KR101557295B1 - 3-dimensional time of flight image capturing device - Google Patents

Abstract

Provided is a three-dimensional time flight image capturing device. The three-dimensional time flight image capturing device according to an embodiment of the present invention captures a three-dimensional time flight image of an object, including: a light source which emits light toward the object; a viewing angle adjustment unit which adjusts a viewing angle of the light source based on the distance between the object and the three-dimensional time flight image capturing device; an adjustment lens unit which adjusts a focus based on the distance between the object and the three-dimensional time flight image capturing device and passes light, reflected from the object, to an image capturing element; the image capturing element which receives the light, reflected from the object, and generates raw image data; and a signal processing unit which receives the raw image data from the image capturing element, processes the raw image data, and generates a three-dimensional depth image and a three-dimensional intensity image.

Description

{3-DIMENSIONAL TIME OF FLIGHT IMAGE CAPTURING DEVICE}

The present invention relates to a three-dimensional time-flight image acquisition apparatus, and more particularly, to a three-dimensional time-of-flight image acquisition apparatus capable of automatically adjusting a viewing angle of a light source and a focus of light reflected from an object.

A conventional stereoscopic three-dimensional scanner uses two cameras, and compares two photographed images with measured images in comparison with two reference coordinates, thereby correcting radial distortion according to an observation viewing angle, Stereo matching, and triangulation to form a three-dimensional depth image map.

In addition, a three-dimensional scanner based on a kinect sensor generates a small speckle light in a light source, and measures a distance using a difference between a reference pattern and a measured pattern.

However, a stereoscopic three-dimensional scanner takes much time to process data, and there are considerable factors to consider such as power consumption, influence of external light source, and necessity of initial correction by surface pattern.

In addition, the three-dimensional scanner based on the Kinect sensor is inconvenient to perform a correction process for generating a reference pattern directly according to each environment, and is based on an algorithm for converting intensity information of light into distance information , There is a restriction on the use in the outdoor where the light source changes greatly.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a three-dimensional time-flight image acquisition apparatus capable of increasing the accuracy of a three-dimensional time-flight image.

Another object of the present invention is to provide a three-dimensional time-flight image acquiring device which is small handheld type, easy to use, and usable outdoors.

It is another object of the present invention to provide a three-dimensional time-flight image acquisition apparatus capable of adjusting a viewing angle of a light source to reach far away.

The technical objects of the present invention are not limited to the above-mentioned technical problems, and other technical subjects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an apparatus for acquiring a three-dimensional time-of-flight image of an object, the apparatus comprising: A light source that emits light toward the light source; A viewing angle adjusting unit for adjusting a viewing angle of the light source according to a distance between the object and the 3D time flight image acquisition apparatus; An adjustment lens unit that adjusts focus according to a distance between the object and the 3D time-flight image acquisition apparatus, wherein light reflected from the object is received by the imaging element via the adjustment lens unit; An imaging device for receiving light reflected from the object and generating raw image data; And a signal processor receiving the row image data from the imaging device and processing the row data to generate a 3D depth image and a 3D intensity image.

According to the present invention as described above, since the viewing angle of the light source can be adjusted and the focus can be automatically adjusted so that the focus of the light reflected from the object is formed on the imaging element, .

In addition, since the flight time system is applied to the 3D time flight image acquisition apparatus, a 3D time flight image of the object can be obtained with a simpler configuration than the conventional system.

FIG. 1 is a diagram illustrating a configuration of a 3D time flight image acquisition apparatus according to an embodiment of the present invention. Referring to FIG.
2 is a view showing that the viewing angle of the light source is adjusted by the viewing angle adjusting unit in the 3D time flight image acquisition apparatus of FIG.
3 is a view showing that the focus of the light reflected by the adjustment lens unit in the 3D time flight image acquisition apparatus of FIG. 1 is adjusted.
4 is a flowchart for explaining a view angle adjusting function of the 3D time flight image acquiring apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating a focus adjustment function of the 3D time-flight image acquisition apparatus according to an exemplary embodiment of the present invention.
6A and 6B are views illustrating a three-dimensional depth image and a three-dimensional intensity image.
7A and 7B are views illustrating a three-dimensional depth image and a three-dimensional intensity image for a transparent reflective object.
FIG. 8 is a view showing a configuration of a 3D time-flight image acquisition system including the 3D time-of-flight image acquisition apparatus of FIG. 1;
9 is a view showing a three-dimensional depth image displayed on the display unit of the 3D time flight image acquisition system of FIG.
FIG. 10 is a view showing a three-dimensional intensity image displayed on the display unit of the three-dimensional time-of-flight image acquisition system of FIG.
FIG. 11 illustrates an example of an electronic apparatus to which the apparatus for obtaining a three-dimensional flying image of FIG. 1 is applied.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises "and / or" comprising "used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element.

