JP6963295B2 - 3D information acquisition device - Google Patents

Description

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

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

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

Further, regarding the display of three-dimensional information, various techniques are disclosed for the purpose of allowing medical personnel to intuitively grasp the three-dimensional image in the medical field, particularly in the three-dimensional image such as CT and MRI (). See Non-Patent Document 1).

Japanese Unexamined Patent Publication No. 2009-300268

Hiroon Hiron, Satoshi Nakajima, Makoto Iwahara, Eitsuko Kobayashi, Ichiro Sakuma, Naoki Yahagi, Takezumi Dohi, "Development of Real-Time 3D Navigation System for Surgical Support Using Integral Videography" Journal of Japan Computer Surgery Society J.JSCAS Volume 2, Number 4, 2000; 245-252.

However, in the stereoscopic three-dimensional information measurement method, since the feature points on the image are detected and used as the measurement points, image processing is required every time the image is updated in real time. Further, the technique described in Patent Document 1 requires a complicated configuration in which intensity-modulated light spatially or temporally modulated must be applied, and complicated calculations associated with this configuration.

Further, in order to realize the technology described in Non-Patent Document 1, when a necessary three-dimensional model is constructed by using an image taken by an optical camera provided in an endoscope or the like, stereoscopic vision is used. However, there was a problem that the processing time was long.

The present invention has been made in view of these circumstances in the background, and requires complicated configurations and complicated calculations by utilizing the principle of optical integral photography (IP). It is an object of the present invention to provide a three-dimensional information acquisition device capable of acquiring three-dimensional information of an object.

The present invention is a three-dimensional information acquisition device that acquires three-dimensional information of an object arranged in a predetermined space of a three-dimensional coordinate system. The three-dimensional information acquisition device, which is one aspect of the present invention, is arranged so as to face an object, and receives a lens array in which a plurality of element lenses are arranged in a matrix and a light beam passing through the element lenses on an imaging surface. An imaging unit that is arranged in the light receiving unit so as to correspond to each of the light receiving unit and the plurality of element lenses, and a plurality of imaging elements that receive the light beam are arranged in a matrix, and the optical image acquired by the imaging unit. It includes an information processing unit that processes information for each image pickup element. Then, the information processing unit divides a predetermined space to generate a virtual measurement unit space, identifies an imaging pixel in which the luminous flux passing through the measurement unit space reaches through the element lens, and coordinates the measurement unit space. , And the image pickup pixel to which the luminous flux reaches and the color space value acquired from the image pickup pixel are stored.

There is a method called Integral Photography (hereinafter referred to as IP), which is attracting attention as one of the display methods for three-dimensional images. This is to project a natural and highly reproducible three-dimensional image into space using a two-dimensional plane lens array. Since this method forms a point in space, the observer can obtain the effect as if the target object exists in space. Furthermore, a three-dimensional moving image creation / display system that combines a lens array / moving image display device and a computer has been developed by a method of generating an IP image on a computer (Computer Generated IP). A video display method based on this IP principle is called Integral Videography (hereinafter referred to as IV).

According to one aspect of the present invention, using the principles of IP and IV, a predetermined space is first divided to generate a virtual measurement unit space. This measurement unit space corresponds to a three-dimensional map, and each measurement unit space can be identified. Specifically, the image pickup pixel in which the luminous flux passing through the measurement unit space reaches through the element lens is specified, the coordinates of the measurement unit space, and the image pickup pixel to which the luminous flux reaches and the color acquired from the image pickup pixel. Stores spatial values. By doing so, it is possible to form an image pickup pixel group in which the luminous flux passing through the measurement unit space reaches through the element lens.

Focusing on a certain measurement unit space by such a process, the coordinates of this measurement unit space are determined by the luminous flux reaching two or more imaging pixels. At this time, when the color space values of the imaging pixels reached by the luminous flux related to the measurement unit space are compared, an object exists when the color space values of all the luminous fluxes match, and an object exists when even one is different. It can be determined that it does not. After determining the existence / non-existence, if the object exists, the color space value of the pixel related to the measurement unit space is stored as the color space value of the measurement unit space. If an object is present here, the color space values of all the pixels are the same, so that the color space values of the measurement unit space are uniquely determined. By observing the color space value of the luminous flux related to the color space value of the measurement unit space obtained by dividing the predetermined space in this way, it is possible to acquire three-dimensional information in the predetermined space such as the presence / absence of an object. There is. The color space value indicates a color space value that can be recorded as a color profile, and is not particularly limited as long as it is, for example, RGB, RGBA, YCbCr, CMYK, Lab color, or the like.

