JPH09102967A - Stereoscopic viewer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To relate plural cameras at a focal point and to easily change the intersection of convergence even for a moving object by controlling timing to output the image signals of cameras to a monitor among the plural cameras corresponding to the quantity of deviation from a reference position. SOLUTION: A frame control logic 24 applies proper parallax between left and right images and even when there is deviation from a reference point, stereoscopic viewing can be exactly performed without changing the convergence angle of cameras 1 and 2. Timewisely corresponding to outputs from left and right frame memories 22, the images of a left frame 11 and a right frame are formed. Since the frame memories 22 outputs images synchronously with a video synchronizing signal 30, the images of the left and right frames 11 and 12 are alternately displayed on a monitor 5. The frame control logic 24 commands the output timing of the frame memories 22 and this output timing can be set corresponding to the quantity of deviating the position of the object from the reference point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a stereoscopic device,
In particular, it relates to congestion control in stereoscopic vision of a stereoscopic vision device used for a manipulator that performs work by remote control.

[0002]

2. Description of the Related Art FIG. 7 shows an example of a conventional stereoscopic structure. In the example shown in FIG. 7, two cameras 1 and 2 are installed on a platform 3 and the angle (convergence angle) between the cameras 1 and 2 is adjusted to create parallax between both eyes to obtain a stereoscopic effect.

To further describe the electrical components, FIG.
As shown in FIG. 4, the images captured by the left and right cameras 1 and 2 are converted into image signals by the camera control, and then the left and right images are alternately (1 / 120s) by the scan converter 4.
every ec) is displayed on the monitor 5. By equipping an operator with a unit that perceives the right camera image to the right eye and the left camera image to the left eye in synchronization with the image of the scan converter 4, parallax between both eyes occurs and a stereoscopic effect can be obtained. Is. A system in which the stereoscopic device configured in this manner is mounted as a visual device of the remote-controlled slave manipulator 5 to perform work is being put to practical use even in non-manufacturing industries.

[0004]

When performing remote work by a master / slave manipulator equipped with a conventional stereoscopic device, there are the following problems. When performing a stereoscopic view by performing work with a manipulator equipped with a stereoscopic device, it is necessary to similarly change the observation location of the stereoscopic device each time the work target is moved or a new work is started. This change requires an operation of realigning the optical axes of the two cameras 1 and 2 with the work target.

In this resetting work, the pan head mechanism 3 having a drive system is used to adjust the vergence angle and the elevation angle, which leads to an increase in the size of the visual device and an increase in weight. Further, adjustment by the platform mechanism 3 causes a time delay because the camera having inertia is moved, and it may be difficult to obtain an effective stereoscopic effect.

Further, there are the following problems when performing remote work with a master / slave manipulator equipped with a stereoscopic device. That is, from the viewpoint of visibility, there are some objects where the contrast difference is large especially in the work performed outdoors, and with a single camera, the iris adjustment is adjusted to the high contrast side, and the observation object with low contrast may not be visible.

Therefore, an object of the present invention is to solve the above-mentioned problems of the prior art, to easily change the convergence intersection necessary for stereoscopic viewing even when there is a movement of the object, and to make the contrast difference different. It is an object of the present invention to provide a stereoscopic device capable of obtaining necessary visual information even for a large object.

[0008]

In order to achieve the above object, the stereoscopic device of the present invention is a stereoscopic device for stereoscopically viewing an object by alternately switching the images of a plurality of cameras on the screen of a monitor. In the above, in accordance with the amount of deviation from the reference position of the object located at a position distant from the reference position of the object stereoscopically visible under a preset convergence angle between the cameras, the image signal of the camera The output timing adjusting means for mutually adjusting the output timing output to the monitor among the plurality of cameras.

Further, preferably, the output timing of each of the cameras is set by giving different time lags to the video synchronization signals of the monitor so that the plurality of cameras can stereoscopically view.

Further, the output timing adjusting means has a time difference calculating means for calculating the time difference from the deviation amount known in advance.

Further, the output timing adjusting means successively changes the time difference until proper stereoscopic vision is confirmed on the screen of the monitor.

Further, the output timing adjusting means has a distance calculating means for calculating the deviation amount from information on the time difference necessary for stereoscopic viewing and distance information from the camera to the reference position.

Further, when the camera has zoom information, the distance calculating means calculates the shift amount including this zoom information.

Further, the iris level of each of the cameras is set to a desired different value.