Hereinafter, a 3D time-flight image acquiring apparatus according to embodiments of the present invention will be described with reference to the drawings.

1 to 3, a three-dimensional time-of-flight image acquiring apparatus according to an embodiment of the present invention will be described. Referring to FIG. 1, a configuration of a 3D time-flight image acquiring apparatus according to an embodiment of the present invention is disclosed. Referring to FIG. 2, in the 3D time- Referring to FIG. 3, it is disclosed that the focus of the light reflected by the adjustment lens unit in the 3D time flight image acquisition apparatus of FIG. 1 is adjusted.

1, a three-dimensional time-of-flight image acquisition apparatus 1 includes a light source 10, a viewing angle adjusting unit 11, an adjusting lens unit 21, an image pickup device 20, and a signal processing unit 30 can do. The 3D time flight image acquiring apparatus 1 includes a light source lens 12, a light source driving unit 13, a filter 22, a light receiving lens 23, a modulation driving unit 24, a control unit (not shown) 40 and a motion sensor 50, as shown in FIG.

First, referring to FIG. 1 and FIG. 2, a configuration for irradiating light onto an object 100 to acquire a three-dimensional image will be described. For example, the light source 10 is controlled by the light source driving unit 13, and the light emitted from the light source 10 can reach the object 100 through the viewing angle adjusting unit 11 and the light source lens 12.

Specifically, the light source 10 can irradiate light toward the object 100. [ The light source 10 may be, for example, a light emitting diode (LED) or a laser diode (LD), and specifically, a light emitting diode or a laser diode may be arranged in an array form, but is not limited thereto. The light source 10 may irradiate Near Infra Red (NIR) having a wavelength of about 850 nm so as not to be harmful to humans, but is not limited thereto. Therefore, according to the 3D time flight image acquiring apparatus 1 according to the embodiment of the present invention, since the near-infrared light is used, the 3D time flight image acquiring apparatus 1 can be used both at daytime and at night. Furthermore, when the light source 10 irradiates near infrared rays having a wavelength of about 850 nm, the sensitivity to the imaging device 20 which is a silicon-based CMOS image device can be excellent.

The light source 10 may be controlled by the light source driver 13 and the light emitted to the object 100 may have the form of a periodic continuous function having a predetermined period, As shown in FIG. For example, the illuminating light may have a specially defined waveform such as a sinusoidal wave, a triangular wave, a sawtooth wave, a ramp wave, a square wave, etc., but is not limited thereto and may have a general form of waveform not specifically defined.

The light source driving unit 13 can be controlled by the control unit 40 to modulate and drive the light source 10 so as to modulate the amplitude of the irradiated light or to modulate the pulse, phase, frequency, pulse encryption, pulse width and rise time, etc., of the light source 10 can be driven.

Referring to FIG. 2, the viewing angle adjusting unit 11 may change the viewing angle of the light source 10. Specifically, the viewing angle of the light source 10 can be adjusted according to the distance between the object 100 and the 3D time flight image acquisition apparatus 1, and the viewing angle adjusting unit 11 can adjust the viewing angle of the light source 10, 10 and may be implemented in various ways.

By adjusting the viewing angle of the light source 10, a sufficient amount of light can reach the object 100. For example, the smaller the viewing angle of the light source 10 is, the longer the light can reach, and the larger the viewing angle of the light source 10, the shorter the distance that the light can reach. Thus, by measuring the distance between the object 100 and the light source 10 and adjusting the viewing angle of the light source 10 based on the measured distance, a sufficient amount of light can reach the object 100 . Therefore, according to the 3D time flight image acquisition apparatus 1 according to the embodiment of the present invention, since the viewing angle of the light source 10 is adjusted, a high quality three-dimensional image can be obtained while minimizing power consumption.

1 and 3, a configuration for receiving light reflected from the object 100 and processing data for the received light will be described. Referring to FIG. 3, the light incident on the object 100 and the light reflected from the object 100 are shown spaced apart from each other, but this is only shown for ease of description.

