WO2007138904A1 - パターン投影光源および複眼測距装置 - Google Patents
パターン投影光源および複眼測距装置 Download PDFInfo
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- WO2007138904A1 WO2007138904A1 PCT/JP2007/060336 JP2007060336W WO2007138904A1 WO 2007138904 A1 WO2007138904 A1 WO 2007138904A1 JP 2007060336 W JP2007060336 W JP 2007060336W WO 2007138904 A1 WO2007138904 A1 WO 2007138904A1
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- pattern
- light source
- projection
- image
- mask
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- 150000001875 compounds Chemical class 0.000 title claims description 21
- 230000003287 optical effect Effects 0.000 claims abstract description 117
- 238000003384 imaging method Methods 0.000 claims description 49
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 33
- 238000010586 diagram Methods 0.000 description 24
- 238000005286 illumination Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 9
- 239000000758 substrate Substances 0.000 description 7
- 239000011521 glass Substances 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 210000001747 pupil Anatomy 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
- G01C3/085—Use of electric radiation detectors with electronic parallax measurement
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/18—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for optical projection, e.g. combination of mirror and condenser and objective
- G02B27/20—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for optical projection, e.g. combination of mirror and condenser and objective for imaging minute objects, e.g. light-pointer
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/28—Systems for automatic generation of focusing signals
- G02B7/30—Systems for automatic generation of focusing signals using parallactic triangle with a base line
- G02B7/32—Systems for automatic generation of focusing signals using parallactic triangle with a base line using active means, e.g. light emitter
Definitions
- Pattern projection light source and compound eye distance measuring device
- the present invention relates to a pattern projection light source that projects an image of a predetermined pattern on an object.
- the present invention also relates to a compound eye distance measuring device that measures the distance to an object by parallax between a plurality of imaging optical systems.
- a compound-eye distance measuring device that images a measurement object with two imaging devices installed on the left and right or top and bottom, and measures the distance to the object using the parallax between the left and right or top and bottom images. It is used for inter-vehicle distance measurement, autofocus system for cameras, 3D shape measurement system, etc.
- This compound-eye distance measuring apparatus is provided with a compound-eye optical system that forms an image of an object on an image sensor.
- a compound-eye distance measuring device extracts a visual difference by matching two image force patterns captured, and calculates a distance to a measurement object based on the principle of triangulation.
- a pattern matching method will be described with reference to FIG. 91 and 92 are a pair of images obtained using a pair of left and right imaging optical systems.
- An image obtained from the first imaging optical system (reference image) 9 1 A middle block block (small area) 9 la is set.
- an image (reference image) 92 obtained from the second imaging optical system a block 92a having the same Y coordinate value as that of the block 91a and having the same size is set.
- SA D Sum of Absolute Difference
- x and y are the X coordinate value and the Y coordinate value of the imaging surface
- 10 and II are the reference image and the reference image, respectively, and the pixel in the coordinates indicated in parentheses Luminance value.
- Each of the blocks 91a and 92a has m (X-axis direction) Xn (Y-axis direction) pixels.
- the SAD is calculated by changing the movement amount dx in the base line direction (X-axis direction in this example) 90 of the block 92a.
- the dx where the SAD is the minimum is extracted as the amount of parallax for this block 91a.
- the movement range (search range) of the small area 92a in the reference image 92 is set according to the distance measurement range.
- the SAD can be calculated at an arbitrary coordinate in the reference image 91. it can.
- the disparity distribution in the reference image 91 can also be obtained by dividing the reference image 91 into a plurality of blocks in a matrix and performing the pattern matching for each block.
- Patent Document 2 A method for providing the above is generally known (Patent Document 2).
- Patent Document 1 JP-A-4-43911
- Patent Document 2 JP 2001-264033 A
- the conventional auxiliary light source for ranging using the parallax as described above has a single projection optical system
- the light emitting elements are arranged in an array in order to give sufficient illuminance to the object. Therefore, a light source with increased output and a single light source with large output are required.
- the size of the mask having the light transmitting portion of the predetermined pattern is increased corresponding to the size of the light source, and a large lens corresponding to the mask is provided. Must be used.