Each of the cameras is arranged so that their optical axes are parallel to each other.

The stereoscopic viewing method of the present invention is a stereoscopic viewing method in which images of a plurality of cameras are alternately switched on a monitor screen to stereoscopically view an object, and a convergence angle set in advance between the cameras is set. The output timing of the image signal of the camera output to the monitor according to the amount of deviation from the reference position of the object located at a position distant from the reference position of the stereoscopically visible object below, It is characterized by mutual adjustment among a plurality of cameras.

The operation of the present invention will be described below.
The vergence angle between the cameras is set in advance, and under the set vergence angle, only the object at the reference position can be viewed stereoscopically. In order to properly stereoscopically view an object located at a position away from the reference position, the image of each camera is processed by electrical signals so that the images are in focus on the monitor screen. Therefore, the output timing of the image signal of the camera output to the monitor is adjusted among the plurality of cameras. This adjustment is performed depending on the amount of deviation of the position of the object from the reference position.

This adjustment is performed, for example, by giving different time differences to the video synchronizing signals of the monitor according to the amount of deviation so that stereoscopic viewing can be performed on the monitor screen. This time difference may be delayed in the positive direction or the negative direction with respect to the video synchronization signal.

Further, the output timing adjusting means may know the deviation amount in advance from a distance meter or the like, and calculate the time difference necessary for realizing the in-focus point from the information of the deviation amount.

Further, the output timing adjusting means may sequentially change the time difference until an operator observes the screen of the monitor and a proper stereoscopic vision is confirmed.

Further, the output timing adjusting means knows in advance the information on the time difference necessary for stereoscopic viewing, and also knows the distance information from the camera to the reference position in advance by using a distance meter or the like. By setting it, it becomes possible to calculate the deviation amount. As a result, it becomes possible to calculate a distance called a shift amount.

Further, when the camera has zoom information, the distance calculating means can calculate the shift amount even when there is zoom information by back-calculating the zoom information.

By setting the iris levels of the respective cameras to different desired values and performing stereoscopic viewing, it is possible to obtain a backlit-corrected image.

In this case, the backlight compensation is particularly effective when the optical axes of the cameras are parallel to each other.

The outline of the present invention will be described below. FIG.
In (a), consider the case where the left camera 1 and the right camera 2 stereoscopically view points O, A, and B on the straight line 10. Based on the fact that the left camera 1 and the right camera 2 stereoscopically view the point O, the convergence angles of the cameras 1 and 2 are set to the angle LOR. Conventionally, when attempting to stereoscopically view the point A or the point B from this state, it was necessary to reset the convergence angle to the angle LAR or the angle LBR. However, according to the present invention, the points A and B are stereoscopically set. Even if you look at the angle of convergence
Appropriate stereoscopic viewing is possible without fixing the convergence angle to the angle LOR without resetting to R or the angle LBR.

FIG. 7A shows a case where the left camera 1 and the right camera 2 are arranged symmetrically with respect to the straight line 10.
When the right camera 2 is arranged on the straight line 10 as shown in FIG. 7B, the convergence angle is adjusted only by the left camera 1. In the description of the present invention, even if the arrangement relationship of FIG. 7 (b) is adopted instead of the arrangement relationship of FIG. 7 (a), generality is not lost. Therefore, in the following description, only the image by the left camera 1 is adjusted. Subject to.

Next, the outline of the present invention will be described. FIG.
Shows a left frame 11 of the monitor screen by the left camera 1 and a right frame 12 of the monitor screen by the right camera 2 when stereoscopically viewing each point O, A, B on the straight line 10.
Left frame 11 and right frame 12 are 1/120 sec
By alternately appearing on the screen of the monitor 5 every time, the observer sees the left frame 11 and the right frame 12 at the same time, and stereoscopic vision is performed.

The cameras 1 and 2 have their respective angles of convergence set so that the reference point O can be viewed stereoscopically. When the reference point O is viewed stereoscopically, as shown in FIG. 1
The image point 13 in 1 and the image point 13 in the right frame 12
And are located at the reference time position 14 in each frame. That is, the left frame 11 and the right frame 12 are in a focused relationship, and normal stereoscopic vision is possible.

On the other hand, in the conventional apparatus, not the present invention, when observing the point A deviated from the reference point O in the near direction, the image point 13 in the left frame 11 is as shown in FIG. 8B. , When observing a point B located at a time position earlier than the reference time position 14 and displaced far away from the reference point O, the image point 13 in the left frame 11 is, as shown in FIG. It is located at a time position after the reference time position 14.

