WO2005080915A1

WO2005080915A1 - Three-dimensional shape detection device and image pick up device

Info

Publication number: WO2005080915A1
Application number: PCT/JP2005/002297
Authority: WO
Inventors: Hiroshi Uchigashima; Hiroaki Suzuki; Hiroyuki Sasaki; Shiro Yamada
Original assignee: Brother Kogyo Kabushiki Kaisha
Priority date: 2004-02-19
Filing date: 2005-02-16
Publication date: 2005-09-01
Also published as: JP2005233748A

Abstract

A three-dimensional shape detection device is provided with a light projecting means for projecting pattern light, an image pick up means, which picks up an image of a target object in the conditions where the pattern light is projected from the light projecting means, and a three-dimensional shape calculating means, which detects the position of the pattern light from the image picked up by the image pick up means and calculates three-dimensional shape information of the target object, based on the detected pattern light position. As the pattern light, the light projecting means projects a first pattern light and a second pattern light to the target object. The first pattern light extends along a flat plane passing a position separated from an optical axis of the image pick up means, and the second pattern light extends along a flat plane crossing the first pattern light.

Description

Specification

3D shape detection device and imaging device

Technical field

The present invention detects not only the three-dimensional shape of a target object curving in a first direction at a predetermined imaging position, but also the three-dimensional shape of a target object curving in a second direction that intersects the first direction. The present invention relates to a three-dimensional shape detection device and an imaging device that can perform the above-described operations.

Background art

[0002] Conventionally, slit light is projected onto a target object, the target object on which the slit light is projected is imaged by an imaging means, and the slit light is projected on the basis of the locus of the slit light detected from the captured image. Therefore, a three-dimensional shape detection device that detects a three-dimensional shape of a target object is known.

[0003] Japanese Patent Laying-Open No. 7-318315 describes this type of three-dimensional shape detection device.

The device described in this publication divides a light beam from one light source into two rows with a half mirror, and projects the light beam split into the two rows onto a target object as two rows of slit light, It is configured to detect the three-dimensional shape of the target object based on the trajectories of the two rows of slit light formed on the target object by the two rows of slit light.

[0004] For example, when an A4 size document curving in a direction (horizontal direction) orthogonal to the longitudinal direction is imaged vertically by the three-dimensional shape detecting device, the trajectory of the two rows of slit light is caused by the curving of the document. Formed along. Therefore, even if the original is curved, the three-dimensional shape of the original including the curvature can be detected based on the locus of the two rows of slit light.

Disclosure of the invention

[0005] In the above-described three-dimensional shape detection device, while rotating a document that is to capture a curved document horizontally at the same photographing position as described above, the document is formed on the target object. Since the trajectories of the two rows of slit light formed are not formed along the curvature, there is a problem that the curvature cannot be detected.

[0006] That is, since the trajectory of the slit light formed on the target object by the above-described three-dimensional shape detection device is formed so as to extend only in the direction of 1, the original light at the predetermined imaging position The curving of the manuscript can be detected only when the manuscript is curved along the path of the slit light projected. Therefore, there is a problem that a document curved in a direction intersecting the locus of the slit light cannot be detected.

[0007] The present invention has been made to solve the problems described above. That is, the present invention detects not only the three-dimensional shape of the target object curved in the first direction at the predetermined imaging position, but also the three-dimensional shape of the target object curved in the second direction that intersects the first direction. It is an object of the present invention to provide a three-dimensional shape detection device and an imaging device that can perform the operations.

[0008] In order to achieve the above object, an aspect of the present invention provides a three-dimensional shape detection device, which includes a light projecting unit that projects pattern light, and a pattern Imaging means for imaging the target object in a state where the light is projected, and detecting the position of the pattern light from the image captured by the imaging means, and detecting the position of the target object based on the detected position of the pattern light. Three-dimensional shape calculation means for calculating three-dimensional shape information. In this configuration, the light projecting means includes, as pattern light, a first pattern light extending along a plane passing through a position distant from the optical axis of the imaging means, and a first pattern extending along a plane intersecting the first pattern light. The two pattern lights are projected onto the target object.

[0009] According to the three-dimensional shape detection device, the curvature of the target object that bends in the first direction is calculated based on the first pattern light that extends along a plane that passes through a position away from the optical axis of the imaging unit. Based on the second pattern light extending along the plane intersecting with the first pattern light, the curvature of the target object that is curved in the direction intersecting with the first direction is calculated. Therefore, in addition to the three-dimensional shape of the target object that curves in the first direction, the three-dimensional shape of the target object that is curved in the second direction that intersects with the first direction can be detected.

[0010] Further, according to another aspect of the present invention, the three-dimensional shape detection device as described above and the three-dimensional shape of the target object calculated by the three-dimensional shape calculation means of the three-dimensional shape detection device are used. Plane image correction means for correcting an image of the target object in a state where the pattern light imaged by the image pickup means is not projected based on the vertical direction of a predetermined surface of the target object based on An imaging device comprising:

According to this imaging device, it is possible to achieve the same effects as those of the three-dimensional shape detection device described above, and based on the three-dimensional shape of the target object calculated by the three-dimensional detection device. In addition, it is possible to correct the image of the target object in a state where the pattern light captured by the imaging unit is not projected to a planar image observed from a substantially vertical direction of a predetermined surface of the target object.

Brief Description of Drawings

1] FIG. 1 (a) is an external perspective view of the imaging device, and FIG. 1 (b) is a schematic cross-sectional view of the imaging device 1 taken along a sectional line I in FIG. 1 (a).

FIGS. 2 (a) and 2 (b) are diagrams showing a state in which slit light is projected from an image pickup device toward a document and a beam is emitted, and FIG. FIG. 2B is a diagram illustrating a case where a document curving in the vertical direction (Y-axis direction) is imaged with respect to the imaging apparatus. It is.

[FIG. 3] FIGS. 3 (a) and 3 (b) are diagrams showing the configuration of a slit light projecting unit, and FIG. 3 (a) is a plan view of the slit light projecting unit. (b) is a side view of the slit light projecting unit.

FIG. 4 is a block diagram showing an electrical configuration of the imaging device.

FIG. 5 is a flowchart showing a processing procedure in a processor.

FIG. 6 (a) and FIG. 6 (b) are diagrams for explaining the above-described triangulation calculation processing.

[FIG. 7] FIG. 7 (a) is a diagram showing a slit light image captured in the state of FIG. 2 (a), and FIG. 7 (b) is a slit image captured in the state of FIG. 2 (b). It is a figure showing an optical image.

