WO2015178575A1

WO2015178575A1 - Apparatus for acquiring three-dimensional time of flight image

Info

Publication number: WO2015178575A1
Application number: PCT/KR2015/002711
Authority: WO
Inventors: 이민구; 한승헌
Original assignee: 주식회사 더에스
Priority date: 2014-05-21
Filing date: 2015-03-20
Publication date: 2015-11-26
Also published as: KR101557295B1

Abstract

An apparatus for acquiring a three-dimensional (3D) time of flight image is provided. The apparatus for acquiring a 3D time of flight image of an object, according to one embodiment of the present invention, comprises: a light source for emitting light in the direction of the object; a viewing angle controller for controlling a viewing angle of the light source according to a distance between the object and the apparatus for acquiring a 3D time of flight image; a control lens unit for controlling a focus according to the distance between the object and the apparatus for acquiring a 3D time of flight image, wherein the light reflected from the object passes through the control lens unit to be received by an imaging device; the imaging device receiving the light reflected from the object so as to generate raw image data; and a signal processing unit for receiving the raw image data from the imaging device and processing the raw image data so as to generate a 3D depth image and a 3D intensity image.

Description

3D time flight image acquisition device

The present invention relates to a three-dimensional time-flight image acquisition device, and more particularly to a three-dimensional time-flight image acquisition device that can automatically adjust the viewing angle of the light source and the focus of the light reflected from the object.

The conventional stereoscopic three-dimensional scanner uses two cameras, and compares the two images taken with the image measured against two reference coordinates, thereby correcting the radiation distortion according to the viewing field of view, Stereo matching and trigonometric image processing are used to construct a 3D depth image map.

In addition, the kinect sensor-based 3D scanner generates light of a small spot pattern from a light source, and measures a distance by using a difference between a reference pattern and a measured pattern.

However, the stereoscopic 3D scanner takes a lot of time to process data, and there are many factors to consider such as power consumption, influence by external light sources, and the need for initial correction by surface fringes.

In addition, the three-dimensional scanner based on the Kinect sensor is inconvenient to perform a correction process for generating a reference pattern directly according to each environment, and is based on an algorithm that converts light intensity information into distance information. However, the use of the product is restricted in the outdoor where the change of the light source is severe.

The technical problem to be solved by the present invention to solve the above problems is to provide a three-dimensional time flight image acquisition apparatus that can increase the accuracy of the three-dimensional time flight image obtained.

Another technical problem to be solved by the present invention is to provide a small three-dimensional hand-held type (handheld type), a three-dimensional time flight image acquisition device that is easy to use and can be used outdoors.

Another technical problem to be solved by the present invention is to provide a three-dimensional time-flight image acquisition device that can reach the far distance by adjusting the viewing angle of the light source.

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

In order to solve the above-mentioned technical problems, a three-dimensional time flight image acquisition apparatus according to an embodiment of the present invention, in the three-dimensional time flight image acquisition device for obtaining a three-dimensional time flight image of the object, the object A light source for irradiating light toward the light source; A viewing angle adjusting unit configured to adjust a viewing angle of the light source according to a distance between the object and the 3D time-flight image acquisition device; An adjustment lens unit for adjusting focus according to a distance between the object and the three-dimensional time-flight image acquisition device, wherein the light reflected from the object is received by the image pickup device via the adjustment lens unit; An imaging device configured to receive light reflected from the object and generate raw image data; And a signal processor configured to receive the raw image data from the imaging device and to process the raw data to generate a three-dimensional depth image and a three-dimensional intensity image.

According to the present invention as described above, since the viewing angle of the light source can be adjusted, and the focus can be automatically adjusted so that the focus of the light reflected from the object is formed on the image pickup device, the accuracy of the obtained three-dimensional time-flight image is improved. It can increase.

In addition, since the flight time method is applied to the three-dimensional time flight image acquisition device, it is possible to obtain a three-dimensional time flight image of the object with a simple configuration compared to the conventional method.

