 in step 805.
[0087]
In step 806, the distance measuring light control is switched to the off state, and the light emitting operation of the light emitting device 14 is stopped. In step 807, distance data calculation processing is performed. In step 808, the distance data is temporarily stored in the image memory 34, and this subroutine ends.
[0088]
Next, the contents of the arithmetic processing executed in step 807 will be described with reference to FIG.
[0089]
Assume that a subject having a reflectance R is illuminated and this subject is regarded as a secondary light source having luminance I and is imaged on a CCD. At this time, the output Sn obtained by integrating the charge generated in the photodiode during the charge accumulation time t is:
Sn = k · R · I · t (2)
It is represented by Here, k is a proportional constant, which varies depending on the F number of the photographing lens, the magnification, and the like.
[0090]
As shown in FIG._U1, The pulse width of the distance measuring light S3 is T_S, The pulse width of the signal charge S12 of the distance information is T_DIf the charge accumulation time during one field period is repeated N times, the output SM obtained_TenIs

It becomes. Pulse width T_DIs

It can be expressed. At this time, the distance r to the subject is
r = C · SM_Ten/ (2 ・ k ・ N ・ R ・ I) (5)
It can be expressed as Therefore, if the proportionality constant k, the reflectance R, and the luminance I are obtained in advance, the distance r can be obtained.
[0091]
Next, the image information detection operation executed in steps 107 and 207 in FIGS. 4 and 5 will be described with reference to FIG. Note that the image information detection operation can also be driven independently by setting the mode switching dial 17 to the V mode, similarly to the distance information detection operation. That is, in the camera in which the mode switching dial 17 is set to the V mode, the distance information detection operation is performed independently without interlocking with other cameras.
[0092]
In step 901, the normal photographing operation (CCD video control) by the CCD 28 is set to the on state, and an image of the same subject as the subject imaged in the distance information detection operation is captured and detected as image data. The detected image data is temporarily stored in the image memory 34 in step 902, and this subroutine ends.
[0093]
Through the above-described photographing operation of the three-dimensional image detection system, the data acquired in the cameras 10a to 10f is transferred to the computer 41 and synthesized. Data transfer from the camera to the computer is performed by loading the recording medium M of each camera into a data reading device 46 (see FIG. 2) provided in the computer 41 and reading it into the computer, or an interface cable connected to the interface connector 21c. To the computer 41.
[0094]
Next, referring to FIGS. 21 to 26, coordinates representing the overall three-dimensional shape of the subject from the distance data to the subject detected by each camera using the three spots detected by the link photographing operation. A method for obtaining data will be described.
[0095]
First, a method for calculating the coordinate value of a subject in a coordinate system based on each camera from distance data to the subject detected by each camera will be described.
[0096]
FIG. 21 shows the focal point P in the photographing optical system of the camera._fThe relationship between the camera coordinate system xyz with the coordinate origin, the arbitrary point P (pixel) on the CCD 28, and the corresponding point Q on the subject surface is schematically shown. The y-axis coincides with the optical axis Lp, the z-axis is taken in parallel with the vertical axis of the CCD 28, and the direction is upward. The x axis is parallel to the horizontal axis of the CCD 28. Point P_cIs the intersection of the light receiving surface of the CCD 28 and the optical axis Lp, and coincides with the center of the light receiving surface. The point Q is a point on the subject corresponding to the pixel of the point P on the CCD 28, and its coordinates are (x_Q, Y_Q, Z_Q). The plane plane is a plane parallel to the CCD 28 including the point Q. Point Q_CIs the intersection of the optical axis Lp (y-axis) and the plane 、, and its coordinates are (0, y_Q, 0).