Left frame 11 and right frame 1 shown in FIG.
FIG. 9 shows a screen for stereoscopic viewing using 2 and. FIG.
(A) shows the image point 1 in the left frame 11 and the right frame 12.
3 is overlapped, showing that the stereoscopic view is accurate. On the other hand, in FIGS. 9B and 9C, the image point 13 is deviated between the left frame 11 and the right frame 12, and there is no in-focus relationship, and accurate stereoscopic vision cannot be performed as it is. Show.

In the present invention, points A and B deviated from the reference point O
Also in the case of observing, when the left frame 11 and the right frame 12 are overlapped with each other, the stereoscopic viewing is performed not as shown in FIGS. 9B and 9C but as shown in FIG. 9A. Even if the position of the target object is changed, the stereoscopic view can be accurately performed without changing the convergence angle of the cameras 1 and 2.

Therefore, according to the present invention, the left frame 11 and the right frame 12 are brought into the in-focus relationship by the processing of the electric signal as described below, and normal stereoscopic vision is enabled. FIG.
As shown in 0, the reference point O is imaged on the image point P on the array-shaped imaging surface 1a of the left camera 1, and the point A, which is deviated from the reference point O, is deviated from the image point P. A point B imaged at a position and displaced far away from the reference point O is imaged at a position displaced from the image point P in the opposite direction to the image point C. Here, the point Q indicates the position of the imaging lens. When the photoelectric conversion forming the image forming surface 1a of the left camera 1 is electrically scanned, the scanning timings of the image points P, C, and D are mutually delayed in time.
That is, the amount of time delay differs depending on the amount of deviation from the reference point O. Note that the term "time delay amount" is used here to include both positive and negative delays.

Therefore, for example, the image point C is electrically moved to a position equivalent to the position of the image point P on the image plane 1a. As a result, the convergence angle formed between the moved image point C and the image point in the right camera 2 becomes equal to the convergence angle formed between the image point P of the left camera 1 and the image point of the right camera 2 before moving, Appropriate stereoscopic viewing is possible.

[0034]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a stereoscopic device according to the present invention will be described below. FIG. 1 is a block diagram of an embodiment of the present invention. The outputs of the cameras 1 and 2 for observing the remote work state are input to the scan converter 4. This video signal is quantized by the A / D converter 20, the signal strength is adjusted by the contrast compression means 21 for each of the three primary colors RGB, and stored in the frame memory 22. The processing up to this point is performed for each of the left and right cameras 1 and 2.

The data stored in the frame memory 22 is A / D.
The analog image is converted by the converter 23, and the left and right images are switched and displayed on the monitor 4 at regular intervals. The frame control logic 24 includes the contrast compression means 21, the frame memory 22, and the D / A converter 2.
It is to instruct each of the three operations.

Next, the operation of the frame control logic 24 as the output timing adjusting means will be described with reference to FIGS. Frame control logic 24
Is for providing a proper parallax between the left and right images, and even when observing points A and B deviated from the reference point O, accurate stereoscopic viewing is possible without changing the convergence angles of the cameras 1 and 2. It is something to do.

For this reason, the frame control logic 24 sets the image point 13 of the left frame 11 and the image point of the right frame 12 as shown in FIGS. 9B and 9C.
It is superposed by electrical signal processing. The operation of the frame control logic 24 will be specifically described below.

FIG. 2 schematically shows an output procedure of the left and right frame memories 22 in the scan converter 4. Since the image of the left frame 11 and the image of the right frame 12 are formed temporally corresponding to the outputs of the left and right frame memories 22, the left frame 11 and the right frame 12 are replaced by the output signals of the frame memory 22. It is filled in. In FIG. 2, reference numeral 30 indicates a 120 Hz video synchronization signal. The frame memory 22 is output in synchronization with the video synchronization signal 30, and as a result, the image of the left frame 11 and the image of the right frame 12 are synchronized with the video synchronization signal 30 by 1
It is displayed alternately on the screen of the monitor 5 at 20 Hz.

The frame control logic 24 commands the output timing of the left and right frame memories 22 with respect to the video synchronizing signal 30, and this output timing can be set according to the amount of deviation of the position of the object from the reference point O. There is. Specifically, the right frame memory 22 corresponding to the right frame 12 is output in synchronization with the video synchronization signal 30 without delay, while the left frame memory 22 corresponding to the left frame 11 is output with respect to the video synchronization signal 30. It is delayed in time according to the amount of positional deviation.