FIGS. 8 (a), 8 (b), and 8 (c) are diagrams for explaining a horizontal curving original posture calculation process.

FIG. 9 is a flowchart showing a plane conversion process.

[FIG. 10] FIGS. 10 (a), 10 (b) and 10 (c) are diagrams showing another example of the arrangement of the slit light projecting ports.

FIG. 11 is a view for explaining an effect when the slit light projection part is separated from the imaging lens power as much as possible.

[FIG. 12] FIGS. 12 (a) and 12 (b) are views showing a slit light projecting unit of the second embodiment, and FIG. 12 (a) projects the first slit light. Fig. 12 (b) shows the second slit light. Shows the state of light emission.

FIGS. 13 (a) and 13 (b) are views showing a slit light projecting unit according to a third embodiment, and FIG. 13 (a) projects a first slit beam. A side view showing the state and a front view of the diffraction element are shown. FIG. 13 (b) shows a side view showing a state where the second slit light is projected and a front view of the diffraction element.

Explanation of symbols

[0013] 1 Imaging device (including a three-dimensional shape detection device)

20, 20a, 20b Slit light projecting unit (Slit light projecting means)

21 Laser diode (light output means)

27a, 27b, 70 cylindrical lenses

29 Slit light floodlight

31 Imaging lens (imaging means)

32 CCD image sensor (imaging means)

80 Diffraction element plate

80a 1st diffraction element

80b 2nd diffraction element

81 Solenoid

421 Camera control program (imaging means)

424 Original attitude calculation program (3D shape calculation means)

425 Planar conversion program (planar image correction means)

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1A is an external perspective view of an imaging device 1 according to an embodiment of the present invention, and FIG. 1B is a schematic cross-sectional view of the imaging device 1 along a sectional line I in FIG. 1A. Note that the three-dimensional shape detection device according to the embodiment of the present invention is included in the imaging device 1.

The image capturing apparatus 1 is an apparatus that can detect the three-dimensional shape of a document P including a curved document P that is curved in either the vertical direction or the horizontal direction at the same image capturing position. As shown in FIG. 1A, the main outer shape of the imaging device 1 is formed by a rectangular box-shaped main body case 10. On the front surface of the main body case 10, an imaging lens 31, a finder 53, and a slit light emitting unit 29 are provided. On the upper surface of the main body case 10, a release button 52, a mode switching switch 59, and a bending direction switching switch 60 are provided. On the side surface of the main body case 10, a memory card slot 55a is provided.

As shown in FIG. 1B, a liquid crystal display (LCD) 51 for displaying a captured image is provided on the rear surface of the main body case 10. Inside the main body case 10, a CCD image sensor 32 arranged behind the imaging lens 31, a slit light projecting unit 20 arranged behind the slit light projecting port 29, and a memory card insertion port A memory card reader 55 disposed behind 55a and a processor 40 are incorporated.

The imaging lens 31 is composed of a plurality of lenses and has an autofocus function. The imaging lens 31 is an optical lens that automatically adjusts the focal length and aperture to form an image of external light on the CCD image sensor 32.

The finder 53 is composed of an optical lens disposed from the back to the front of the main body case 10. With this configuration, when the user looks into the imaging device 1 from the back, a range that substantially matches the range in which the imaging lens 31 forms an image on the CCD image sensor 32 can be seen.

The slit light projecting port 29 is a light projecting port for projecting the slit light projected from the slit light projecting unit 20 to the target object, and is provided at a lower left corner of the front surface of the main body case 10. It is located. The slit light emitted from the slit light emitting part 29 forms a locus of cross-shaped slit light on the document P. By detecting the locus of the slit light, the three-dimensional shape of the document P is detected.

The release button 52 is formed by a push-button switch, and is connected to the processor 40. The processor 40 detects that the user presses down the release button 52.

The mode switching switch 59 is configured by a slide switch or the like that can be switched between two positions, and is connected to the processor 40. In the processor 40, one switch position of the mode switching switch 59 is set to the "normal mode", and the other switch position is set to the "corrected imaging". Mode ".

“Normal mode” is a mode in which the imaged original P itself is used as image data.

The “corrected imaging mode” is a mode in which, when the document P is imaged from an oblique direction, the image data is corrected image data as if the document P was imaged from the front.

The bending direction switching switch 60 is constituted by a slide switch or the like that can be switched between two positions, and is connected to the processor 40. In the processor 40, one switch position of the bending direction switching switch 60 is detected as "lateral bending mode", and the other switch position is detected as "vertical bending mode".

The “horizontal bending mode” is a mode for detecting a three-dimensional shape of a document P that is bent laterally with respect to the imaging device 1 (see a document P in a bent state shown in FIG. 2A). is there. The “vertical bending mode” is a mode for detecting a three-dimensional shape of a document P that is bent in the vertical direction with respect to the imaging device 1 (see the document P in a bent state shown in FIG. 2B).

[0026] The memory card reader 55 reads image data stored in the memory card from a memory card that stores non-volatile and rewritable image data, and stores captured image data in the memory cart. It is a device to make it.

[0027] The LCD 51 is configured by a liquid crystal display or the like that displays an image, and receives an image signal from the processor 40 and displays an image. From the processor 40 to the LCD 51, a real-time image received by the CCD image sensor 32, an image stored in the memory card 55, and an image signal for displaying characters of the setting contents of the device are displayed as necessary. Sent.

The CCD image sensor 32 has a configuration in which photoelectric conversion elements such as CCD (Charge Coupled Device) elements are arranged in a matrix. The CCD image sensor 32 generates a signal corresponding to the color and intensity of the light of the image formed on the surface, converts the signal into digital data, and outputs the digital data to the processor 40. The data for one CCD element is the pixel data of the pixels forming the image, and the image data is composed of the pixel data of the number of CCD elements.

FIG. 2A is a diagram illustrating a case where an image of a document P that is curved in the horizontal direction (X-axis direction) with respect to the imaging device 1 is imaged, and FIG. 9 illustrates a case where an image of a document P curved in a direction (Y-axis direction) is captured. That is, FIG. 2A shows the document P in the “horizontal bending mode”. FIG. 2B shows a case where the document P is imaged in the “vertical bending mode”.

As shown in FIGS. 2 (a) and 2 (b), the first slit light 71 and the second slit light 71 The slit light 72 is emitted.