In the above embodiment, the measurement unit space can be a voxel. According to this aspect, an application in a three-dimensional space to which a voxel already disclosed in CT, MRI, etc. is applied can be applied.

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

In the above aspect, the information processing unit can be configured to collect the measurement unit space determined that the object exists and form the contour of the portion where the object exists.

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

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

According to this aspect, the size, dimensions, and the like can be measured as numerical values together with the three-dimensional image that enables intuitive grasping. By digitizing the measured values in this way, useful information can be obtained in follow-up observation, statistical processing, and the like.

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

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

The present invention has been made in view of these circumstances in the background, and requires complicated configurations and complicated calculations by utilizing the principle of optical integral photography (IP). However, it is possible to provide a three-dimensional information acquisition device capable of acquiring three-dimensional information of an object.

It is explanatory drawing which shows the whole structure which concerns on 1st Embodiment of this invention. It is sectional drawing of the lens array which concerns on 1st Embodiment of this invention. It is explanatory drawing which showed the cross-sectional detail of the lens array which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the image pickup part which concerns on 1st Embodiment of this invention. It is explanatory drawing of the measurement unit space which concerns on 1st Embodiment of this invention. It is explanatory drawing of the intersection setting which concerns on 1st Embodiment of this invention. It is explanatory drawing of the plurality of intersection setting which concerns on 1st Embodiment of this invention. It is explanatory drawing of the point cloud formation which concerns on 1st Embodiment of this invention. It is explanatory drawing which determines the nonexistence of the object which concerns on 1st Embodiment of this invention. It is explanatory drawing of contour formation of the object which concerns on 1st Embodiment of this invention. It is explanatory drawing of the distance measurement of the object contour which concerns on 1st Embodiment of this invention. This is an example of a computer simulation of the distance measurement of the contour of an object according to the first embodiment of the present invention. It is a measurement result of an example of the simulation by the computer of the distance measurement of the object contour which concerns on the 1st Embodiment of this invention. This is an example of simulation by another computer for measuring the distance of the contour of an object according to the first embodiment of the present invention. It is a measurement result of the example of the simulation by another computer of the distance measurement of the object contour which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the form of the lens array which concerns on other embodiment of this invention.

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

One aspect of the three-dimensional information acquisition device according to the present invention is a three-dimensional information acquisition device that acquires three-dimensional information of an object arranged in a predetermined space of a three-dimensional coordinate system, and is arranged so as to face the object. A lens array in which a plurality of element lenses are arranged in a matrix, a light receiving portion that receives a light beam passing through the element lenses on an imaging surface, and a light receiving portion corresponding to each of the plurality of element lenses. It is provided with an imaging unit in which a plurality of imaging elements that receive a light beam are arranged in a matrix, and an information processing unit that processes optical information acquired by the imaging unit for each imaging element. Then, the information processing unit divides a predetermined space to generate a virtual measurement unit space, identifies an imaging pixel in which the luminous flux passing through the measurement unit space reaches through the element lens, and coordinates the measurement unit space. , And, as long as it is characterized in that the image pickup pixel to which the luminous flux reaches and the color space value acquired from the image pickup pixel are stored, the specific embodiment thereof may be any.

In the following description, one aspect of the three-dimensional information acquisition device according to the present invention will be described, but the present invention is used as a general video medium as well as medical-related image analysis in which IP and IV technologies are utilized. Needless to say, it can be applied to quantitative information acquisition such as security, games, robot vision, and surveying.

(Explanation of First Embodiment)
First, the main configuration of the three-dimensional information acquisition device according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG. 1 is an explanatory diagram showing an overall configuration according to a first embodiment of the present invention. FIG. 2 is a cross-sectional view of the lens array according to the first embodiment of the present invention, which is a cross-sectional view taken along the line AA of FIG. FIG. 3 is an explanatory view showing the details of the cross section of the lens array according to the first embodiment of the present invention. FIG. 4 is an explanatory diagram showing an imaging unit according to the first embodiment of the present invention.