- the volume of the projection optical system that projects the pattern becomes larger than the imaging optical system of the compound eye distance measuring device, It is difficult to downsize the entire distance measurement system End up.
- the focal length of the projection optical system of the auxiliary light source is a compound eye distance measuring device.
- the range in which the pattern image is favorably formed becomes narrower than the depth of field of the imaging optical system.
- the range in which the distance to the object can be accurately measured becomes narrow.
- the illumination efficiency is lowered and the illuminance of the object is also reduced. descend. Therefore, there arises a problem that the distance measuring range on the far side is narrowed.
- the present invention has been devised in order to solve the above-described problems, and it is desirable to form a pattern image on a target object that is wide and wide in the pattern projection direction.
- An object of the present invention is to provide a pattern projection light source that is small and thin.
- Another object of the present invention is to provide a compound eye distance measuring device that is small and thin, has a wide distance measurement range, and has high distance measurement accuracy.
- the pattern projection light source of the present invention includes a light source, a plurality of mask regions each having a predetermined pattern of light-transmitting portions that transmit light from the light source, and the predetermined pattern of the light-transmitting portion. And a plurality of lenses for forming the images at a predetermined distance in this order.
- a compound eye distance measuring device of the present invention includes a compound eye distance measuring unit that measures a distance to an object by parallax between a plurality of imaging optical systems, and the pattern projection light source of the present invention. It is a sign.
- the pattern projection light source of the present invention has a plurality of mask regions and a plurality of lenses, it can be made smaller and thinner. In addition, by providing a plurality of lenses, the imaging range of the pattern image can be expanded. Furthermore, the pattern image of the translucent portion can be clearly formed on the object. In addition, since the compound eye distance measuring device of the present invention includes the pattern projection light source of the present invention described above, it is small and thin, has a wide distance measurement range, and has high distance measurement accuracy.
- FIG. 1 is a perspective view showing a schematic configuration of a pattern projection light source according to Embodiment 1 of the present invention.
- FIG. 2 is a sectional view showing a schematic configuration of a pattern projection light source according to Embodiment 1 of the present invention.
- FIG. 3 is a perspective view showing a schematic configuration of another pattern projection light source according to Embodiment 1 of the present invention.
- FIG. 4 is a cross-sectional view showing a schematic configuration of still another pattern projection light source according to Embodiment 1 of the present invention.
- FIG. 5 is a diagram for explaining a method for enlarging the imaging range of a projection pattern in the pattern projection light source according to the first embodiment of the present invention.
- FIG. 6 is a diagram showing an example of a pattern of a light transmitting part formed in a mask region of a pattern projection light source according to the present invention.
- FIG. 7 is a perspective view showing a state in which the pattern projection light source according to the present invention projects the pattern shown in FIG.
- FIG. 8 is a diagram showing another example of the pattern of the light transmitting part formed in the mask region of the pattern projection light source according to the present invention.
- FIG. 9 is a diagram showing light rays when the pattern projection light source according to the present invention projects the pattern shown in FIG.
- FIG. 10A is a diagram showing an image of the pattern of the translucent portion projected onto the projection plane at the distance F1 in FIG.
- FIG. 10B is a diagram showing an image of the pattern of the translucent portion projected onto the projection plane at the distance F2 in FIG.
- FIG. 10C is a diagram showing an image of the pattern of the translucent portion projected onto the projection plane at the distance F3 in FIG.
- Fig. 11 is formed in the mask area of the pattern projection light source according to Embodiment 2 of the present invention. It is a figure which shows an example of the pattern of the made translucent part.
- FIG. 12A is a diagram showing an image of the pattern of the translucent portion of FIG. 11 projected onto the projection plane at the distance F1.
- FIG. 12B is a diagram showing an image of the pattern of the translucent portion of FIG. 11 projected onto the projection plane at the distance F2.
- FIG. 12C is a diagram showing an image of the pattern of the translucent portion of FIG. 11 projected onto the projection plane at the distance F3.
- FIG. 13A shows a mask in the pattern projection light source according to Embodiment 2 of the present invention.
- FIG. 13B shows a mask in the pattern projection light source according to Embodiment 2 of the present invention.
- FIG. 13C shows a mask in the pattern projection light source according to Embodiment 2 of the present invention.