1 and 3, the light reflected from the object 100 can be received by the image pickup element 20 via the light-receiving lens 23 and the filter 22, and is driven by the modulation driver 24 The image pickup device 20 generates raw image data from the received reflected light and the signal processing unit 30 can process the raw image data received from the image pickup device 20. [

Specifically, the light-receiving lens 23 can condense the light reflected from the object 100 into the region where the imaging element 20 is located. Then, the filter 22 can transmit only light having a predetermined wavelength, and can be, for example, a band-pass optical filter.

The adjustment lens unit 21 is located between the light receiving lens 23 and the image pickup device 20 and can adjust the focus according to the distance between the object 100 and the 3D time flight image acquisition apparatus 1. [ For example, the control unit 40 controls the adjustment medium (not shown) included in the adjustment lens unit 21 to adjust the focal position. Therefore, a three-dimensional image formed by focusing on the object 100 obtained through the 3D time-flight image acquiring apparatus 1 can be obtained.

3, the distance between the object 100 and the 3D time flight image acquisition device 1 (more specifically, the distance between the object 100 and the image pickup device 20) is expressed as D1 to D3 , And the object 100 is positioned in D1 to D3, respectively. If a three-dimensional image focused on the object 100 located at the closest distance D1 is acquired, the light reflected from the object 100 located at D1 is received and analyzed to obtain a three- Acquiring information on the distance between the acquisition device 1 and adjusting the focus by adjusting the adjustment medium included in the adjustment lens unit 21 using the information.

The adjustment lens unit 21 may adjust the path of the light reflected from the object 100 so that a specific portion of the object 100 in the viewing angle of the light source 10 is enlarged to form an image on the imaging device 20. [ For example, the lens may be mechanically adjusted to zoom-in or zoom-out, but the driving method is not limited thereto.

The selection of the object to be the focus can be performed by inputting information about the object as a reference from the user using the input means, but the present invention is not limited to this, and a specific object satisfying a predetermined criterion may be automatically selected as a reference You may. Therefore, according to the 3D time-flight image acquiring apparatus 1 according to the embodiment of the present invention, the accuracy of the three-dimensional image obtained by automatic adjustment of the focus can be improved. Here, the adjustment of the focus may be performed for correcting the error rate of the distance value.

The imaging device 20 can receive light reflected from the object 100 and can generate raw image data from the reflected light. For example, the imaging device 20 may include a 2D image sensor, and may include, but is not limited to, an RGB camera sensor, for example, a structure in which reflected light is split and accommodated simultaneously in a 2D image sensor and an RGB sensor But are not limited thereto. In addition, the image pickup device 20 may be formed of a set of unit pixels having a photonic mixer function in a three-dimensional time-of-flight method, but is not limited thereto.

The modulation driving section 24 can drive the three-dimensional image pickup device 20 and generates a three-dimensional (3D) image signal so that a signal having the same phase difference as that of the light emitted from the light source 10 or having a phase difference of 90 degrees, 180 degrees, The waveform output from the image pickup device 20 can be modulated. However, when the direct TOF method is used, the light source 10 having discontinuous pulses is used, which may be different.

The signal processing unit 30 may receive the raw image data from the imaging device 20 and process the raw data to generate a three-dimensional depth image and a three-dimensional intensity image. The three-dimensional depth image generated by the signal processing unit 30 may be output as shown in FIG. 6A, and the three-dimensional intensity image generated by the signal processing unit 30 may be output as shown in FIG. 6B. The signal processing unit 30 calculates the depth (distance) by comparing the waveform of the reflected light with the waveform of the modulated light obtained by modulating the phase of the light irradiated from the light source 10, for example, to form a three-dimensional depth image and a three- And a value for strength can be obtained. The depth value and intensity value obtained from the signal processing unit 30 can be used to generate a 3D image having a volume similar to an actual object through a point cloud method, a voxel, and a color code mapping method in a post-processing process.

However, in addition to the above-described phase modulation method using a phase difference in a method of generating a 3D depth image and a 3D intensity image, a direct time flight (direct TOF) method using a 3D time-of- It can also be used.

The control unit 40 controls the overall operation of the 3D time flight image acquisition apparatus 1 and includes a viewing angle adjusting unit 11, a light source driving unit 13, an adjusting lens unit 21, a modulation driving unit 24, The signal processing unit 30 and the like can be controlled by the control unit 40. [

The motion sensor 50 senses information such as the movement, tilt and direction of the 3D time flight image acquisition device 1 to increase accuracy in generating a three-dimensional image, and this information is stored together with the three-dimensional image And can be used when displaying a three-dimensional image.