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

The predetermined space 1 is a measurable area of the three-dimensional information acquisition device, and is a range in which the luminous flux R reaches the lens array 10.

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

The lens array 10 is widely used not only in copiers and printers, but also in the fields of medical treatment, communication, measurement, astronomical engineering, aviation, security, and the like. A material such as glass, quartz, silicon, or polymer is used for the lens array 10, and the element lenses 11 are formed in a square array, a triangular array, or at random with a lens pitch (distance between adjacent lenses) according to the application. be able to.

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

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

The luminous flux R incident on the image pickup pixel 31 is electronically converted for each image pickup pixel 31 by using a photodetector called a photodiode through a color filter of the image pickup element. This electronic information (charge, etc.) is transmitted to the information processing unit 40 as a signal.

The information processing unit 40 is a kind of computer, and includes a processor (CPU) for executing operations, a storage area for temporarily storing various data, a random access memory (RAM) for providing a work area for operations by the processor, and a processor. It stores the read-only memory (ROM) in which various data used for the program to be executed and the calculation are stored in advance, and the data obtained from each part of the engine system and the result of the calculation by the processor. It has a rewritable non-volatile memory. The non-volatile memory can be realized by a RAM with a backup function that is constantly supplied with voltage even after the system is stopped.

The information processing unit 40 passes the transmitted electronic information (charge, etc.) as analog data such as color shading to the image processing engine in the information processing unit 40, digitally converts it, and stores it in the memory as a color space value. Will be done. The image processing engine performs pixel comparison and the like as described later, and this may be either processing using an electronic circuit or processing using software.

In this way, the information processing unit 40 stores the color space value of the imaging pixels 31 constituting the direction as well as the direction of the luminous flux R. Although the main functions of the information processing unit 40 have been described here, the configuration may include a display device (display or the like) for displaying the result of processing the information.

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

For example, in the RGB color space used in computer displays that use the three primary colors of light, red (Red), green (Green), and blue (Blue), a total of 24 bits of 8 bits for each of RGB can be allocated. It enables the display of 16,777,216 colors, enabling fine identification.

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

With reference to FIG. 5, the information processing unit 40 shows a virtual measurement unit space 5 generated by dividing the predetermined space 1. In FIG. 5, (A) is a measurement unit space 5 generated in a predetermined space 1, and (B) is an explanatory diagram showing a state of the measurement unit space 5 divided into layers. The measurement unit space 5 corresponds to, for example, a voxel in a three-dimensional map, and three-dimensional information can be acquired by making each measurement unit space 5 identifiable. That is, here, the coordinates of the measurement unit space with respect to the imaging system in the present embodiment can be defined. After this, the intersection point P is related to which measurement unit space 5 is included.

In this embodiment, the measurement unit space whose coordinates are determined by the luminous flux reaching two or more imaging pixels will be described, but the two imaging pixels will be described in order to avoid complication of the configuration.

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

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

The intersection P of one light flux R and another light flux R is not always one in a predetermined space, and when two or more intersection points P exist, the values of the related pixels are set as the same intersection point P. Just compare.

Since the direction of the luminous flux R is uniquely determined from the relationship between the principal point 12 and the imaging pixel 31, the coordinates of the intersection P in the predetermined space 1 are also uniquely determined, and the measurement unit including the intersection P is included. Space 5 is specified. Although it is represented in two dimensions in a cross-sectional view in FIG. 6, the intersection P is associated with the measurement unit space in the predetermined space 1 in the three-dimensional coordinate system.

With reference to FIG. 7, it is shown that a plurality of intersection points P are set by the same process as in FIG. That is, the intersection PA is from the image pickup pixel 31EA of the element lens 11E and the image pickup pixel 31DA of the element lens 11D, and the intersection PB is from the image pickup pixel 31EB of the element lens 11E and the image pickup pixel 31DB of the element lens 11D. The intersection PC is set from the 31DC and the image pickup pixel 31CC of the element lens 11C. Further, a measurement unit space 5 which is a fixed region including these intersections PA, PB, and PC is also set.