- FIG. 6 is a diagram showing an image obtained by capturing images of patterns of light transmitting portions of both D and mask E.
- FIG. 14A is a diagram showing changes in the SAD value within the search range when pattern matching is performed using the image shown in FIG. 13A.
- FIG. 14B is a diagram showing changes in the SAD value within the search range when pattern matching is performed using the image shown in FIG. 13B.
- FIG. 14C is a diagram showing changes in the SAD value within the search range when pattern matching is performed using the image shown in FIG. 13C.
- FIG. 15 is a diagram showing another example of the pattern of the translucent part formed in the mask region of the pattern projection light source according to Embodiment 2 of the present invention.
- FIG. 16 is a diagram showing an example of the arrangement of a plurality of mask regions in the pattern projection light source according to Embodiment 2 of the present invention.
- FIG. 17 is a cross-sectional view showing a schematic configuration of a pattern projection light source according to Embodiment 3 of the present invention.
- FIG. 18A is a diagram showing an example of illuminance distribution on an object when only the projection optical system is used in the pattern projection light source according to Embodiment 3 of the present invention.
- FIG. 18B shows a projection in the pattern projection light source according to Embodiment 3 of the present invention.
- FIG. 6 is a diagram showing an example of illuminance distribution on an object when both an optical system and an illumination optical system are used.
- FIG. 19 is a cross-sectional view showing a schematic configuration of a compound-eye distance measuring apparatus according to Embodiment 4 of the present invention.
- FIG. 20 is a diagram for explaining a pattern matching method in the compound-eye distance measuring apparatus.
- the pattern projection light source according to the present invention has a plurality of projection optical systems each having a mask region and a lens, the pattern projection light source has a higher optical axis direction than a pattern projection light source having a single projection optical system force. Size (thickness) can be reduced.
- the illuminance of the object can be improved.
- the focal length of each lens can be shortened, and the distance range in which the pattern image is favorably formed is widened. Therefore, when the pattern projection light source of the present invention is used as an auxiliary light source for a compound-eye distance measuring device, the range in which the distance can be accurately measured is widened.
- each lens clearly forms an image of the pattern of the translucent portion on the object. Therefore, when the pattern projection light source of the present invention is used as an auxiliary light source for a compound eye distance measuring device, the distance to the object can be measured with high accuracy.
- a lens may be inserted between the light source and the mask region in accordance with the directivity characteristics of the light source in order to increase the light use efficiency.
- the plurality of lenses are arranged in an array and are integrally molded.
- the Noturn projection light source can be made thinner.
- integrally molding a plurality of lenses the accuracy of the optical axis of each lens can be increased by the mold, so that adjustment of the optical axis of each lens is not necessary, and assemblability is improved.
- the distance range in which the pattern image is favorably formed is further expanded.
- the distance at which the pattern image is optimally formed is different for each lens or a plurality of lens duplications, and the distance range in which the pattern image having a certain contrast ratio or more is formed is different. It is preferable to set such that they partially overlap each other between lenses or between different lens groups. As a result, a pattern image can be favorably formed in a continuous and wider distance range.
- the pattern projection light source of the present invention when used as an auxiliary light source for a compound-eye distance measuring device, the range in which the distance can be accurately measured is further widened.
- the pattern projection light source can be used as an auxiliary light source.
- the distance to the object can always be measured with high accuracy.
- the mask area or lens position can be changed in the optical axis direction to defocus!
- the pattern projection light source of the present invention it is preferable that at least two of the plurality of mask regions have the light transmitting portions formed in different patterns.
- the patterns of the light transmitting portions formed in each of the plurality of mask regions also have a plurality of stripe forces parallel to each other, and the stripe patterns are the same, the object is formed by a plurality of lenses.
- the images of the stripe pattern projected above are close to each other, sometimes separated from each other, but gradually approach each other as the distance to the object becomes far. That is, the density of the image of the stripe pattern projected on the object varies depending on the distance to the object. Therefore, depending on the distance to the object, a blank area where the pattern image on the object is not projected becomes wide.
- the above pattern matching in which an image is divided into a plurality of blocks (small areas) and the disparity is detected for each block (see FIG. 20) is highly accurate. Block that cannot be detected.