The first slit light 71 is projected at a position away from the optical axis (Z axis) of the imaging lens 31 so as to extend along a plane parallel to the optical axis. On the document P, a locus 71a of the first slit light is formed by the first slit light 71.

[0032] The second slit light 72 is a plane substantially orthogonal to the first slit light 71, at a position apart from the optical axis (Z axis) of the imaging lens 31, and along a plane parallel to the optical axis. It is projected to extend. On the document P, a locus 72a of the second slit light is formed by the second slit light 72.

That is, the first slit light 71 and the second slit light 72 are projected so as to cross each other, and the original P has a locus 71a of the first slit light and a locus 72a of the second slit light. This forms a trajectory of a cross-shaped slit light.

Accordingly, when capturing an image of a document P that is curved in the horizontal direction as shown in FIG. 2A, the first slit light path 71a is formed along the curve of the document P. By detecting the trajectory 71a of the light, it is possible to calculate the curvature of the original P that is curved in the horizontal direction.

On the other hand, when an image of a document P curving in the vertical direction is captured as shown in FIG. 2B, the trajectory 72a of the second slit light is formed along the curve of the document P. By detecting the trajectory 72a of the light, the curvature of the original P curving in the vertical direction can be calculated.

FIGS. 3A and 3B are views showing the configuration of the slit light projecting unit 20. FIG. FIG. 3A is a plan view of the slit light projecting unit 20, and FIG. 3B is a side view of the slit light projecting unit 20.

[0037] The slit light projecting unit 20 includes a laser diode 21, a collimating lens 22, a half mirror 23, and two antennas. —It is equipped with wheels 24a and 24b, a reflection mirror 26, and two cylindrical canola lenses 27a and 27b.

[0038] The laser diode 21 is arranged on the most upstream side of the slit light projecting unit 20, and emits one laser beam. The laser diode 21 switches between emission and stop of the laser beam in response to a command from the processor 40. The collimator lens 22 is disposed downstream of the laser diode 21 and focuses the laser beam from the laser diode 21 so as to focus on a reference distance VP (for example, 330 mm) from the slit light projecting unit 20. I do.

The half mirror 23 is located downstream of the collimating lens 22 and is inclined at approximately 45 degrees with respect to the traveling direction of the laser beam passing through the collimating lens 22. The laser beam that has passed through the collimating lens 22 is split by the half mirror 23 into a laser beam that passes through the half mirror 23 as it is and a laser beam that travels substantially vertically downward.

[0041] The apertures 24a and 24b are each formed of a plate having a rectangular opening. The aperture 24a is disposed downstream of the laser beam passing through the half mirror 23 as it is, and the aperture 24b is disposed downstream of the laser beam traveling substantially vertically downward by the half mirror 23. Each laser beam split by the half mirror 23 passes through openings formed in the apertures 24a and 24b, and is shaped as an appropriate slit light width within specifications within an imaging range.

[0042] The reflection mirror 26 is formed of a member such as a mirror that totally reflects the laser beam, and is disposed on the downstream side of the slit light passing through the aperture 24b at an angle of approximately 45 degrees with respect to the traveling direction of the slit light. ing. The slit light passing through the aperture 24b is totally reflected by the reflection mirror 26, and its traveling direction can be changed by about 90 degrees.

The cylindrical lenses 27a and 27b are formed in a so-called cylindrical shape in which a cylinder is divided into two in the axial direction. Light is condensed and diverged in a section having a curvature, and light is kept in a section having no curvature. It is an optical lens that passes.

[0044] The cylindrical lens 27a is arranged on the downstream side of the aperture 24a so that the curved surface faces the downstream side in a cross-sectional view on the XZ plane. The slit light that has passed through the aperture 24a passes through the cylindrical lens 27a, and is emitted as the above-described first slit light 71 toward the document P via the slit light emitting port 29.

[0045] On the other hand, the cylindrical lens 27b is arranged downstream of the reflection mirror 26 so that the curved surface faces the downstream in a cross-sectional view of the YZ plane. The slit light reflected by the reflection mirror 26 passes through the cylindrical lens 27b, and is emitted as the above-described second slit light 72 toward the document P via the slit light emission port 29. FIG. 4 is a block diagram showing an electrical configuration of the imaging device 1. The processor 40 mounted on the imaging device 1 includes a CPU 41, an R〇M 42, and a RAM 43. The above-described CCD image sensor 32, memory card reader 55, release button 52, slit light projecting unit 20, LCD51, mode switching switch 59, and bending direction switching switch 60 are connected to the CPU 41 via signal lines. Have been.

The CPU 41 performs the following processing using the RAM 43 in accordance with the processing by the program stored in the ROM 42. That is, the processing performed by the CPU 41 includes detection of a pressing operation of the release button 52, capture of image data from the CCD image sensor 32, writing of image data to a memory card, detection of the state of the mode switching switch 59, detection of a slit light emitting unit, and the like. Switching of the emission of the slit light by 20 and the like are included.

[0048] The ROM 42 stores a camera control program 421, a difference extraction program 422, a triangulation calculation program 423, a document attitude calculation program 424, and a plane conversion program 425. The camera control program 421 is a program relating to the control of the entire imaging apparatus 1 including the processing of the flowchart shown in FIG. 5 (details will be described later). The difference extraction program 422 calculates a difference between an image with slit light obtained by imaging the document P on which the slit light is projected and an image without slit light obtained by imaging the document P on which the slit light is not emitted, and determines the track of the slit light. This is a program for extracting traces. The triangulation calculation program 423 is a program for calculating a three-dimensional spatial position with respect to each pixel of the locus of the slit light extracted by the difference extraction program 422. The document attitude calculation program 424 is a program for estimating and obtaining the three-dimensional shape of the document P from the three-dimensional spatial positions of the locus 7 la of the first slit light and the locus 72 a of the second slit light. The plane conversion program 425 is a program for converting the image data, which is given the three-dimensional shape of the document P and stored in the slit light non-image storage unit 432, into an image as if it were taken from the front of the document P. .

[0049] The RAM 43 includes, as storage areas, a slit light image storage unit 431, a slit light non-image storage unit 432, and a slit light storage unit sized to store data in the form of image data from the CCD image sensor 32. A difference image storage unit 433 for storing image data of the difference between the optical image and the slit image is assigned. Further, the RAM 43 stores a triangulation calculation result storage unit having a size for storing the three-dimensional spatial positions of the pixels constituting the trajectories 71a and 72a of each slit light. 434, a document orientation calculation result storage unit 435 having a size for storing the three-dimensional shape of the document P, and a marking area 436 having a size used for temporarily storing data for calculation in the CPU 41. Is assigned.