In FIG. 2, CASE1 corresponds to the case where the reference point O is stereoscopically viewed. Both the left frame 11 and the right frame 12 show a state in which they are synchronized with the video synchronization signal 30 without delay. In this case, proper stereoscopic viewing is possible without any operation on the left frame 11.

CASE2 corresponds to the case where the point A deviated from the reference point is stereoscopically viewed. The read timing of the right frame memory 12 is delayed with respect to the video synchronizing signal 30 by the command of the frame control logic 14. This delay amount (delay in the positive direction) corresponds to the length between the image point D and the image point P on the image plane 1a in FIG. The amount of delay time can be adjusted by observing the image on the monitor 5 so that the stereoscopic image can be clearly seen. Further, the distance to the object is observed, the shift amount from the reference point O is converted, the delay time amount is automatically calculated so as to correspond to this conversion amount, and the frame control logic 14 based on this calculation result. The right frame memory 12 may be automatically instructed.

CASE 3 corresponds to the case where the point B deviated from the reference point is stereoscopically viewed. The reading timing of the left frame memory 12 is advanced with respect to the video synchronizing signal 30 in time by the command of the frame control logic 14 (negative direction delay). This amount of delay time (delay in the negative direction) corresponds to the length between the image point C and the image point P on the image plane 1a in FIG. Actually, the image is moved to an arbitrary position on the monitor 5 by moving the left frame 11 to an arbitrary place by combining shift registers in multiple stages and independently delaying or advancing the horizontal synchronization start position and the vertical synchronization start position.

According to this embodiment, the object is the reference point)
Even if the camera is located at positions A and B away from
Appropriate stereoscopic vision can be performed without changing the convergence angle between them.

Next, another embodiment of the present invention will be described with reference to FIG. The example of this embodiment is shown in FIGS.
This makes it possible to electrically set the reference position for stereoscopic vision to any point other than the point O in the above.

In FIG. 1, the frame control logic 24 and the external controller 25 operate as follows. The external controller 25 designates a position to be a stereoscopic reference position, and information on the reference position designated by the external controller 25 is input to the frame control logic 24. Frame control logic 2
4 calculates the amount of change or the amount of parallax from the past reference position to the newly set reference position. The frame control logic 24 instructs the frame memory 22 to change the display start time of the video information according to the instructed reference position information or the parallax amount based thereon.

FIG. 3A shows the left and right frames 11 and 12 corresponding to the frame memory 22 when the reference position is set to the reference point O and the point B deviated from the reference point O is stereoscopically viewed in FIG. 7 or 10. Show. The state shown in FIG.
The reference point O is set at the reference position for stereoscopic vision, and the angle of convergence between the left and right cameras 1 and 2 is set as such.

On the other hand, it is assumed that the point B deviated from the reference point O is desired to be set as the reference position for stereoscopic vision without changing the convergence angle between the cameras 1 and 2. To this end, FIG.
As shown in (b), the left frame 11 is moved to the left frame memory 1 by an instruction from the frame control logic 14.
The timing of reading 2 is advanced with respect to the video synchronization signal 30 in time and shifted. Here, reference numeral 22a is shown on the frame memory 22 corresponding to the object (point B). The content of the left frame memory 22 is read from the middle of the time axis. As a result, it is possible to obtain a good parallax centering on an object desired to be viewed stereoscopically.

When read out from the middle of the frame memory 22, there is an undisplayable area on the monitor 5 as shown by the diagonal lines in FIG. 3B, but the object to be stereoscopically viewed is always moved to the center of the monitor 5. This can be done by image processing. It is also possible to expand the area from which the shaded area has been removed to the entire surface of the monitor.

According to this embodiment, it is possible to observe the arbitrary observation target captured by the cameras 1 and 2 with a desired parallax. In particular, the work area is often limited when performing remote work using a master / slave manipulator, but for an object in such a limited area, the optical axis of the camera is changed using a pan head. In contrast, placing the camera optical axis at the work center and moving the image to obtain a desired parallax as in the present embodiment is more advantageous in terms of parallax setting speed and constituent elements.

Further, when the master / slave manipulator is mounted on a traveling carriage, it is possible to control each convergence such as vibration such as a quick cycle and elevation angle.