- the projection distance is changed by changing the pattern of the translucent part formed in the mask area between different projection optical systems or between different projection optical system groups.
- the stripe directions are different from each other.
- the transparency formed in the mask area It is preferable to make the pattern of the optical part periodic, random pattern, and make the random pattern different from each other.
- the pattern projection light source of the present invention it is preferable that at least one of the plurality of mask regions is formed with a pattern having substantially the entire light transmitting portion.
- the illuminance distribution can be raised over the entire area within the projection angle.
- the distance to the object on which the image of the predetermined pattern in the mask area is not formed can be measured by imaging the contrast of the object itself.
- FIG. 1 is a perspective view of a pattern projection light source 20 according to Embodiment 1 of the present invention.
- Figure 2 is a cross-sectional view.
- 1 is a circuit board for mounting LEDs.
- a plurality of bullet-type LEDs 2a are arranged on the circuit board 1.
- Reference numeral 3 denotes a scattering member that scatters light rays generated from the LED 2a.
- Reference numeral 4 denotes a glass substrate having a plurality of mask regions 5 each having a translucent portion formed with a predetermined pattern on the surface thereof.
- Reference numeral 7 denotes a lens that converges the light transmitted through the light transmitting part of the mask region 5 and forms an image of the pattern of the light transmitting part.
- the light emitted from the LED 2a is irradiated onto the object through the scattering member 3, the glass substrate 4, the mask region 5, and the lens 7, and the pattern formed in the mask region 5 is projected.
- the scattering member 3 is provided to generate a light beam directed to the pupil of the lens 7.
- One mask area 5 and one lens 7 corresponding to this constitute one projection optical system.
- a plurality of projection optical systems are arranged in an array in the vertical and horizontal directions. The optical axes of the plurality of projection optical systems are parallel to each other.
- the wall 6 is provided to block light from the adjacent projection optical system.
- reference numeral 9 denotes a lens barrel member for holding the lens 7. In FIG. 1, the illustration of the lens barrel member 9 is omitted.
- a lens array 70 in which a plurality of lenses 7 arranged in an array is formed as shown in FIG. 3 is used. Is preferred. Thereby, the optical axis accuracy of each lens 7 can be improved by the mold. Therefore, it is possible to eliminate the need to adjust the optical axis of each lens 7 and improve the assemblability.
- the LED 2a and the lens 7 have a one-to-one correspondence.
- the present invention is not limited to this.
- a plurality of lenses 7 may correspond to one LED 2a, or one lens 7 may correspond to a plurality of LEDs 2a.
- the type of force light source that uses LED as the light source is not limited to this
- all the mask regions 5 are formed on one glass substrate 4.
- a plurality of glass substrates each formed with one or a plurality of mask regions 5 are arranged side by side. May be placed.
- FIG. 4 is a cross-sectional view of the pattern projection light source 20 using the surface-mounted LED 2b as the light source, and is a modification of the pattern projection light source shown in FIGS.
- a plurality of surface-mounted LEDs 2b are arranged on the circuit board 1.
- Reference numeral 8 denotes a parallel lens having a function of collimating light emitted from LED2b.
- the pattern projection light source can be made thinner and smaller than when only a single projection optical system is used. It will be possible. Furthermore, when a plurality of projection optical systems are arranged in an array, the focal length of each lens 7 can be shortened compared to the case where only a single projection optical system is used. It is possible to widen the distance range in which the image is favorably imaged.
- FIG. 5 is a diagram for explaining a method of expanding the distance range in which the image of the projected pattern is favorably formed.
- 71a is the projection lens of the first projection optical system
- 72a is the optical axis of the first projection optical system
- 71b is the projection lens of the second projection optical system
- 72b is the light of the second projection optical system
- the axis, 71c is the projection lens of the third projection optical system
- 72c is the optical axis of the third projection optical system.
- 40a is a graph showing the relationship between the projection distance of the first projection optical system and the contrast ratio
- 40b is the projection distance of the second projection optical system.
- 40c a graph showing the relationship between the projection distance of the third projection optical system and the contrast ratio.