Specifically, an absolute coordinate value of a three-dimensional image can be sensed and generated. In order to display the absolute coordinate values of the three-dimensional image, for example, three axes of X-axis, Y-axis and Z-axis may be used.

As the motion sensor 50, for example, a gyro sensor that senses the rotation state of the three-dimensional time-of-flight image acquisition device 1 based on three axes and recognizes the tilt, and a movement state of the three- An acceleration sensor that senses based on three axes, and a geomagnetic sensor that senses the magnetic field strength based on three axes may be used, but is not limited thereto. Referring to FIG. 4, in one embodiment of the present invention Dimensional image capturing apparatus 1 according to the present invention will be described. Referring to FIG. 4, a flow chart for explaining the viewing angle adjusting function of the 3D time-of-flight image obtaining apparatus 1 according to an embodiment of the present invention is shown.

First, the signal processing unit 30 can detect an object by analyzing a 3D depth image and a 3D intensity image, and calculate a depth value and an intensity value for the detected object (S1). The depth value may be a distance value and may mean a value for the distance between the 3D time flight image acquisition device 1 and the object 100 calculated from the 3D depth image. The intensity of light reflected from the object 100 can be obtained.

For example, a depth value and a strength value for a detected object can be calculated by matching a 3D depth image and a 3D intensity image to each other. An object located relatively close can have a large intensity value, a small depth value, An object located farther away may have a smaller intensity value and a larger depth value.

Thereafter, the signal processing unit 30 can correct the calculated depth value and intensity value (S2). If the object 100 for which a three-dimensional image is to be acquired is transparent like glass and excessively reflecting light, a distorted three-dimensional depth image and a three-dimensional intensity image can be generated. For example, referring to FIG. 7A, while the image for the glass cup is not clear, with reference to FIG. 7B, the image for the glass cup is clear. Therefore, in order to correct the distortion, it is possible to perform correction for the calculated depth value and intensity value.

Thereafter, the signal processing unit 30 can calculate information on the size of the detected object and the distance between the detected object and the 3D time-flying image obtaining apparatus 1 based on the calculated depth value and intensity value (S3). When there are a plurality of detected objects 100, it is possible to calculate information on the size and the distance with respect to a plurality of objects.

Then, the signal processing unit 30 can calculate the maximum viewing angle of the light source 10 based on the calculated size, distance, and position information (S4). That is, the maximum viewing angle of the light source 10, which includes all the objects to be detected and can reach a sufficient amount of light to the object 100, can be derived in consideration of the size and distance of the detected object. To this end, the signal processing unit 30 may have a database in which a necessary amount of light is recorded according to the size or position of the object 100.

On the other hand, when there are a plurality of detected objects 100, the maximum value of the detected objects or the maximum distance of the light source 10 from the three-dimensional time- The viewing angle can be calculated. Further, in the case of a plurality of objects spread widely, the maximum viewing angle can be calculated on the basis of objects on the outermost periphery.

Then, the signal processing unit 30 can determine the validity of the current viewing angle by comparing the viewing angle of the present light source 10 with the calculated maximum viewing angle (S5). If the viewing angle of the current light source 10 does not match the calculated maximum viewing angle, it can be determined that the current viewing angle is not effective. When the viewing angle of the present light source 10 is equal to the calculated maximum viewing angle It can be judged that the current viewing angle is valid.

The control unit 40 controls the viewing angle adjusting unit 11 so that the viewing angle can be adjusted so that the light source 10 has the maximum viewing angle (S6) , The viewing angle adjusting unit 11 can maintain the current viewing angle (S7).

Since the viewing angle is automatically controlled according to the viewing angle control function, according to the 3D time flight image acquiring apparatus according to an embodiment of the present invention, a high quality three-dimensional image can be obtained while minimizing power consumption. Here, the minimization of the power consumption can be achieved by adjusting the viewing angle of the light source and the intensity of the light source according to the distance of the object in parallel. As a result, power consumption can be reduced.

Referring to FIG. 5, the focus adjustment function of the 3D time flight image acquisition apparatus according to an embodiment of the present invention will be described. Referring to FIG. 5, there is shown a flow chart illustrating a focus adjustment function of a 3D time-flight image acquisition apparatus according to an exemplary embodiment of the present invention.

First, the signal processing unit 30 can detect an object by analyzing a 3D depth image and a 3D intensity image, and calculate a depth value and an intensity value for the detected object (S11). The depth value may be a distance value and may mean a value for the distance between the 3D time flight image acquisition device 1 and the object 100 calculated from the 3D depth image. The intensity of light reflected from the object 100 can be obtained.