Next, still another embodiment of the present invention will be described with reference to FIG. The example of the present embodiment makes it possible to obtain the distance ΔL from the reference point O to the arbitrary position PB of the object by moving the image.

The procedure for obtaining ΔL in FIG. 4 will be described below.

The distance L to the work target PB is L = L ₁
+ ΔL (L1 is known as the initial point of the optical axis of the camera) ・ The angle of view of the camera 1 is θ ₁ and the monitoring area L of the camera 1 is
When seeking _{3, L 3 = 2 × L} 2 × tan (θ 1/2) to become. When the resolution of the image pickup device is N, the length indicated by 1 bit of the image pickup device is L ₃ / N, and the location N where the work target PB is away from the center of the image pickup range 30.
When the distance L4 when the image is projected on ₁ is obtained, it becomes L ₄ = N1 × (L ₃ / N).

When the distance ΔL from the intersection of the optical axes of the camera 1 to the work target PB is calculated by ΔL, ΔL = L ₄ × sin θ ₃ where θ ₃ = π / 2−θ ₂
Becomes

In order to obtain this .DELTA.L, the image pickup range 32 of the camera 1 is moved in the horizontal direction so that it coincides with the image of the camera 2 and is in the in-focus relationship. By obtaining L4 from this moving amount of the image of the camera 1, the distance ΔL can be obtained.

The relationship between θ ₁ and L ₁ is determined by the zoom ratio of the camera 1. Therefore, the distance ΔL can be obtained by back-calculating the given zoom ratio even if various zoom ratios are set.

According to the present embodiment, it is possible to obtain the distance by moving the image, and the conventional method of attaching a marker to the relevant part of the left and right cameras 1 and 2 and calculating by triangulation is used. In comparison, an auxiliary device is not required, and it becomes possible to measure the distance with a simple configuration only by moving the optical axis to the work target.

Next, another embodiment of the present invention will be described with reference to FIG. The example of this embodiment is a zoom camera 4
7 shows a logic for improving the point that the optical axis of the camera moves according to the zoom ratio generated when 0 is used.

When the zoom instruction value 41 is given, the zoom camera 40 drives the zoom mechanism via the amplifier 42. Further, the zoom command value 41 and the current focus value 43 indicating the focus position of the camera are input to the frame control logic 24.
Sends to the field memory 22 a command value for correcting movement of the image at the time of zooming caused by an error in mounting the camera lens and the image pickup device or an error in mounting the mount for mounting the zoom camera 40.

By automatically correcting the mounting error of the zoom camera 40 as described above, there is an effect that it is not necessary to consider a highly accurate installation means.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, two cameras 1 and 2 are installed with their optical axes parallel to each other, and the iris levels of the cameras 1 and 2 are set to different setting values. However, the effect of backlighting can be blocked.

In FIG. 6, the cameras 1 and 2 are set at regular intervals, and the iris of each of the cameras 1 and 2 is photographed with a certain difference by the scan converter 4 or the external controller 25.

The captured image is scanned by the scan converter 4
Enter the zoom instruction value 41 and the focus instruction value 43 into
With reference to these parameters, back calculation is performed to match the contours of the two images. If the instruction value 41 and the focus instruction value 43 are the same in both cameras 1 and 2, this operation can be omitted. Next, by adjusting the read timing of each frame memory 22 by a method similar to the method described in the other embodiments so far, the image difference caused by the setting interval between the cameras 1 and 2 is corrected. .

According to the present embodiment, it is possible to set the photographing characteristics of the cameras 1 and 2, for example, the iris level under different conditions for stereoscopic viewing. As a result, the influence of adverse conditions of backlighting can be blocked and the work target can be accurately observed outdoors as follows.

That is, one of the cameras 1 and 2,
For example, the iris level of the camera 1 is set small enough to ignore the influence of backlight, and the iris level of the other camera 2 is set to a normal size. The image of the camera 1 alone cannot identify the object because it is dark, and the image of the camera 2 alone cannot identify the object due to the influence of backlight. However, by superimposing the images of the camera 1 and the camera 2 and stereoscopically viewing each other, unlike the case where each of the camera 1 and the camera 2 is viewed alone, the information missing in the camera 1 is reinforced by the camera 2. Since the information missing in the camera 2 is reinforced by the camera 1, it becomes possible to stereoscopically view the object by blocking the influence of backlight.

As described above, it is possible to superimpose the images of the cameras 1 and 2 so that they can be viewed stereoscopically by forming a focused relationship between the images of the cameras 1 and 2 based on the present invention. It has become.