- the projection lenses 71a, 71b, 71c are the same shape lenses, and their positions in the optical axis 72a, 72b, 72c directions are different from each other. Accordingly, the projection distance at which the pattern image is relatively defocused and the pattern image is optimally formed can be made different for each projection optical system.
- the imaging depth of the first projection optical system is Ll
- the imaging depth of the third projection optical system is L3
- the imaging ranges of the first to third projection optical systems are Z1 to Z1 + L1, Z2 to Z2 + L2, Z3, respectively. ⁇ Z3 + L3.
- the imaging ranges of the first to third projection optical systems are shifted relative to each other so that they overlap each other, so that a pattern that is always well imaged in the distance range Z1 to Z3 + L3. There will be at least one of these images. Therefore, when this non-turn projection light source is used as an auxiliary light source for a compound-eye distance measuring device, it is possible to widen the distance range that can be measured with high accuracy.
- a method of shifting the mask region 5 in the optical axis direction can be realized.
- the basic configuration of the pattern projection light source of the second embodiment is the same as that in FIGS. 1 and 2 in the first embodiment.
- the patterns of the light transmitting portions formed in the plurality of mask regions 5 are different from each other! /.
- FIG. 6 shows three mask regions 50a, 50b, 50c arranged in an array.
- the patterns of the light transmitting portions 51 in the respective mask regions 50a, 50b, 50c are the same, and they are composed of a plurality of stripes extending in the direction perpendicular to the base line direction 90 of the distance measurement.
- the three projection optical systems including the three mask regions 50a, 50b, and 50c are in the baseline direction. 90 and arranged vertically.
- Mask regions 50a, 50b, and 50c are referred to as mask A, mask B, and mask C, respectively.
- Dashed lines 60a, 60b, and 60c are virtual lines indicating the outer edges of the masks A, B, and C.
- Ev is the arrangement pitch of the projection optical system.
- FIG. 7 is a diagram for explaining how an image is formed on a projection plane provided at a predetermined distance for each pattern of the mask ⁇ , the mask ⁇ , and the mask C.
- reference numeral 61 denotes an image of the projected pattern of the translucent part 51.
- the broken lines 60a, 60b, 60c are virtual lines indicating the positions at which the virtual lines 60a, 60b, 60c indicating the outer edges of the masks A, B, C are projected.
- the pitch of the imaginary lines 60a ', 60b', 60c ' is always constant and coincides with Ev.
- a distance measurement range may be set in an area where three pattern images 61 overlap.
- three three projection optical systems including three mask regions 50a, 50b, and 50c (j jets are referred to as mask A, mask B, and mask C) are used for distance measurement.
- mask A, mask B, and mask C a plurality of strip-like light transmitting portions 51 that are the same as those in FIG.
- FIG. 9 is a diagram showing an optical path of a light beam that has passed through each light-transmitting portion 51 of mask A, mask B, and mask C.
- Fig. 9 [This is a projection optical system equipped with Mask A, Mask B, and Mask C shown here.
- the image of the pattern of the translucent part 51 formed on the projection plane at distances Fl, F2, and F3 is a straight line indicating the light beam that has passed through the translucent part 51 and a broken line indicating each projection plane. Formed at the intersection. Accordingly, the pattern images of the light transmitting portion 51 at the distances Fl, F2, and F3 are as shown in FIGS. 10A, 10B, and 10C in order.
- the broken lines 60a ′, 60b ′, and 60c ′ are virtual lines that indicate the positions of the virtual lines 60a, 60b, and 60c projected by the outer edges of the masks A, B, and C, respectively.
- 10A, 10B, and 10C show virtual lines 60a ', 60b', and 60c, although the image size of the pattern of the translucent part 51 formed on the projection surface differs depending on the projection distance to the projection surface. The magnification is adjusted so that the size of the region surrounded by 'is the same size in Fig. 10A, Fig. 10B, and Fig. 10C.
- Eh represents the arrangement pitch of the projection optical system.