The information processing unit 40 compares the color space values of the imaging pixels reached by the luminous flux R related to the measurement unit space 5. If the color space values of all the luminous fluxes match, it can be determined that the object exists, and if even one is different, it can be determined that the object does not exist.

After determining the existence / non-existence, the information processing unit 40 stores the color space value of the pixel related to the measurement unit space as the color space value of the measurement unit space when the object exists. If an object is present here, the color space values of all the pixels are the same, so that the color space values of the measurement unit space are uniquely determined.

By arranging the measurement unit space 5 which is a constant region including the intersection P in the predetermined space 1 as a whole in this way, it is possible to prevent confusion and erroneous measurement when comparing the color space values, and it is more accurate. It is possible to determine the existence or nonexistence of an object.

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

Referring to FIG. 8, a continuous film-like point cloud GP1, GP2, GP3 is formed in the predetermined space 1. The point clouds GP1, GP2, and GP3 are intersection groups (groups of measurement unit spaces 5) in which measurement unit spaces 5 including a plurality of intersection points P adjacent to each other are selected.

Here, the formed point groups GP1, GP2, GP3 are measurement units including the intersection P on the lens array 10 side when the information processing unit 40 has two or more intersections P on the path of the luminous flux R. Space 5 is selected. In FIG. 8, a hemispherical dome shape with the lens array 10 side as the apex is formed, but the shape is not limited to this. For example, it may be flat, a hemispherical dome shape, or a curved surface having a constant curvature.

In this way, by setting the measurement unit space 5 as a continuous film-like point cloud GP1, GP2, GP3, for example, a film-like surface (dome-shaped hemisphere in FIG. 8) is moved in the predetermined space 1. The existence or nonexistence of the object 2 can be determined so as to scan. By adopting such an embodiment, the measurement means is similar to that of a general radar or a medical device such as CT or MRI, so that the determination can be facilitated and various data exchanges can be facilitated. Further, it is possible to easily detect an erroneous determination or the like.

It should be noted that such a scanning means is an example, and it goes without saying that by mounting an application according to a scene or a measurement target on the information processing unit 40, three-dimensional information can be acquired without setting a point cloud.

(Explanation of determination of existence / non-existence of object)
Next, the presence / absence determination of the object will be described with reference to FIGS. 9 and 10. FIG. 9 is an explanatory diagram of an example of determining the absence of an object according to the first embodiment of the present invention, and shows an embodiment using a point cloud GP. FIG. 9 is an explanatory diagram of contour formation of an object according to the first embodiment of the present invention.

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

Then, the information processing unit 40 compares the color space values of the imaging pixels reached by the luminous flux related to the measurement unit space 5 whose position is specified by the point cloud GP. Here, it is determined that the object 2 exists when the color space values of all the luminous fluxes match, and that the object 2 does not exist when even one is different.

Further, the information processing unit 40 determines the existence / non-existence of the object 2, and then, when the object exists, uses the color of the imaging pixel related to the measurement unit space 5 as the color space value of the measurement unit space 5. Stores spatial values. Here, when the object 2 exists, the color space values of all the pixels are the same, so that the color space values of the measurement unit space are uniquely determined.

For example, to explain in a simulated manner, as shown in FIG. 9, the intersection VP and the intersection NP are set according to the presence / absence of the object 2 in each measurement unit space 5. Then, as shown in FIG. 10, the region where the object 2 exists or does not exist can be revealed. By paying attention to the boundary between the existence and nonexistence of the object 2 in this way, the contour points OP1, OP2, OP3, OP4, OP5, OP6 of the object 2 can be obtained.

Since this embodiment is an optical measurement, the contour of the back side of the object 2 cannot be measured with respect to the lens array 10, and the luminous flux R does not reach depending on the shape of the object 2, so that the image can be taken. There may be some occlusion parts that cannot be done. Such a case can be dealt with by adjusting the size of the lens array 10 and the installation angle of the lens array 10.