1 is a view showing the configuration of a three-dimensional time flight image acquisition apparatus according to an embodiment of the present invention.

2 is a view illustrating that the viewing angle of the light source is adjusted by the viewing angle adjusting unit in the 3D time-flight image acquisition device of FIG. 1.

3 is a view illustrating that the focus of light reflected by the adjustment lens unit is adjusted in the 3D time-flight image acquisition device of FIG. 1.

4 is a flowchart illustrating a viewing angle adjustment function of a 3D time-flight image acquisition device according to an embodiment of the present invention.

5 is a flowchart illustrating a focus adjustment function of the apparatus for acquiring a 3D time flight image according to an embodiment of the present invention.

FIG. 6 is a diagram illustrating a configuration of a 3D time flight image acquisition system including the 3D time flight image acquisition device of FIG. 1.

FIG. 7 is a diagram illustrating that a 3D depth image is displayed on a display unit of the 3D time flight image acquisition system of FIG. 6.

FIG. 8 is a diagram illustrating that a 3D intensity image is displayed on a display unit of the 3D time flight image acquisition system of FIG. 6.

FIG. 9 illustrates an example of an electronic device to which the 3D flying image acquisition device of FIG. 1 is applied.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully inform the person having the scope of the invention, which is defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art. In addition, the terms defined in the commonly used dictionaries are not ideally or excessively interpreted unless they are specifically defined clearly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and / or "comprising" does not exclude the presence or addition of one or more other components in addition to the mentioned components.

Hereinafter, an apparatus for obtaining 3D time flight images according to embodiments of the present invention will be described with reference to the accompanying drawings.

1 to 3, a three-dimensional time flight image acquisition apparatus according to an embodiment of the present invention will be described. Referring to FIG. 1, a configuration of an apparatus for obtaining 3D time flight images according to an embodiment of the present invention is disclosed. Referring to FIG. 2, a light source is controlled by a viewing angle controller in the apparatus for obtaining 3D time flight images of FIG. 1. It is disclosed that the viewing angle of is adjusted, and referring to FIG. 3, it is disclosed that the focus of the light reflected by the adjusting lens unit is adjusted in the three-dimensional time-flight image acquisition apparatus of FIG. 1.

Referring to FIG. 1, the 3D time-flight image acquisition device 1 includes a light source 10, a viewing angle adjusting unit 11, an adjusting lens unit 21, an imaging device 20, and a signal processing unit 30. can do. However, the present invention is not limited thereto, and the 3D time-flight image acquisition device 1 may include a light source lens 12, a light source driver 13, a filter 22, a light receiving lens 23, a modulation driver 24, and a controller ( 40 and the motion sensor 50 may be further included.

First, referring to FIGS. 1 and 2, a configuration of irradiating light onto an object 100 to obtain a 3D image will be described. For example, the light source 10 is controlled by the light source driver 13, and the light irradiated from the light source 10 may reach the object 100 via the viewing angle adjusting unit 11 and the light source lens 12.

In detail, the light source 10 may irradiate light toward the object 100. The light source 10 may be, for example, a light emitting diode (LED) or a laser diode (LD), and specifically, the light emitting diode or the laser diode may be arranged in an array form, but is not limited thereto. In addition, the light source 10 may irradiate near infrared rays (NIR: NearInfraRed) having a wavelength of about 850 nm so as not to be harmful to a person, but is not limited thereto. Therefore, according to the three-dimensional time-flight image acquisition device 1 according to an embodiment of the present invention, since the light of the near infrared is used, the three-dimensional time-flight image acquisition device 1 can be used for both day and night. Furthermore, when the light source 10 irradiates near infrared rays having a wavelength of about 850 nm, the reception sensitivity may be excellent with respect to the imaging device 20 which is a silicon-based CMOS image device.