Thereafter, the signal processing unit 30 can correct the calculated depth value and intensity value (S12). If the object 100 for which a three-dimensional image is to be acquired is transparent like glass and excessively reflecting light, a distorted three-dimensional depth image and a three-dimensional intensity image can be generated. For example, referring to FIG. 7A, while the image for the glass cup is not clear, with reference to FIG. 7B, the image for the glass cup is clear. Therefore, in order to correct the distortion, it is possible to perform correction for the calculated depth value and intensity value.

Thereafter, the signal processing section 30 can calculate information on the boundary of the detected object and the distance between the detected object and the 3D time-flying image obtaining apparatus 1 based on the calculated depth value and intensity value (S13).

Then, the signal processing unit 30 may calculate a focus factor necessary for obtaining a three-dimensional time-flight image formed on the detected object based on the calculated information of the boundary and the distance (S14). In the case where there are a plurality of objects to be detected, information on the object to be a reference can be input from the user using the input means, but the present invention is not limited to this, and a specific object can be automatically May be selected.

Then, the signal processing unit 30 can determine whether or not the focus adjustment is necessary by comparing the current focus coefficient and the calculated coefficient (S15). If the current focus factor and the calculated focus factor do not match, it can be determined that focus adjustment is necessary. If the current focus factor and the calculated focus factor coincide with each other, it can be determined that focus adjustment is not necessary.

When it is determined that the focus adjustment is necessary, the control unit 40 can adjust the focus position so that the adjustment lens unit 21 has the calculated focus coefficient (S16). If it is determined that the focus adjustment is not necessary, The control lens unit 40 can maintain the current focus position of the adjustment lens unit 21 (S17).

Since the focus is automatically adjusted according to the focus adjustment function, according to the 3D time flight image acquiring apparatus according to an embodiment of the present invention, it is possible to improve the accuracy of the three-dimensional image obtained by automatic adjustment of the focus have.

Referring to FIG. 8, a three-dimensional time-flight image acquisition system including a three-dimensional time-of-flight image acquisition apparatus according to an embodiment of the present invention will be described. Referring to FIG. 8, a configuration of a three-dimensional time-of-flight image acquisition system including the three-dimensional time-of-flight image acquisition apparatus of FIG. 1 is disclosed.

The 3D time flight image acquisition system includes a display unit 2 for displaying images transmitted from the 3D time flight image acquiring device 1 and the 3D time flight image acquiring device 1, Dimensional time-of-flight image acquisition system including a data storage unit 4 and a three-dimensional time-of-flight image acquisition apparatus 1 capable of storing data generated from the three-dimensional time-flight image acquisition apparatus 1, And a communication unit 6 for allowing the 3D time flight image acquisition apparatus 1 to communicate with an external device.

The communication unit 6 may be a wireless communication device such as a wireless personal area network (WPAN) including Bluetooth, ZigBee and NFC, a wireless LAN (WLAN), a Wi-Fi, a Wibro, a WiMAX, a High Speed Downlink Packet (Fiber to the Curb), FTTH (Fiber To The Home), and the like, as well as wireless communication systems such as Ethernet, xDSL, HFC (Hybrid Fiber Coax) A wired communication method such as a universal serial bus (USB) may be used. However, the communication method of the communication unit 6 is not limited to the communication method described above. In addition to the communication method described above, And a communication method.

9 and 10, a user interface displayed on a display unit in a 3D time-flight image acquisition system including a 3D time-flight image acquisition apparatus according to an embodiment of the present invention will be described . Referring to FIG. 9, there is shown a three-dimensional time-flight image acquisition system of FIG. 8, in which a three-dimensional depth image is displayed on a display unit. Referring to FIG. 10, A diagram showing a three-dimensional intensity image displayed on a display unit is disclosed.

The display unit 2 may include a resolution display area 110 in which the resolution of a three-dimensional image is displayed. For example, it may be displayed as Full-HD, but the present invention is not limited thereto.

The display unit 2 may include an auto-focus area 120 that displays the position of the area to be focused by the adjustment lens unit 21 and may be displayed in the form of a rectangle, for example. It is not limited.

Also, in the display unit 2, a three-dimensional depth image can be displayed in a color corresponding to the size of each distance value, and a color-distance value corresponding relationship display area (130) may be included in the display unit (2).