Next, with reference to the flowchart of FIG. 5, the operation of the imaging device 1 configured as described above after the user presses the release button 52 will be described. FIG. 5 is a flowchart showing a processing procedure in the processor 40 of the imaging device 1.

When the release button 52 is pressed by the user, first, the position of the switch of the mode switching switch 59 is detected, and it is determined whether or not the position of the switch is the position of the “correction imaging mode” ( S 110). If the result of determination is that the camera is at the position of the "corrected imaging mode" (S110: Yes), the process proceeds to step S120. In step S120, light emission is instructed to the laser diode 21, the first slit light 71 and the second slit light 72 are projected from the slit light projecting unit 20, and then, as an image with slit light, from the CCD image sensor 32. The image data represented by RGB values is obtained. This image data is read into the slit light image storage unit 431 (S120).

Next, emission of the laser diode 21 is commanded, and the slit light projecting unit 20 stops emitting the first slit light 71 and the second slit light 72. Image data represented by RGB values is obtained from the image sensor 32. This image data is read into the slit light non-image storage section 432 (S130).

Next, as a difference extraction process (S140), the difference extraction program 422 projects the difference between the image data of the image storage unit 431 with slit light and the image data of the image storage unit 432 without slit light, that is, the difference P is projected on the document P. Image data is generated by extracting the illuminated trajectory 71a of the first slit light and the trajectory 72a of the second slit light, and the image data is read into the difference image storage unit 433.

Next, as triangulation calculation processing (S 150), the three-dimensional spatial position of each pixel of the trajectory 71 a of the first slit light and the trajectory 72 a of the second slit light is calculated by the triangulation calculation program 423. The calculation results are read into the triangulation calculation result storage unit 434, respectively.

Next, the position of the switch of the bending direction switching switch 60 is detected, and the position of the switch is detected. It is determined whether the position is the position of the force S “lateral bending mode” (S160). As a result of the determination, if it is determined that the position is in the “lateral bending mode” position (S160: Yes), the process proceeds to step S170a. In step S170a, as a document orientation calculation process for the horizontal direction, the document orientation calculation program 424 determines the position of the document P based on the three-dimensional spatial position of each slit light stored in the triangulation calculation result storage unit 434. The dimensional shape is calculated, and the calculation result is read into the document posture calculation result storage unit 435.

On the other hand, when the position of the bending direction switching switch 60 is not in the “horizontal bending mode” position (S160: No), that is, the position of the bending direction switching switch 60 is the position in the “vertical bending mode”. In this case, the process proceeds to step S170b. In step S170b, each of the slits stored in the triangulation calculation result storage unit 434 by the document attitude calculation program 424 is used as the vertical document attitude calculation processing, similarly to the horizontal document attitude calculation processing (S170a). The three-dimensional shape of the document P is calculated based on the three-dimensional spatial position of the light, and the calculation result is read into the document posture calculation result storage unit 435.

Next, as a plane conversion process (S180), the three-dimensional shape data read into the document posture calculation result storage section 435 by the plane conversion program 425 is stored in the slit light non-image storage section 432. The image data is converted into image data of an image as viewed from the front. Then, the image data of the generated erect image is written to the memory card (S190), and the process ends.

If the result of the determination in S110 is that the position is in the “normal mode” instead of the “corrected imaging mode” (S110: No), the laser diode 21 of the slit light projecting unit 20 does not emit light, In a state where the first slit light 71 and the second slit light 72 are not projected, the slit light non-image power is read from the CCD image sensor 32 into the S slit light non-image storage unit 432 (S200). Then, the image data is written to the memory card (S210), and the process ends.

FIGS. 6 (a) and 6 (b) are diagrams for explaining the above-described triangulation calculation processing (S150 in FIG. 5). 6 (a) and 6 (b), the coordinate system of the imaging device 1 with respect to the original P to be imaged as shown in FIG. Reference distance VP from 1 is the origin position of the X, Y, and Z axes, and X is the horizontal direction with respect to imaging device 1. The axis and the vertical direction are the Y axis.

The number of pixels in the X-axis direction of the CCD image sensor 32 is defined as ResX, and the number of pixels in the Y-axis direction is defined as Res Y. The upper end of the position where the CCD image sensor 32 is projected on the XY plane through the imaging lens 31 is Yftop, the lower end is Yfbottom, the left end is Xfstart, and the right end is Xfend.

The distance between the optical axis of the imaging lens 31 and the optical axis of the first slit light 71 is D, and the position of the first slit light 71 in the Y-axis direction at which the first slit light 71 intersects the XY plane is las 1. Let las2 be the position in the Y-axis direction where the second slit light 72 intersects the XY plane.

In this case, a three-dimensional space position (Xl, Xl) corresponding to the coordinates (ccdxl, ccdyl) on the CCD image sensor 32 of the point of interest 1 that focuses on one of the pixels of the image of the first slit light locus 71a Yl, Z 1) is a triangle formed by a point on the image plane of the CCD image sensor 32, an emission point of the first slit light 71 and the second slit light 72, and a point intersecting the XY plane. Is derived from the solution of the following five simultaneous equations established for.

(1) Yl =-((lasl + D) / VP) Zl + lasl

(2) Yl =-(Yltarget / VP) Zl + Yltarget

(3) XI =-(Xltarget / VP) Zl + Xltarget

(4) Xtarget = Xf start + (ccdxl / ResX) X (Xfend—Xf start)

(5) Yltarget = Yf top- (ccdyl / ResY) X (Yftop-Yfbottom)

In the present embodiment, since the first slit light 71 is parallel to the X-Z plane, lasl = _D and Yl = —D.

Similarly, the three-dimensional spatial position (X2, Y2) corresponding to the coordinates (ccdx2, ccdy2) of the point of interest 2 focused on one of the pixels of the image of the locus 72a of the second slit light on the CCD image sensor 32 , Z2) is then derived from the solution of the five simultaneous equations.

(6) X2 =-((las2 + D) / VP) Z2 + las2

(7) X2 =-(X2target / VP) Z2 + X2target

(8) Y2 =-(Y2target / VP) Z2 + Y2target

(9) Ytarget = Ybottom + (ccdx2 / ResX) X (Ytop-Ybottom)

(10) X2target = Xend- (ccdy2 / ResY) X (Xend-Xtop) In the present embodiment, since the second slit light 72 is parallel to the YZ plane, las2 = D and X2 = D.