In the description of this embodiment, the optical axes of the camera 1 and the camera 2 are set to be parallel to each other, but they may not necessarily be parallel to each other. It suffices to correct the image difference resulting from the set interval between the cameras 1 and 2 and the set convergence angle.

[0068]

As described above, according to the configuration of the present invention, the output timing of the image signal of the camera output to the monitor according to the amount of deviation from the reference position can be adjusted between a plurality of cameras. Since they are adjusted to each other, the images of multiple cameras can be brought into the in-focus relationship, and it is easy to change the convergence intersection required for stereoscopic viewing even when there are movements of the object. Therefore, the moving mechanism of the camera can be omitted, and the weight of the device can be reduced. Further, it becomes possible to obtain necessary visual information even for an object having a large contrast difference.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an exemplary embodiment of a stereoscopic device of the present invention.

FIG. 2 is an explanatory diagram showing how to give a time difference to a video synchronization signal in the embodiment of the present invention.

FIG. 3 is a diagram illustrating electrically setting a reference position for stereoscopic vision.

FIG. 4 is a diagram illustrating that a distance of a deviation amount from a reference position can be calculated.

FIG. 5 is a block diagram for correcting the in-focus relationship including zoom information.

FIG. 6 is a block diagram illustrating blocking of the influence of backlight.

FIG. 7 is a diagram showing a convergence angle between two cameras,
(B) shows the arrangement in the case where the optical axis of one of the cameras and the moving direction of the object coincide with each other, and the present application will be described with the arrangement of (b) instead of the general arrangement shown in (a). .

FIG. 8 is points O (a), A (b), on the straight line 10 in FIG.
The figure which shows the left frame 11 of the monitor screen by the left camera 1, and the right frame 12 of the monitor screen by the right camera 2 when stereoscopically viewing B (c).

9 is a diagram showing an image in which the left frame 11 and the right camera 2 shown in FIG. 8 are combined on a monitor.

10 is a diagram showing a positional relationship between a reference point O and points A and B distant from the reference point O on the image forming plane of the camera.

FIG. 11 is a block diagram showing a conventional stereoscopic device.

[Explanation of symbols]

 1 Camera (left) 1a Image plane 2 Camera (right) 4 Scan converter 11 Left frame 12 Right frame 13 Image point 22 Field memory 24 Frame control logic 25 External controller 30 Video sync signal

Claims (9)

[Claims] 1. A stereoscopic device for stereoscopically viewing an object by alternately switching the images of a plurality of cameras on a screen of a monitor, the object being stereoscopically viewable under a preset angle of convergence between the cameras. The output timings of the image signals of the cameras to be output to the monitor according to the amount of deviation from the reference position of the object located at a position distant from the reference position of the object are mutually different between the plurality of cameras. A stereoscopic device comprising an output timing adjusting means for adjusting. 2. The output timing of each of the cameras is set by giving different time lags to the video synchronizing signals of the monitor so that the plurality of cameras can stereoscopically view. Item 3. The stereoscopic device according to item 1. 3. The stereoscopic device according to claim 2, wherein the output timing adjusting means has a time difference calculating means for calculating the time difference from the deviation amount which is known in advance. 4. The stereoscopic vision apparatus according to claim 2, wherein the output timing adjusting means sequentially changes the time difference until proper stereoscopic vision is confirmed on the screen of the monitor. 5. The output timing adjusting means has a distance calculating means for calculating the deviation amount from information on the time difference necessary for stereoscopic viewing and distance information from the camera to the reference position. The stereoscopic device according to claim 2, which is characterized in that. 6. The stereoscopic device according to claim 5, wherein, when the camera has zoom information, the distance calculation means calculates the deviation amount including the zoom information. 7. The stereoscopic device according to claim 1, wherein the iris levels of the respective cameras are set to desired different values. 8. The stereoscopic device according to claim 7, wherein each of the cameras is arranged such that optical axes thereof are parallel to each other. 9. A stereoscopic method for stereoscopically viewing an object by alternately switching the images of a plurality of cameras on a screen of a monitor, the object being stereoscopically viewable under a preset angle of convergence between the cameras. The output timings of the image signals of the cameras to be output to the monitor according to the amount of deviation from the reference position of the object located at a position distant from the reference position of the object are mutually different between the plurality of cameras. A stereoscopic method characterized by adjusting.