On the other hand, in the display unit 2, the automatic focus adjustment display area 140 and the viewing angle adjustment unit 11 for indicating whether the automatic focusing adjustment is being performed in the adjustment lens unit 21 are displayed in the form of icons, And an automatic viewing angle adjustment display area 150 for displaying in the form of an icon.

In the display unit 2, a three-dimensional intensity image can be displayed in a shade corresponding to the magnitude of each intensity value, and a shade-intensity value corresponding relationship display region (160) may be included in the display unit (2).

Referring to FIG. 11, an embodiment in which a 3D time flight image acquisition apparatus according to an embodiment of the present invention can be applied will be described. Referring to Fig. 9, an example of an electronic apparatus to which the three-dimensional flying image acquisition apparatus of Fig. 1 is applied is shown.

The 3D time-flight image acquisition device 1 can be used as an image acquisition device of various electronic devices. For example, the 3D time flight image acquisition device 1 may be applied to the smart phone 200 and may be a tablet PC, a printer, a portable game machine, a portable notebook, navigation, a car or a household appliance appliances.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

1: 3D time flight image acquisition device 2:
3: Input unit 4: Data storage unit
5: power supply unit 6: communication unit
10: light source 11: viewing angle control unit
12: light source lens 13: light source driver
20: Imaging element 21:
22: filter 23: receiving lens
24: Modulation driver 30: Signal processor
40: control unit 50: motion sensor
100: Object 110: Resolution display area
120: Auto focus area
130: Color-distance value correspondence relationship display area
140: Automatic focus adjustment display area 150: Automatic view angle adjustment display area
160: Shadow-intensity value correspondence relationship display area
200: Smartphone

Claims (8)

A three-dimensional time-flight image acquisition apparatus for acquiring a three-dimensional time-of-flight image of an object,
A light source for emitting light toward the object;
A viewing angle adjusting unit for adjusting a viewing angle of the light source according to a distance between the object and the 3D time flight image acquisition apparatus;
An adjustment lens unit that adjusts focus according to a distance between the object and the 3D time-flight image acquisition apparatus, wherein light reflected from the object is received by the imaging element via the adjustment lens unit;
An imaging device for receiving light reflected from the object and generating raw image data; And
A signal processor for generating the three-dimensional depth image and the three-dimensional intensity image by processing the row data using the three-dimensional time-flight method,
/ RTI >
The signal processing unit,
Analyzing the 3D depth image and the 3D intensity image to detect an object, calculating a depth value and an intensity value corresponding to the detected object,
Calculating a boundary between the detected object and a distance between the detected object and the 3D time-flight image acquiring device based on the calculated depth value and the intensity value,
Calculating a focus factor necessary for obtaining a three-dimensional time-flight image formed on the detected object based on the calculated information on the boundary and the distance,
Wherein the adjustment lens unit adjusts the focal position so that the calculated focus coefficient is obtained when the current focus factor does not match the calculated focus factor. The method according to claim 1,
The signal processing unit,
Analyzing the 3D depth image and the 3D intensity image to detect an object, calculating a depth value and an intensity value corresponding to the detected object,
Calculating information on the size of the detected object based on the calculated depth value and the intensity value and the distance between the detected object and the 3D time flight image acquiring device,
Calculating a maximum viewing angle of the light source based on the calculated size and distance information,
Wherein the viewing angle adjusting unit adjusts the viewing angle of the light source to be the maximum viewing angle when the current viewing angle of the light source does not match the derived maximum viewing angle. 3. The method of claim 2,
Calculating a maximum viewing angle of the light source based on the calculated information on the size and the distance when the detected object is a plurality of objects includes calculating a maximum viewing angle of the light source based on the detected maximum size, Wherein the maximum viewing angle of the light source is derived based on the object or the detected object that is furthest away from the 3D time flight image acquisition device. delete The method according to claim 1,
Further comprising a light source driving unit for controlling at least one of a magnitude, phase, frequency, pulse encryption, pulse width, and rise time of light emitted from the light source. The method according to claim 1,
Wherein the adjustment lens unit adjusts the path of the light reflected from the object so that a specific portion of the object within the viewing angle of the light source is magnified to form an image on the imaging device. The method according to claim 1,
Further comprising a motion sensor for sensing movement, tilt and orientation of the 3D time-of-flight image acquisition device. A three-dimensional time-flight image acquisition apparatus according to claim 1; And
A display unit for displaying a three-dimensional image transmitted from the three-dimensional time-
Lt; / RTI >
Wherein the display unit displays a position of a region where focus is adjusted by the adjustment lens unit.

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