[0097]
FIG. 22 is a front view of the light receiving surface of the CCD 28. The horizontal and vertical lengths of the CCD 28 are each 2 × H₀2 x V₀It is. The point P is the center P of the CCD 28_CFrom left to left_P, Up V_PIs in the distance. Point P_HIs the horizontal axis L of the CCD 28 from the point P_HIt is the leg of the perpendicular line. Point P_VIs the vertical axis L of the CCD 28 from the point P_VIt is the leg of the perpendicular line.
[0098]
FIG. 23 shows the focal point P._fAnd focus on the relationship between CCD 28_fAnd the horizontal axis L of the CCD 28_HIs expressed on a plane including the angle Θ₀Is a horizontal angle of view, and f is a focal length. Line segment P_fP_HIs the angle formed by the optical axis Lp_PThen the angle Θ_PIs
Θ_P= Tan^-1(H_p/ F) (6)
Sought by.
[0099]
FIG. 24 shows the focal point P._fAnd focus on the relationship between CCD 28_fAnd the vertical axis L of the CCD 28_VThe angle θ₀Is the vertical angle of view. Line segment P_fP_VIs the angle formed by the optical axis Lp with θ_PThen the angle θ_PIs
θ_P= Tan^-1(V_p/ F) (7)
Sought by.
[0100]
Focus P_fLine segment P connecting point and point P_fThe length of P is the line segment P_fP_HAnd line segment P_CP_VFrom the length of
P_fP = (P_fP_H ²+ P_CP_V ²)^1/2                  ... (8)
Sought by. Here, P in equation (8)_fP_H, P_CP_VIs
P_CP_V= V_P,
P_fP_H= F / cos Θ_P
So,
P_fP = ((f / cos Θ_P)²+ V_P ²)^1/2            ... (9)
It can be expressed as.
[0101]
Line segment P_fQ length and line segment P_fP length ratio P_fP / P_fWhen Q is μ, the coordinate component x of the point Q_Q, Y_Q, Z_QIs
x_Q= H_P/ Μ (10)
y_Q= V_P/ Μ (11)
z_Q= F / μ (12)
Is calculated by Focal length f and distance H to point P corresponding to any pixel of CCD 28_P, V_PIs known. Line segment P_fThe length of Q is the focal point P_fTo the point Q of the subject corresponding to the point P, and the focal length f is known, and can be calculated using the result of the arithmetic processing in step 807. The point P represents one pixel of the CCD 28, and the above calculation is possible for all the pixels of the CCD 28, and the coordinates of the subject (point Q) corresponding to all the pixels (point P) ( x_Q, Y_Q, Z_Q) Is calculated.
[0102]
Next, based on the three spots as reference points, a coordinate system x'y'z 'based on a certain camera (slave camera) is used as a reference for a camera (master camera) paired in link shooting. A method of converting to the coordinate system xyz will be described.
[0103]
25 and 26 show images taken by a camera placed in front of the human head model and a camera placed diagonally to the left of the model. FIG. 25 shows an image taken by the master camera, and FIG. Each corresponds to an image taken by a slave camera.
[0104]
Three spots Sp in FIG.₁, Sp₂, Sp_ThreeIs the three spots Sp in FIG.₁', Sp₂', Sp_ThreeThe same spot is taken from two different directions corresponding to '. 3 spots Sp in the coordinate system xyz₁, Sp₂, Sp_ThreeCoordinates (position vector) of (x₁, Y₁, Z₁), (X₂, Y₂, Z₂), (X_Three, Y_Three, Z_Three) And three spots Sp in the coordinate system x'y'z '₁', Sp₂', Sp_ThreeThe coordinates of ‘₁', Y₁', Z₁’), (X₂', Y₂', Z₂’), (X_Three', Y_Three', Z_Three′). These coordinates can be calculated by the method described with reference to FIGS.
[0105]
The coordinate transformation from the coordinate system x'y'z 'to the coordinate system xyz is orthogonal transformation (rotation) T when the parallel movement is represented by (Δx, Δy, Δz)._rBy
[Expression 1]