The light source 10 may be controlled by the light source driver 13, and the light irradiated to the object 100 may have a form of a periodic continuous function having a predetermined period, but is not limited thereto. It may also have the form of. For example, the irradiation light may have a specially defined waveform such as a sine wave, a triangular wave, a sawtooth wave, a ramp wave, a square wave, or the like, but is not limited thereto and may have a general shape waveform that is not specifically defined.

The light source driver 13 may be driven by modulating the light source 10 by being controlled by the controller 40. For example, the light source driver 13 modulates an amplitude of the irradiated light, modulates a pulse, or modulates a phase of light. The light source 10 may be driven by modulating a phase), a frequency, whether a pulse is encrypted, a pulse width, and a rise time.

Referring to FIG. 2, the viewing angle adjusting unit 11 may change the viewing angle of the light source 10. Specifically, the viewing angle of the light source 10 may be adjusted according to the distance between the object 100 and the 3D time-flight image acquisition device 1, and the viewing angle adjusting unit 11 may include the light source lens 12 and the light source ( 10) and may be implemented in various ways.

By adjusting the viewing angle of the light source 10, a sufficient amount of light can reach the object 100. For example, the smaller the viewing angle of the light source 10 may reach the far distance, and the larger the viewing angle of the light source 10 may shorten the distance that the light can reach. Therefore, by measuring the distance between the object 100 and the light source 10 and adjusting the viewing angle of the light source 10 based on the measured distance, a sufficient amount of light can reach the object 100. . Therefore, according to the three-dimensional time-flight image acquisition device 1 according to an embodiment of the present invention, since the viewing angle of the light source 10 is adjusted, it is possible to obtain a high quality three-dimensional image while minimizing power consumption.

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

1 and 3, the light reflected from the object 100 may be received by the imaging device 20 through the light receiving lens 23 and the filter 22, and may be driven by the modulation driver 24. The imaging device 20 may generate raw image data from the received reflected light, and the signal processor 30 may process the raw image data received from the imaging device 20.

In detail, the light receiving lens 23 may collect light reflected from the object 100 to a region where the imaging device 20 is located. In addition, the filter 22 may transmit only light having a predetermined wavelength, and may be, for example, a bandpass optical filter.

The adjustment lens unit 21 may be positioned between the light receiving lens 23 and the imaging device 20, and may adjust the focus according to the distance between the object 100 and the 3D time-flight image acquisition device 1. For example, the focal position may be adjusted by adjusting an adjustment medium (not shown) included in the adjustment lens unit 21 under the control of the controller 40. Therefore, a three-dimensional image in which a focus is formed on the corresponding object 100 obtained through the three-dimensional time-flight image acquisition device 1 may be obtained.

For example, referring to FIG. 3, the distance between the object 100 and the three-dimensional time-flight image acquisition device 1 (more specifically, the distance between the object 100 and the imaging device 20) is represented by D1 to D3. The case where the object 100 is located in D1-D3 can be assumed, respectively. If the 3D image focused on the object 100 located at the closest distance D1 is acquired, the 3D time-flight image from the object 100 is analyzed by receiving and analyzing the light reflected from the object 100 located at D1. Information about the distance between the acquisition apparatuses 1 may be obtained, and the focus may be adjusted by adjusting the adjustment medium included in the adjustment lens unit 21 using the corresponding information.

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

The selection of an object as a reference for focusing may be performed by inputting information about a reference object from a user by using an input means, but the present invention is not limited thereto, and a specific object satisfying a predetermined criterion is automatically selected as a reference. You may. Therefore, according to the three-dimensional time flight image acquisition apparatus 1 according to an embodiment of the present invention, it is possible to improve the accuracy of the three-dimensional image obtained by the automatic adjustment of the focus. Here, the adjustment of the focus may be performed to correct the error rate of the distance value.