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

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

With reference to FIG. 11, a plurality of contour points OP representing the contour of the object 2 are drawn, and measurement points MP1 and MP2 are arbitrarily selected. When the measurement points MP1 and MP2 match the contour point OP, the coordinates of the contour point are used, and when the measurement points MP1 and MP2 do not match the contour point OP, the coordinates on the interpolated contour line are used. Can be calculated.

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

In the above, the intersection P of the imaging pixels 31 of the two element lenses 11 has been described, but the intersection P in the predetermined space 1 may be the intersection P of the imaging pixels 31 of the three element lenses 11 as well as three. Can be set. As described above, it is preferable that the intersection P is appropriately set so that the occlusion portion can be avoided.

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

Referring to FIG. 12, the flat object 3 is arranged at a distance D parallel to the lens array 10. The three-dimensional information acquisition device 100 is in a state in which a plurality of intersection points are set in advance to form a plurality of point clouds. That is, referring to FIG. 1 as well, the three-dimensional information acquisition device 100 is arranged so as to face the object 3, and the lens array 10 in which a plurality of element lenses 11 are arranged in a matrix and the element lenses 11 A light receiving unit 20 that receives the light beam R passing through the It includes an image pickup unit 30 arranged, and an information processing unit 40 that processes optical information acquired by the image pickup unit 30 for each image pickup element 31.

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

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

Referring to FIG. 14, an object 4 in which the object 3 of FIG. 12 is curved so that the center is a recess with respect to the lens array 10 is arranged in a predetermined space.

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

(Explanation of Other Embodiments)
Next, another embodiment of the present invention will be described with reference to FIG. FIG. 16 is an explanatory diagram showing a form of a lens array according to another embodiment of the present invention. The other embodiment of the present invention differs from the first embodiment only in the shape of the lens array, but the other configurations are the same as those of the first embodiment. Therefore, in the following description, the configuration overlaps with the first embodiment. The description thereof will be omitted.

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

In the optical three-dimensional information acquisition device, the luminous flux does not reach depending on the shape of the object, and there is a possibility that an occlusion portion that cannot be photographed may occur. However, by selecting the shape of the lens array according to the shape of the object in this way, the occlusion portion can be reduced. For example, in the case of the concave hemispherical diploma lens array 310 as shown in FIG. 16B, it is possible to acquire almost the entire contour of the object 2 shown in FIG.

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

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

Claims (8)

It is a three-dimensional information acquisition device that acquires three-dimensional information of an object arranged in a predetermined space of a three-dimensional coordinate system.
A lens array arranged so as to face the object and a plurality of element lenses arranged in a matrix.
A light receiving portion that receives a light flux passing through the element lens on the imaging surface, and a light receiving portion.
An image pickup unit arranged in the light receiving unit so as to correspond to each of the plurality of element lenses, and a plurality of image pickup elements for receiving the luminous flux are arranged in a matrix.
An information processing unit that processes the optical information acquired by the image pickup device for each image pickup device is provided.
The information processing unit
The predetermined space is divided to generate a virtual measurement unit space, and the space is generated.
Light beam passing through said measurement unit space identifies an imaging pixel it reaches through the element lenses,
A three-dimensional information acquisition device characterized by storing the coordinates of the measurement unit space, the imaging pixel reached by the luminous flux, and the color space value acquired from the imaging pixel. The three-dimensional information acquisition device according to claim 1, wherein the measurement unit space is a voxel. The information processing unit
The first or second claim, wherein when it is determined that an object exists in two or more measurement unit spaces on the path of the luminous flux, the measurement unit space on the lens array side is selected. 3D information acquisition device. The information processing unit
The three-dimensional information acquisition device according to claim 3, wherein the measurement unit space determined that the object exists is collected to form a contour of a portion where the object exists. The information processing unit
When the measurement unit space in which at least two or more of the objects are present is selected,
The three-dimensional information acquisition device according to claim 4, wherein the distance in the measurement unit space is measured. The three-dimensional information acquisition device according to any one of claims 1 to 5, wherein the lens array is formed in a planar shape. The three-dimensional information acquisition device according to any one of claims 1 to 5, wherein the lens array is formed in a spherical shape. The three-dimensional information acquisition device according to any one of claims 1 to 5, wherein the lens array is formed in a curved surface shape having a predetermined curvature.

Images