- the pattern image of the translucent part 51 becomes larger, but the pitch of the virtual lines 60a, 60b, 60c in the base line direction 90 is always constant and matches Ev. Therefore, the longer the projection distance, the more emphasized the density of the pattern image as shown in FIG. 10C. Therefore, for example, when a distance measuring method for dividing the captured image into a plurality of blocks and acquiring distance information for each block as described in FIG. 20 is used, the distance to the object is determined. Therefore, the density of the pattern image is high, and there are almost no block and pattern images! There may be a situation in which ⁇ ⁇ ⁇ blocks are mixed. In such a case, there is almost no contrast of the object itself!
- FIG. 11 is a diagram showing a pattern of the light transmitting portion 51 in the mask regions 50d and 50e of the present embodiment.
- Two projection optical systems are arranged in an array parallel to the baseline direction 90 of the distance measurement.
- a pattern of the light transmitting portion 51 having a plurality of parallel stripe forces is formed in each of the two mask regions 50d and 50e included in the two projection optical systems.
- Mask areas 50d and 50e are designated as mask D and mask E, respectively.
- Dashed lines 60d and 60e are virtual lines indicating the outer edges of the masks D and E.
- Eh is the arrangement pitch of the projection optical system.
- the mask regions 50d and 50e have such a pattern of the light transmitting portion 51, the pattern image of the light transmitting portion 51 formed on the projection plane at the distances Fl, F2, and F3 shown in FIG. As shown in Figure 12A, Figure 12B, and Figure 12C.
- the broken lines 60 d ′ and 60 e ′ are virtual lines indicating the positions where the virtual lines 60 d and 60 e indicating the outer edges of the masks D and E are projected.
- 12A, 12B, and 12C are similar in size to the regions surrounded by virtual lines 60d 'and 60e' in FIGS. 12A, 12B, and 12C, as in FIGS. 10A, 10B, and 10C. The magnification is adjusted so that it is correct.
- the intersection of the stripe pattern images moves even if the projection distance changes.
- the density of the pattern image does not change with the projection distance.
- the number of gradations increases because the illuminance increases at the intersection of the stripe pattern images. This means that the amount of image information required for distance measurement is increased, and the distance measurement accuracy can be improved as compared with the case where the pattern of the transparent portion is the same between different mask regions.
- the distance measurement accuracy can be improved by appropriately setting the angle formed by the stripe direction of the light transmitting portions 51 formed in the two mask regions 50d and 50e.
- the principle of improving the ranging accuracy is explained below.
- FIG. 13A projects only the stripe pattern of the translucent portion 51 of the mask region 50d (mask D) of FIG. 11 onto a projection surface of a predetermined distance, and the image on the projection surface is captured by a compound eye range finder. An image is shown. Using this image as a reference image, the pattern matching described in FIG. 20 is performed. The block 93 shown in FIG. 13A is moved within the search range in the direction parallel to the base line direction 90, and the SAD is calculated. Since there are multiple stripe images perpendicular to the baseline direction 90 within the search range, the SAD value changes as shown in Fig. 14A. A plurality of local minimum values of SAD appear in the search range, and since these local minimum values are almost equal, parallax may be erroneously detected.
- FIG. 13B projects only the stripe pattern of the translucent part 51 of the mask region 50e (mask E) of FIG. 11 onto a projection surface of a predetermined distance, and the image on the projection surface is captured by a compound eye distance measuring device. An image is shown. Using this image as a reference image, the pattern matching described in FIG. 20 is performed in the same manner as described above.
- the plurality of stripe images are inclined with respect to the baseline direction 90 so that the period of the stripe images in the baseline direction 90 is longer than the search range. Therefore, the SAD value changes as shown in Fig. 14B.
- FIG. 13C projects the stripe pattern of the translucent portion 51 of both the mask region 50d (mask D) and the mask region 50e (mask E) of FIG. 11 onto a projection surface of a predetermined distance.
- An image obtained by using a compound eye distance measuring device is shown. Using this image as a reference image, the pattern matching described in FIG. 20 is performed in the same manner as described above.
- the block 93 shown in FIG. 13C is moved within the search range in the direction parallel to the base line direction 90 and the SAD is calculated, the SAD value changes as shown in FIG. 14C. That is, there are a plurality of SAD minimum values in the search range.
- the plurality of minimum values are different from each other and are the smallest in the search range, and there is only one SAD minimum value.
- the force the change of the SAD value before and after the minimum value is steep. Therefore, the accuracy of pattern matching is increased and the ranging accuracy is improved.