Next, with reference to FIG. 7 (a) and FIGS. 8 (a) to 8 (c), a description will be given of the above-described document orientation calculation processing for the horizontal direction (S170a in FIG. 5). FIG. 7 (a) is a diagram showing a slit light image captured in the state of FIG. 2 (a). 8 (a) to 8 (c) are diagrams for explaining a coordinate system at the time of the horizontal document orientation calculation processing.

In the horizontal document orientation calculation process (S170a), first, the trajectories 7 la and 72a of each slit light stored in the triangulation calculation result storage unit 434 by the triangulation calculation process (150 in FIG. 5). From the three-dimensional space position of each pixel, arbitrary two points (for example, point P1 and point P4) of the locus 72a of the second slit light shown in FIG. 7A are extracted. Next, as shown in FIG. 8 (a), a slope とした about the X axis is obtained from the extracted data of the three points in the three-dimensional space.

Next, the Z coordinate of the point Ρ (Χ, Υ, Z) = (0, 0, L) based on the obtained inclination Θ and the intersection P2 between the trajectory 71a of the first slit light and the YZ plane. The value L is determined.

Next, as shown in FIG. 8 (b), a line obtained by approximating the locus 71a of the first slit light with a regression curve is rotationally transformed in the opposite direction by the previously obtained inclination まわり around the X axis, That is, consider a state in which the original P is parallel to the XY plane. Then, as shown in FIG. 8C, the cross-sectional shape of the document P in the X-axis direction is obtained by calculating the displacement in the Z-axis direction at a plurality of points in the X-axis direction with respect to the cross section of the document P on the X--Z plane. From the degree of displacement, the curvature Φ (X), which is a function of the tilt in the X-axis direction with the position in the X-axis direction as a variable, is obtained. Thus, the inclination 傾き, the distance L, and the curvature φ (X) of the document P as a three-dimensional shape can be obtained.

FIG. 7 (b) is a diagram showing an image with slit light captured in the state of FIG. 2 (b). In the vertical document orientation calculation process (S170b), By performing the same processing as in the case of the original posture calculation processing (S170a), the curvature θ (X) as the three-dimensional shape of the original P is obtained, as in the case of the horizontal original posture calculation processing (S17 Oa). The distance L and the slope φ can be obtained. However, Θ is not an angle, but is expressed as a curve Ζ = Θ (Y), and φ is expressed as an angle with the X axis.

Next, the plane conversion process (S180 in FIG. 5) described above with reference to the flowchart in FIG. Will be described. For simplicity, the flowchart shows a case where neither θ nor φ is curved to a curved surface. Refer to IEICE Transactions on Electronics, Information and Communication Engineers, DIIVol.J86_D2 No.3, p409, “Shooting Curved Documents with an Eye Scanner” for the plane conversion processing when curved.

In the plane conversion processing, first, a processing area of the processing is allocated to the working area 436 of the RAM 43, and initial values of variables used in the processing, such as a variable for the counter b, are set (S1300).

Next, the area of the erect image, which is an image when the surface of the document P on which the characters and the like are written is observed from a substantially vertical direction, is calculated based on the calculation result of the document posture calculation program 424. Based on the three-dimensional spatial position (0, 0, L), the inclination X around the X axis, and the curvature φ (X), the points at the four corners of the image without slit light are converted and set, and within this area The number a of included pixels is obtained (S1 301).

Next, it is determined whether or not the value of the counter b has reached the number of pixels a in the area (S1302). As a result, if the value of the counter b still does not reach the number of pixels a (S1302: No), the area of the set erect image is first arranged on the XY plane, and For each pixel included, each three-dimensional space position is displaced in the Z-axis direction based on the curvature φ (X) (S1303), and is rotated around the X-axis with a tilt Θ (S1304), and the Z-axis is moved. Shift in the direction by distance L (S1305)

Next, the obtained three-dimensional spatial position is converted into coordinates (ccdcx, ccdcy) on the CCD image captured by the ideal camera using the above-described triangulation relational expression (SI 306) and used. In accordance with the aberration characteristics of the imaging lens 31 being used, the coordinates (ccdx, ccdy) on the CCD image captured by the actual camera are converted by a known calibration method (S1307), and the slit light at this position is converted. The state of the non-image pixel is obtained and stored in the working area 436 of the RAM 43 (S1308).

When the processing up to this point is completed, “1” is calculated for the counter b by calorie calculation (S1309), and the processing of S1302 force is repeated to generate image data of an erect image. Thus, if the value of the counter b has reached the number of pixels a in the determination of S1302 (S1302: Yes), the processing area allocated in S1300 is released (S1310), and the process ends. In S160, the original position calculation process is branched by detecting the switch position of the bending direction switching switch 60. However, the trajectory 71a of the first slit light and the trajectory 72a of the second slit light are obtained in advance. Processing may be branched depending on whether the locus is curved in the horizontal direction or whether the locus is curved in the vertical direction. In this case, the bending direction switching switch 60 becomes unnecessary, and the operability of the device can be improved.

FIGS. 10 (a) and 10 (c) are diagrams showing another example regarding the arrangement position of the slit light projecting unit 29 on the front surface of the main body case 10. FIG. That is, in the above-described example, the slit light emitting opening 29 is located at the lower left corner of the front surface of the main body case 10, whereas in FIG. In Fig. 10 (c), it is located in the lower right corner.

That is, when the imaging lens 10 is disposed at a substantially central portion of the front surface of the main body case 10 as in the present embodiment, the slit light projecting unit 29 is arranged in the vertical and horizontal directions of the imaging lens 31. It must be placed in a position where it does not intersect. As a result, each of the slit lights 71 and 72 emitted from the slit light projecting light 29 is subjected to the above-described triangulation calculation processing (S150 in FIG. 5) that does not overlap the optical axis of the imaging lens 31. The three-dimensional spatial position of the calculated locus 71a of the first slit light and the locus 72a of the second slit light can be obtained with high accuracy. Further, it is preferable that the slit light projecting unit 29 be disposed as far away from the imaging lens 31 as possible within the area of the front surface thereof.

FIG. 11 is a diagram for explaining that it is preferable to dispose the slit light projecting unit 29 at a position as far away from the imaging lens 31 as possible. Here, a description will be given of a case where the slit light projecting unit 29 is arranged at a position A which is separated from the imaging lens 31 by a in the Y-axis direction and a case where it is arranged at a position B which is separated by b.