The imaging device 20 may receive light reflected from the object 100 and generate raw image data from the reflected light. For example, the imaging device 20 may include a 2D image sensor, and the present invention may include, but is not limited to, an RGB camera sensor. For example, the image pickup device 20 may have a structure in which reflected light is split and simultaneously accommodated in the 2D image sensor and the RGB sensor. Can be, but is not limited to this. In addition, the imaging device 20 may be configured as a set of unit pixels having an optical synthesis function in a 3D time of flight, but is not limited thereto.

The modulation driver 24 may drive the three-dimensional imaging device 20, and the three-dimensional imaging unit 20 may generate a signal having the same phase as the light emitted from the light source 10 or having a phase difference such as 90 °, 180 °, and 270 °. Although the waveform output from the imaging device 20 can be modulated, when using a direct time-of-flight (direct TOF) method, since the light source 10 having the discontinuous pulse is used, it may be different.

The signal processor 30 may receive the raw image data from the imaging device 20 and may process the raw data to generate a 3D depth image and a 3D intensity image. The signal processor 30 compares the waveform of the modulated light with the modulated phase of the light irradiated from the light source 10 with the waveform of the reflected light to form a three-dimensional depth image and a three-dimensional intensity image. You can get values for and strength. The depth value and the intensity value obtained from the signal processor 30 may be used to generate a 3D image having a volume similar to a real object through a point cloud method, a voxel, or a color code map method in a post-processing process.

However, in addition to the above-described phase modulation method using the phase difference as a method of generating a three-dimensional depth image and a three-dimensional intensity image, a direct time flight method using a three-dimensional time of flight method is used. It can also be used.

The controller 40 controls the overall operation of the three-dimensional time-flight image acquisition device 1, for example, the viewing angle adjusting unit 11, the light source driving unit 13, the adjusting lens unit 21, the modulation driving unit 24, and the like. The signal processor 30 and the like may be controlled by the controller 40.

The motion sensor 50 may increase the accuracy in generating a three-dimensional image by detecting information such as movement, tilt and direction of the three-dimensional time-flight image acquisition device 1, and the information may be stored together with the three-dimensional image. It can be used when displaying three-dimensional images.

In detail, the absolute coordinate value of the 3D image may be detected and generated. In order to display the absolute coordinate values of the three-dimensional image, for example, three axes of the X axis, the Y axis and the Z axis may be used.

As the motion sensor 50, for example, a gyro sensor which detects a tilt by detecting a rotation state of the 3D time flight image acquisition device 1 based on three axes, and displays a movement state of the 3D time flight image acquisition device 10. At least one or more of an acceleration sensor for sensing based on three axes and a geomagnetic sensor for sensing magnetic field strength based on three axes may be used, but is not limited thereto.

Referring to FIG. 4, the viewing angle adjustment function of the 3D time-flight image acquisition device 1 according to an embodiment of the present invention will be described. Referring to FIG. 4, a flowchart for explaining a viewing angle adjustment function of the 3D time-flight image acquisition device 1 according to an embodiment of the present invention is shown.

First, the signal processor 30 may analyze the 3D depth image and the 3D intensity image to detect an object and calculate a depth value and an intensity value of the detected object (S1). The depth value may be a distance value, and may mean a value for the distance between the 3D time flight image obtaining apparatus 1 and the object 100 calculated from the 3D depth image. The intensity value of the light reflected from the object 100 may be obtained.

For example, a three-dimensional depth image and a three-dimensional intensity image may be matched to each other to calculate a depth value and an intensity value for a detected object. A relatively close object may have a large intensity value and a small depth value, and may be relatively Far away objects may have small strength values and large depth values.

Thereafter, the signal processor 30 may correct the calculated depth value and the intensity value (S2). When the object 100 to acquire the 3D image is transparent and excessively reflects light such as glass, a distorted 3D depth image and a 3D intensity image may be generated. For example, referring to the three-dimensional depth image for the transparent reflective object, the image for the glass is not clear, while referring to the three-dimensional intensity image for the transparent reflective object, the image for the glass is clear. Therefore, in order to correct distortion, it is possible to perform correction on the calculated depth value and intensity value.