- the pattern of the translucent part in the mask region is not limited to FIG.
- each of the mask areas 50g, 50h, 50i] [Transparent part 51 is formed in a random pattern with a different periodicity. Don't worry! Even with such a pattern, changes in density due to the projection distance of the projected pattern image can be reduced.
- the blackened portion is the translucent portion 51.
- a plurality of projection optical systems may be arranged two-dimensionally in the vertical and horizontal directions.
- the pattern of the light-transmitting parts in the mask areas A1 to A9 is a stripe pattern with different directions, or a random pattern with different periodicity, thereby reducing variations in pattern density due to the projection distance. it can.
- this embodiment can be combined with FIG. 5 of the first embodiment.
- the upper mask areas A1 to A3, the middle mask areas A4 to A6, and the lower mask areas A7 to A9 have different distance ranges in which these patterns are imaged. .
- this pattern projection light source is used as an auxiliary light source for a compound-eye distance measuring device, distance measurement can be performed with high accuracy over a wide distance range.
- the number of mask areas provided in the non-turn projection light source is 2, 3, and 9 shown in the present embodiment.
- the number is not limited and may be other numbers.
- almost the entire mask area of at least one projection optical system of the plurality of projection optical systems is the light transmitting portion.
- an image of the pattern of the translucent part formed in the mask region is formed on the object. That is, on the surface of the object, light from the pattern projection light source is irradiated to a region where a non-turn image of the light transmitting portion is formed, and light from the pattern projection light source is not irradiated to other regions.
- a pattern in which almost the entire surface is a light transmitting portion is formed in the mask area of at least one of the plurality of projection optical systems. Accordingly, it is possible to illuminate the entire object using this projection optical system, and simultaneously project an image of a predetermined pattern of the translucent portion onto the object using another projection optical system.
- the projection optical system for illuminating the entire object as an illumination optical system as shown in FIG. 17, the illumination efficiency can be improved, and a limited number of projection optical systems.
- FIG. 17 is a sectional view showing a schematic configuration of the auxiliary light source for distance measurement according to the present embodiment.
- reference numeral 16 denotes a lens constituting the illumination optical system, which spreads the light beam 17 from the LED 2 a to a necessary irradiation angle. Since the lens 16 guides the light beam to a predetermined angle of view, the scattering member 3 is not necessary in this illumination optical system. Further, almost the entire region on the glass substrate 4 corresponding to this illumination optical system is a light transmitting portion.
- ⁇ is a projection angle of a projection optical system that projects an image of a predetermined pattern. Thus, by using the projection optical system and the illumination optical system in combination, it is possible to give contrast and illuminance to the object.
- FIG. 18A is a diagram showing the illuminance distribution on the object when only the projection optical system is used in a dark place. In the dark place, the image of the pattern of the translucent part is not projected, and the illuminance in the area becomes a close.
- the illuminance distribution on the object when the projection optical system and the illumination optical system are used together in a dark place is as shown in FIG. 18B, and in a region where the image of the pattern of the translucent part is not projected. Illuminance is also added.
- FIG. 19 is a cross-sectional view showing a configuration of a compound eye distance measuring apparatus using the pattern projection light source of FIG.
- the pattern projection light source 20 projects a pattern image of the translucent portion onto the measurement object 14 by a plurality of projection optical systems arranged in an array.
- ⁇ Is the projection angle of the projection optical system.
- the measurement object 14 is arranged in the projection area of the projection optical system.
- Reference numeral 21 denotes a distance measuring unit having a compound eye configuration.
- 10 is a substrate
- 11 is a solid-state imaging device mounted on the substrate 10
- 12 is a camera barrel
- 13a is an imaging lens of the first imaging optical system
- 13b is an imaging lens of the second imaging optical system.
- a straight line connecting the optical axis 3 Oa of the imaging lens 13a and the optical axis 30b of the imaging lens 13b is referred to as a “base line”.
- a point 15 on the object 14 is a measurement point. This point is located on the optical axis 30a of the first imaging optical system.