First, consider a case where the document P is not inclined with respect to the Y axis. In this case, the second slit light 72 emitted from the slit light emitting port 29 arranged at the position A reaches the point P2 and is emitted from the slit light emitting port 29 arranged at the position B. The second slit light 72 reaches the point P3.

On the other hand, when the document P is tilted at a predetermined angle with respect to the Y axis, the second slit light 72 emitted from the slit light Point on document P (Y1 , Zl), and if the document P tilted with respect to the Y axis is caused to be parallel to the Y axis, the point (Yl, Z1) on the document P becomes the point P1 Will correspond.

That is, since the amount of change from point P3 to point P1 required to obtain point P1 by calculation is larger than the amount of change from point P2 to point P1, detection of the amount of change is more accurately performed. It is possible to calculate the three-dimensional shape of the document P with high accuracy. Therefore, it is preferable that the slit light projecting unit 29 be disposed as far away from the imaging lens 31 as possible within the front area. The same applies to the X-axis direction.

As described above, according to the imaging apparatus 1 described above, the user switches the mode switching switch 59 to the “correction imaging mode” side, checks the bending direction of the document P with respect to the imaging position, and switches the bending direction. Set the switch 60, check that the desired range of the document P is within the imaging range with the viewfinder 53 or the LCD 51, and press the release button 52 to take an image. Thereby, for example, as shown in FIG. 2A, the curvature of the imaged document is calculated based on the trajectory of the first slit light 71a formed along the curvature.

As shown in FIG. 2 (b), the curvature of the imaged document is calculated based on the trajectory of the second slit light 72a formed along the curvature. Therefore, even if a document curving in the intersecting direction is imaged from a predetermined position, a three-dimensional shape including the curve of the document can be detected.

FIGS. 12 (a) and 12 (b) are side views showing the slit light projecting unit 20a of the second embodiment with respect to the slit light projecting unit 20 of the first embodiment described above. FIG. 12 (a) shows a state in which the first slit light 71 is projected, and FIG. 12 (b) shows a state in which the second slit light 72 is projected. Note that the same members as those of the slit light projecting unit 20 of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

The slit light projecting unit 20 of the first embodiment projects first and second slit lights 71 and 72 by two cylindrical lenses 27a and 27b, respectively. The slit light projecting unit 20a of the second embodiment rotates one cylindrical lens 70 to project the first slit light 71 in the first state and the second slit light 72 in the second state. Glow Things.

[0086] The slit light projecting unit 20a of the second embodiment includes a laser diode 21, a collimating lens 22, an aperture 24, and a cylindrical lens 70 in order from the upstream side.

The cylindrical lens 70 is configured to be rotatable at that point by a driving device (not shown). As a first state, as shown in FIG. As a second state, as shown in FIG. 2 (b), the second surface is arranged such that the curved surface faces the downstream side in a sectional view on the YZ plane.

[0088] By configuring the cylindrical lens 70 to be rotatable between the first state and the second state in this manner, when the cylindrical lens 70 is disposed in the first state, the laser beam is emitted from the laser diode 21. When emitted, the laser beam passes through a collimating lens 22 and aperture 24 and is converted into slit light. Further, the slit light passes through the cylindrical lens 70 and is emitted as a first planar slit light 71 extending in a direction orthogonal to the Y axis (parallel to the X axis) with a predetermined angular width.

On the other hand, after that, the cylindrical lens 70 in the first state is rotated so as to be in the second state, and when the cylindrical lens 70 is arranged in the second state, the laser beam is emitted from the laser diode 21. Is emitted, the laser beam passes through a collimating lens 22 and an aperture 24 and is converted into slit light. Further, the slit light passes through the cylindrical lens 70 and is projected as a planar second slit light 72 extending in a predetermined angular width in parallel with the Y axis.

Further, in the imaging apparatus 1 equipped with the slit light projecting unit 20b of the second embodiment, the first imaging is executed in the first state, and the second imaging is executed in the second state. .

[0091] With this configuration, the trajectory 71a of the first slit light is detected by calculating the difference between the first slit light image and the slit light non-image obtained by the first imaging. The trajectory 72a of the second slit light is detected by calculating the difference between the second image with slit light and the image without slit light acquired by the second imaging.

[0092] Note that if the timing for capturing the slit lightless image is configured to be executed between the first imaging and the second imaging, the slit lightless image can be obtained efficiently. As described above, according to the slit light projecting unit 20b of the second embodiment, the required number of cylindrical lenses can be reduced as compared with the slit light projecting unit 20 of the first embodiment. Since the number of parts can be reduced, the manufacturing cost of the imaging device 1 can be reduced.

FIGS. 13 (a) and 13 (b) are views showing the slit light projecting unit 20b of the third embodiment related to the slit light projecting unit 20 of the first embodiment described above. FIG. 13A shows a side view showing a state where the first slit light 71 is projected and a front view of the diffraction element 80. FIG. 13B shows a side view showing a state in which the second slit light 72 is projected and a front view of the diffraction element 80. Note that the same members as those of the slit light projecting unit 20 of the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

The slit light projecting unit 20 of the first embodiment projects the first and second slit lights 71 and 72 by using two cylindrical lenses 27a and 27b. The slit light projecting unit 20b of the third embodiment projects the first and second slit lights 71, 72 by using a diffraction element plate 80 which is movably arranged in the vertical direction.

[0096] The slit light projecting unit 20b of the third embodiment is formed in a plate shape at a position facing the laser diode 21, the collimating lens 22, the aperture 24, and the aperture 24 in order from the upstream side. And a diffraction element plate 80. A solenoid 81 is connected to the diffraction element plate 80.

[0097] In the diffraction element plate 80, a plurality of first diffraction elements 80a extending in parallel with the X-axis direction are formed substantially in the upper half of the surface, and a plurality of first diffraction elements 80a extending in parallel with the Y-axis direction are formed in the substantially lower half of the surface. The second diffraction element 80b is formed.

[0098] The solenoid 81 converts magnetic energy of the coil into linear motion of the plunger 81b. The solenoid 81 includes a main body 81a containing a coil, and a plunger 81b reciprocating with respect to the main body 81a. A diffraction element plate 80 is connected to one end of the plunger 81b.