It can be done like this. Orthogonal transformation T_rComponent α_ijCan be obtained from the coordinate values of three spots as reference points as follows.
[0106]
Sp₁To Sp₂, Sp₂To Sp_Three, Sp_ThreeTo Sp₁The displacement vector to
ΔSp₁= (X₂-X₁, Y₂-Y₁, Z₂-Z₁)
ΔSp₂= (X_Three-X₂, Y_Three-Y₂, Z_Three-Z₂)
ΔSp_Three= (X₁-X_Three, Y₁-Y_Three, Z₁-Z_Three)
And Sp₁'To Sp₂', Sp₂'To Sp_Three', Sp_Three'To Sp₁The displacement vector to ‘
ΔSp₁′ = (X₂'-X₁', Y₂'-Y₁', Z₂'-Z₁’)
ΔSp₂′ = (X_Three'-X₂', Y_Three'-Y₂', Z_Three'-Z₂’)
ΔSp_Three′ = (X₁'-X_Three', Y₁'-Y_Three', Z₁'-Z_Three’)
Then the displacement vector is invariant with respect to the parallel movement of the coordinate system,
[Expression 2]

Thus, the orthogonal transformation T_rComponent α_ijCan be requested. Further, the parallel movement (Δx, Δy, Δz) is calculated by the obtained orthogonal transformation T_rAnd, for example, Sp₁(Sp₁‘) From the coordinate value
[Equation 3]

Is required.
[0107]
As described above, the coordinate data of the subject obtained in the coordinate system based on a certain slave camera can be converted into the coordinate system based on the master camera. Since each camera is a master camera for one of the adjacent cameras and a slave camera for the other, it is represented in a coordinate system based on an arbitrary camera by repeatedly executing the coordinate transformation required for each group. The coordinate values of the subject can be converted into a coordinate system based on a predetermined camera. Therefore, the overall three-dimensional shape of the subject can be represented by a single coordinate system.
[0108]
In the present embodiment, the determination as to whether or not the three spots (reference points) are recognized by both the master camera and the slave camera is performed during the link shooting operation. However, it is possible to determine whether or not three or more identical spots are recognized by causing all six light emitting elements 22 to emit light in advance, and a mode for that purpose may be provided in each camera. In this embodiment, the spot is projected on the surface of the subject that is the object of photographing. However, the spot may be projected on the surface of the undesired subject that exists in the vicinity of the subject of interest and is in the photographing area. .
[0109]
In this embodiment, three spots are recognized as reference points for coordinate conversion. However, four or more spots that are not linear may be recognized, and four or more spots recognized at this time may be recognized. May be used to calculate the coordinate transformation formula with higher accuracy.
[0110]
【The invention's effect】
As described above, according to the present invention, a three-dimensional image detection system for photographing a subject from a plurality of directions and synthesizing coordinate data representing the three-dimensional shape of the subject obtained by each photographing into one coordinate system and 3 A two-dimensional image detection apparatus can be obtained.
[Brief description of the drawings]
FIG. 1 is a perspective view of a camera-type three-dimensional image detection apparatus according to an embodiment of the present invention.
2 is a block diagram showing a circuit configuration of the camera shown in FIG. 1. FIG.
FIG. 3 is a diagram schematically illustrating a configuration of a three-dimensional image detection system.
FIG. 4 is a flowchart of a program for photographing operation of the three-dimensional image detection system executed in the master camera.
FIG. 5 is a flowchart of a shooting operation program of a 3D image detection system executed in a slave camera.
FIG. 6 is a flowchart of a camera link processing program executed in the camera that first starts up the link shooting mode.
7 is a flowchart of a camera link processing program executed in a camera other than the camera of FIG. 6;
FIG. 8 shows the sequence of the rise and fall of the MODE signal between the cameras.
FIG. 9 illustrates a transmission state of a camera identification signal.
FIG. 10 is a flowchart of a link shooting operation program executed in the master camera.
FIG. 11 is a flowchart of a link shooting operation program executed in the slave camera.
FIG. 12 is a flowchart of a program for spot position recognition processing;
FIG. 13 is a sequence of signals output at the time of link shooting.
FIG. 14 is a diagram for explaining the principle of distance measurement using distance measuring light.
FIG. 15 is a diagram showing a light amount distribution received by ranging light, reflected light, gate pulse, and CCD.
FIG. 16 is a diagram illustrating an arrangement of photodiodes and vertical transfer units provided in a CCD.
FIG. 17 is a cross-sectional view showing a CCD cut along a plane perpendicular to the substrate.
FIG. 18 is a timing chart of a distance information detection operation for detecting data related to a distance to a subject.
FIG. 19 is a flowchart of a distance information detection operation.
FIG. 20 is a flowchart of an image information detection operation.
FIG. 21: Focus P_fIs a diagram schematically showing the relationship between a camera coordinate system xyz with the coordinate origin, an arbitrary point P on the CCD 28, and a corresponding point Q on the subject surface.
22 is a front view of the CCD 28. FIG.
23 is a horizontal sectional view showing the relationship between the focal point and the CCD 28 in the photographing optical system of the camera. FIG.
24 is a vertical sectional view showing the relationship between the focal point and the CCD 28 in the photographing optical system of the camera. FIG.
FIG. 25 shows an image when a human head model is photographed from the front.
FIG. 26 shows an image when a human head model is photographed from diagonally left front.
[Explanation of symbols]
10 Camera body (3D image detector)
22 Light emitting device (spot light emitting device)
22a Light emitting element (spot light emitting element)
28 CCD (imaging surface)

Claims (16)