- the measurement point 15 is imaged at a position on the imaging surface of the solid-state imaging device 11 where the optical axis 30a intersects by the first imaging optical system, and is separated from the optical axis 30b by ⁇ in the baseline direction by the second imaging optical system.
- An image is formed at a position on the imaging surface of the solid-state imaging device 11.
- the parallax amount ⁇ can be extracted by pattern matching between an image obtained via the first imaging optical system and an image obtained via the second imaging optical system. Therefore, the distance z to point 15 can be extracted by transforming (Equation 2).
- FIG. 19 shows the compound-eye distance measuring apparatus using the pattern projection light source shown in FIG. 1 as the pattern projection light source, but any pattern projection light source described above may be used.
- the field of application of the pattern projection light source according to the present invention is not particularly limited, but is wide and has a distance range. Since it is possible to project a clear image of the pattern of the translucent portion over the auxiliary light source of the compound eye distance measuring device described above, for example, an autofocus system of an imaging device that uses the contrast of the image of the projected pattern It can be used for
- the field of application of the compound-eye distance measuring device according to the present invention is not particularly limited, but is useful as a distance measuring device for in-vehicle use, surveillance camera use, three-dimensional shape measurement, and the like.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automatic Focus Adjustment (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Focusing (AREA)
Abstract
Description
Claims
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US12/302,432 US8434874B2 (en) | 2006-05-30 | 2007-05-21 | Pattern projection light source and compound-eye distance measurement apparatus |
JP2008517844A JP4316668B2 (ja) | 2006-05-30 | 2007-05-21 | パターン投影光源および複眼測距装置 |
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WO2019117000A1 (ja) * | 2017-12-11 | 2019-06-20 | オムロン株式会社 | 画像処理装置および画像処理方法 |
WO2023007891A1 (ja) * | 2021-07-29 | 2023-02-02 | ミツミ電機株式会社 | 投影デバイスおよび測距システム |
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US8493496B2 (en) * | 2007-04-02 | 2013-07-23 | Primesense Ltd. | Depth mapping using projected patterns |
CN102472613B (zh) * | 2009-07-29 | 2014-07-09 | 佳能株式会社 | 测量设备和测量方法 |
CN102859319A (zh) * | 2011-04-19 | 2013-01-02 | 三洋电机株式会社 | 信息获取装置以及物体检测装置 |
US9784577B2 (en) * | 2012-03-16 | 2017-10-10 | Lg Innotek Co., Ltd. | Measuring distance from object by using size of pattern projected onto object |
KR20130140295A (ko) * | 2012-06-14 | 2013-12-24 | 엘지이노텍 주식회사 | 거리측정 장치 및 방법 |
US9377302B2 (en) * | 2012-10-16 | 2016-06-28 | Multiwave Sensors Inc. | Distance finder apparatus and system |
TWI546607B (zh) * | 2012-12-13 | 2016-08-21 | 鴻海精密工業股份有限公司 | 鐳射投影裝置 |
CN103869479A (zh) * | 2012-12-14 | 2014-06-18 | 鸿富锦精密工业(深圳)有限公司 | 激光投影装置 |
CN103901624A (zh) * | 2012-12-25 | 2014-07-02 | 鸿富锦精密工业(深圳)有限公司 | 激光投影装置 |
DE102013002399B4 (de) * | 2013-02-13 | 2016-12-22 | Chromasens Gmbh | Vorrichtung zur Generierung von Lichtmustern mit einer eindimensional fokussierten Beleuchtungseinrichtung |
US20160366395A1 (en) * | 2015-06-12 | 2016-12-15 | Microsoft Technology Licensing, Llc | Led surface emitting structured light |
JP6671977B2 (ja) * | 2016-01-22 | 2020-03-25 | キヤノン株式会社 | 計測装置及びその制御方法、並びにプログラム |
DE102016119819B3 (de) * | 2016-10-18 | 2017-05-04 | Otto-Von-Guericke-Universität Magdeburg | Vorrichtung und Verfahren zur optischen Vermessung von dreidimensionalen Oberflächen |
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US20090185157A1 (en) | 2009-07-23 |
JPWO2007138904A1 (ja) | 2009-10-01 |
JP4316668B2 (ja) | 2009-08-19 |
US8434874B2 (en) | 2013-05-07 |
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