According to the slit light projecting unit 20b configured as described above, the state shown in FIG. 13A, that is, the surface of the diffraction element plate 80 where the second diffraction element 80b is formed is the same as the aperture 24. When a laser beam is emitted from the laser diode 21 while being placed at the opposite position, For example, the laser beam passes through the collimator lens 22, the aperture 24, and the second diffractive element 80b, thereby forming a first slit having a predetermined angular width and extending in a direction orthogonal to the Y axis (parallel to the X axis). Light is emitted as light 71.

[0100] On the other hand, thereafter, the diffraction element plate 80 is moved downward by the plunger 81b by the action of the solenoid 81. Then, in a state as shown in FIG. 13B, that is, in a state where the surface of the diffraction element plate 80 on which the first diffraction element 80a is formed is located at a position facing the aperture 24, the laser diode 21 When the laser beam is emitted from the laser beam, the laser beam passes through the collimating lens 22, the aperture 24, and the first diffractive element 80a to form a flat second slit light 72 extending in a direction parallel to the Y axis with a predetermined angular width. It is projected as

[0101] In the imaging apparatus 1 equipped with the slit light projecting unit 20b of the third embodiment, the first and second slit light projects are performed in the same manner as the slit light projecting unit 20a of the second embodiment. Locus 71a, 72a can be detected.

As described above, according to the slit light projecting unit 20b of the third embodiment, since the diffractive element plate 80 is inexpensive as compared with the cylindrical lens, the cost of parts can be reduced, and the manufacturing of the imaging apparatus 1 can be achieved. Cost can be reduced.

[0103] In the above embodiment, the processing of S170a or the processing of S170b in Fig. 5 is regarded as a three-dimensional shape calculation means. The process of S180 in FIG. 5 is regarded as a planar image correcting unit.

[0104] Although the present invention has been described based on the embodiments, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be easily made without departing from the gist of the present invention. It can be inferred.

For example, in the above embodiment, whether the slit light of the first slit light 71 or the second slit light 72 is the slit light along the curvature of the original is determined via the bending direction switching switch 60. And the case where the user inputs is described.

For example, from the position coordinates in the three-dimensional space of each slit light calculated in the above-described triangulation calculation processing (S150 in FIG. 5), any of the slit lights is determined by the slit light along the curve. Then, based on the result of the determination, the document orientation calculation process for the horizontal direction (S170a) or the document orientation calculation process for the vertical direction (S170b) is executed. May be determined. As described above, by performing the determination of the force in software, the switch operation of the user is not required, and the operability of the present apparatus can be improved.

The imaging apparatus 1 is configured to capture an image with slit light and an image without slit light using the imaging lens 31 and the CCD image sensor 32. On the other hand, in addition to the imaging lens 31 and the CCD image sensor 32, an imaging lens for capturing an image with a slit and a CCD image sensor may be additionally provided.

With this configuration, it is possible to eliminate the time lapse between capturing the image with slit light and the image without slit light (such as the time for transferring the image data of the CCD image sensor 32). The accuracy of the three-dimensional shape of the target object to be detected is small when there is no shift in the imaging range of the image without slit light with respect to the image with light. However, the imaging device 1 of the present embodiment can be made smaller and less expensive with fewer components.

In this embodiment, the laser diode 21 that emits a laser beam is used as a light source. However, any other light source that can output a light beam, such as a surface emitting laser, an LED, and an EL element, can be used. May be used.

[0110] The slit light emitted from the slit light projecting unit 20 is a type of pattern light. In addition to a fine line sharply narrowed in a direction orthogonal to the longitudinal direction, a slit light having a certain width is provided. A light pattern in the form of a lip may be used.

[0111] In one embodiment of the present invention, the first pattern light and the second pattern light may be projected so as to extend along a plane parallel to the optical axis of the imaging means.

[0112] According to such a configuration, the first pattern light and the second pattern light are projected so as to extend along a plane parallel to the optical axis of the imaging means. For example, when capturing an image of a rectangular document that curves in the vertical or horizontal direction, the image of the document is often captured from the front. Therefore, in the case of power, the first pattern light or the second pattern light can be projected along the curvature of the document. Therefore, the curvature of the document can be detected with high accuracy.

[0113] In one embodiment of the present invention, the light projecting means includes two optical lenses that respectively emit the first pattern light and the second pattern light.

According to such a configuration, since the light projecting means includes the two optical lenses that respectively emit the first pattern light and the second pattern light, the first pattern light and the second pattern light Can be simultaneously projected on the target object. Therefore, an image including the trajectory of the first pattern light and the trajectory of the second pattern light can be efficiently acquired.

[0115] In one embodiment of the present invention, each of the two optical lenses may be composed of a cylindrical lens. In this case, one cylindrical lens has a curved surface in a sectional view with respect to a plane from which the first pattern light is emitted, and the other cylindrical lens has a curved surface in a sectional view with respect to a plane from which the second pattern light is emitted. It is arranged to be.

According to such a configuration, only by fixing the arrangement of each cylindrical lens, the first pattern light from one cylindrical lens and the second pattern light from the other cylindrical lens are transmitted to the target object. Each can emit. In addition, since the two optical lenses can be constituted by the same cylindrical lens, parts can be shared.

[0117] In one embodiment of the present invention, the light projecting means includes one light output means for outputting a light beam, and a splitting means for splitting the light beam output from the light output means in two directions. You may have. In this case, of the two optical lenses, one of the two optical lenses is disposed in the middle of the two-way split by the splitter, and the other optical lens is positioned in the other half of the two-way split by the splitter. Be placed.

According to such a configuration, each of the two optical lenses is input with the light beam obtained by splitting the light beam output from one light output means by the splitting means in two directions. , even in the case of using two optical lenses, can reduce必short Nag parts for mounting two light output means, an effect force ^s being able to reduce the manufacturing cost of the device.

[0119] In one embodiment of the present invention, the light projecting means may include one optical lens having a first state for emitting the first pattern light and a second state for emitting the second pattern light. . In this case, the one optical lens is configured to be movable between a first state and a second state.

According to such a configuration, since the first pattern light and the second pattern light are emitted from one optical lens, the first pattern light and the second pattern light are emitted using two optical lenses. The number of parts can be reduced compared to the case, and the manufacturing cost of the device can be reduced. it can.

[0121] In one embodiment of the present invention, one optical lens may be constituted by a cylindrical lens. In this case, the cylindrical lens has a second state with respect to a plane from which the second pattern light is emitted so that the cylindrical lens has a curved surface in a cross-sectional view with respect to a plane from which the first pattern light is emitted as the first state. It is configured to be movable so as to have a curved surface in a sectional view.