A three-dimensional image detection system including first and second three-dimensional image detection devices that detect distance information to a subject for each pixel,
A spot light emitting device that is provided on at least one of the first and second three-dimensional image detection devices and projects three or more light spots arranged in a non-linear manner onto the subject;
Spot position recognition means provided in both the first and second three-dimensional image detection devices, for detecting a position on the imaging surface where the projected spot of the light forms an image;
Recognizing correspondence between light spots formed on at least one of the first and second three-dimensional image detection devices and imaged on the imaging surfaces of the first and second three-dimensional image detection devices, respectively. Corresponding relationship recognition means,
A three-dimensional image detection system, wherein at least three spots are detected by the spot position recognition means on each imaging surface of the first and second three-dimensional image detection devices.   The three-dimensional image detection system according to claim 1, wherein the light emitted from the spot light emitting device is a laser beam.   2. The three-dimensional image according to claim 1, wherein the spot light emitting device includes three or more spot light emitting elements, and the light spots are generated by light projected from different spot light emitting elements. Image detection system.   4. The three-dimensional image detection system according to claim 3, wherein the spot light emitting elements are arranged in an annular shape at equal intervals around an edge of a lens barrel of the three-dimensional image detection apparatus.   The correspondence recognition means recognizes the correspondence between the light spots detected in the first and second three-dimensional image detection devices by causing the spot light emitting elements to emit light one by one. The three-dimensional image detection system according to claim 3. The first and second three-dimensional image detection devices are
The first or second three-dimensional image detection device provided with communication means for performing communication between the first and second three-dimensional image detection devices, and provided with the spot light emitting device, each of the spots. The light emitting element is caused to emit light one by one and a light emitting element identification code for identifying each spot light emitting element is transmitted to the other three-dimensional image detection device by the communication means, and the correspondence relation identifying means is configured to emit the light emission. The three-dimensional image detection system according to claim 5, wherein a correspondence relationship between light spots detected by each of the three-dimensional image detection devices is recognized by an element identification code.   In the spot position recognition means of the three-dimensional image device not provided with the spot light emitting device, a signal for notifying that a projected light spot is not detected is detected when a light spot is detected. In the three-dimensional image detection apparatus in which the spot of light is not provided with the spot light emitting device, a signal for notifying that the light is detected is transmitted to the three-dimensional image detection device provided with the spot light emitting device. The three-dimensional image detection system according to claim 6, wherein the first three-dimensional image detection apparatus can determine whether or not two or more are detected. In a 3D image detection system including N 3D image detection devices,
Each of all the three-dimensional image detection devices is used as a pair with at least one other three-dimensional image detection device, and one of the pair of three-dimensional image detection devices functions as the first three-dimensional image detection device, The other functions as the second three-dimensional image detection apparatus. The three-dimensional image detection system according to claim 1, wherein   In a single drive of a three-dimensional image detection system including the N three-dimensional image detection devices, all the three-dimensional image detection devices function as the first and second three-dimensional image devices only once. The three-dimensional image detection system according to claim 8.   9. The three-dimensional image detection system according to claim 8, wherein a device identification code for identifying each of the N three-dimensional image detection devices is generated in each of the three-dimensional image detection devices.   From the distance information to the subject detected in each of the first and second 3D image detection devices, a first coordinate system and a second coordinate system based on the first and second 3D image detection devices 2. The three-dimensional image detection system according to claim 1, further comprising: coordinate data calculation means for calculating first coordinate data and second coordinate data representing a three-dimensional shape of the subject in each of the coordinate systems.   Coordinate conversion means for performing coordinate conversion between the first coordinate system and the second coordinate system based on the three light spots detected by the spot position recognition means is provided. The three-dimensional image detection system according to claim 11. A three-dimensional image detection apparatus for detecting distance information to a subject for each pixel, which is used in the three-dimensional image detection system according to claim 1, wherein a spot of light projected on the subject forms an image. 3D characterized in that it comprises at least one spot light emitting device for projecting a spot of three or more light arranged in the spot position recognizer or non-linear in the object to detect the position on the surface Image detection device.   One of the first and second three-dimensional image detection devices including the spot position recognition means, which is detected on the imaging surface of the first and second three-dimensional image detection devices. The three-dimensional image detection apparatus according to claim 13, further comprising correspondence recognition means for recognizing a correspondence between light spots.   The three-dimensional image detection device according to claim 14, further comprising the spot light emitting device.   15. The three-dimensional image detection apparatus according to claim 14, further comprising data input means for inputting data used by the correspondence relationship recognition means.

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