According to such a configuration, the first pattern light and the second pattern light can be respectively emitted to the target object only by switching between the first state and the second state.

[0123] In one embodiment of the present invention, the light projecting means includes a first diffractive element for projecting the first pattern light to the target object, and a second diffractive element for projecting the second pattern light to the target object. May be provided.

According to such a configuration, the light projecting unit includes the first diffractive element that projects the first pattern light onto the target object, and the second diffractive element that projects the second pattern light onto the target object. Therefore, the cost of parts can be reduced and the manufacturing cost of the device can be reduced as compared with the case where the light projecting means is configured using an optical lens.

[0125] In one embodiment of the present invention, the light projecting means includes a light output means for outputting a light beam, and one of the first diffraction element and the second diffraction element is set as a first state. The second state is arranged in the middle of the path of the light beam, the other is arranged in the middle of the path of the light beam, and the other is arranged in the middle of the path of the light beam. It is configured to be movable so as to be located outside the path of the game.

[0127] In one embodiment of the present invention, when assuming each pixel that partitions the image captured by the imaging unit into a grid, the light projecting unit performs the first pattern along the pixel extending in the first direction. It may be configured to project light and project the second pattern light along a pixel extending in a second direction substantially orthogonal to the first direction.

According to such a configuration, the first pattern light and the second pattern light can be projected along a row of pixels, and the three-dimensional shape of the target object can be detected with high accuracy. [0129] In one embodiment of the present invention, the imaging lens of the imaging means is disposed at substantially the center of the substantially rectangular front surface of the present apparatus, and the projection light of the pattern light is located at the four corners of the front surface. Even if it is placed somewhere, it is good.

[0130] According to such a configuration, the imaging lens of the imaging means is disposed at a substantially central portion of the substantially rectangular front surface of the present apparatus, and the projection light of the pattern light is provided at any one of the four corners of the front surface. The first pattern light and the second pattern light can be emitted without overlapping with the optical axis of the imaging means. Further, the coordinates of the trajectory of the first pattern light and the trajectory of the second pattern light in the real space can be obtained with high accuracy by triangulation.

[0131] In one embodiment of the present invention, the light projecting means emits a light beam and outputs the light beam from the light output means in a plane with a predetermined angular width. Slit light projecting means for converting the slit light into a slit light and projecting the slit light to a target object may be provided.

Claims

The scope of the claims

[1] light emitting means for emitting pattern light,

Imaging means for imaging a target object in a state where pattern light is emitted from the light emitting means;

Three-dimensional shape calculating means for detecting the position of the pattern light from the image captured by the imaging means, and calculating three-dimensional shape information of the target object based on the detected position of the pattern light;

The light projecting means includes, as the pattern light, a first pattern light extending along a plane passing through a position distant from the optical axis of the imaging means, and a second pattern extending along a plane intersecting the first pattern light. A three-dimensional shape detection device, which projects light onto the target object.

2. The three-dimensional shape detecting device according to claim 1, wherein the first pattern light and the second pattern light are projected so as to extend along a plane parallel to an optical axis of the imaging unit. Place.

3. The _three- dimensional shape detecting device according to claim 1, wherein the light projecting means includes two optical lenses that respectively emit the first pattern light and the second pattern light.

[4] Each of the two optical lenses is constituted by a cylindrical lens,

One cylindrical lens has a curved surface in a sectional view with respect to the plane from which the first pattern light is radiated, and the other cylindrical lens has a curved surface in a sectional view with respect to the plane from which the second pattern light is radiated. The three-dimensional shape detection device according to claim 3, wherein the three-dimensional shape detection device is arranged so as to have a surface.

[5] The light emitting means,

One light output means for outputting a light beam,

Splitting means for splitting the light beam output from the light output means in two directions, wherein one of the two optical lenses is disposed in the middle of one of the two optical lenses split by the splitting means in two directions. 4. The three-dimensional shape detecting device according to claim 3, wherein the other optical lens is disposed in the middle of the other divided in two directions by the dividing means.

[6] The light projecting means includes one optical lens having a first state of emitting the first pattern light and a second state of emitting the second pattern light,

3. The three-dimensional shape detecting device according to claim 1, wherein the one optical lens is configured to be movable between a first state and a second state.

[7] The one optical lens is constituted by a cylindrical lens,

The cylindrical lens has a curved surface in a cross-sectional view with respect to a plane from which the first pattern light is radiated as the first state, and has a curved surface in a cross-sectional view with respect to a plane from which the second pattern light is radiated as the first state. 7. The three-dimensional shape detection device according to claim 6, wherein the three-dimensional shape detection device is configured to be movable so as to have a curved surface.

[8] The light projecting means includes a first diffraction element that projects the first pattern light onto the target object.

The three-dimensional shape detection device according to claim 1, further comprising: a second diffraction element that projects the second pattern light onto a target object.

[9] The light projecting means includes a light output means for outputting a light beam,

In the first state, one of the first diffraction element and the second diffraction element is disposed in the middle of the path of the light beam output from the light output unit, and the other is disposed outside the path of the light beam. The second state is configured to be movable so that the other is arranged in the middle of the optical beam path and the other is arranged outside the optical beam path.

8. The three-dimensional shape detection device according to 8.

[10] Assuming each pixel that partitions an image captured by the imaging unit into a grid shape

The light projecting means projects the first pattern light along a pixel extending in a first direction,

The three-dimensional shape detecting device according to claim 1, wherein the second pattern light is projected along a pixel extending in a second direction substantially orthogonal to the one direction.

[11] The imaging lens of the imaging means is arranged at a substantially central portion of a substantially rectangular front surface of the present apparatus.

2. The three-dimensional shape detecting device according to claim 1, wherein the projection light of the pattern light is arranged at any one of four corners on a front surface thereof.

[12] The light emitting means,

Light output means for outputting a light beam;

The light beam emitted from the light output means is emitted in a plane at a predetermined angular width. 2. The three-dimensional shape detecting device according to claim 1, further comprising: a slit light projecting unit that converts the slit light into a bundle, and projects the slit light onto a target object.

A three-dimensional shape detection device according to claim 1,

Based on the three-dimensional shape of the target object calculated by the three-dimensional shape calculation means of the three-dimensional shape detection device, an image of the target object in a state where the pattern light imaged by the imaging means is not projected is projected. An image capturing apparatus, comprising: a planar image correcting unit configured to correct a planar image of a predetermined surface of a target object to be observed from a substantially vertical direction.