Thereafter, the signal processor 30 may calculate information on the size of the detected object and the distance between the detected object and the 3D time-flight image acquisition device 1 based on the calculated depth value and the intensity value. (S3). When there are a plurality of detected objects 100, information about a size and a distance may be calculated for the plurality of objects.

The signal processor 30 may calculate the maximum viewing angle of the light source 10 based on the calculated size, distance, and position information (S4). That is, in consideration of the size and distance of the detected object, it is possible to derive the maximum viewing angle of the light source 10 that can include all the objects to be detected and can reach a sufficient amount of light to the object 100. To this end, the signal processor 30 may have a database in which the required amount of light is recorded according to the size or position of the object 100.

On the other hand, when there are a plurality of detected objects 100, the maximum of the light source 10, based on the object having the largest size or the farthest distance from the three-dimensional time-flight image acquisition device 1 among the detected objects The viewing angle can be calculated. In addition, in the case of a plurality of objects spread widely, the maximum viewing angle may be calculated based on the outermost objects.

The signal processor 30 may determine the validity of the current viewing angle by comparing the current viewing angle of the current light source 10 with the calculated maximum viewing angle (S5). When the viewing angle of the current light source 10 and the calculated maximum viewing angle do not coincide, it may be determined that the current viewing angle is not valid, and when the viewing angle of the current light source 10 coincides with the calculated maximum viewing angle. It can be determined that the current viewing angle is valid.

If it is determined that it is not valid, the control unit 40 may adjust the viewing angle so that the viewing angle adjusting unit 11 has the maximum viewing angle of the light source 10 (S6), and when it is determined to be effective, the control unit 40 ), The viewing angle adjusting unit 11 may maintain the current viewing angle (S7).

Since the viewing angle is automatically adjusted according to the viewing angle adjustment function as described above, according to the 3D time-flight image acquisition device according to an embodiment of the present invention, it is possible to obtain a high quality 3D image while minimizing power consumption. Here, minimizing the power consumption can be achieved by simultaneously adjusting the viewing angle of the light source and adjusting the light source intensity according to the distance of the object, and as a result, a power consumption reduction effect can be obtained.

Referring to FIG. 5, a focus adjustment function of a 3D time flight image acquisition device according to an embodiment of the present invention will be described. Referring to FIG. 5, a flowchart for describing a focus adjustment function of an apparatus for acquiring 3D time flight images according to an embodiment of the present invention is shown.

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

Thereafter, the signal processor 30 may correct the calculated depth value and the intensity value (S12). When the object 100 to acquire the 3D image is transparent and excessively reflects light such as glass, a distorted 3D depth image and a 3D intensity image may be generated. For example, referring to the three-dimensional depth image for the transparent reflective object, the image for the glass is not clear, while referring to the three-dimensional intensity image for the transparent reflective object, the image for the glass is clear. Therefore, in order to correct distortion, it is possible to perform correction on the calculated depth value and intensity value.

Subsequently, the signal processor 30 may calculate information about the boundary of the detected object and the distance between the detected object and the 3D time flight image obtaining apparatus 1 based on the calculated depth value and the intensity value. (S13).

The signal processor 30 may calculate a focus coefficient required to obtain a 3D time-flight image in which a focus is formed on the detected object based on the calculated information about the boundary and the distance (S14). When there are a plurality of objects to be detected, the selection of an object as a reference for focusing may be inputted by the user with information about a reference object from a user, but the present invention is not limited thereto, and a specific object is automatically used as a reference. It can also be selected.

The signal processor 30 may determine whether focus adjustment is necessary by comparing the current focus coefficient with the calculated coefficient (S15). If the current focus coefficient and the calculated focus coefficient do not match, it may be determined that focus adjustment is necessary. If the current focus coefficient and the calculated focus coefficient match, it may be determined that focus adjustment is not necessary.

When it is determined that focus adjustment is necessary, the control unit 40 can adjust the focus position so that the adjustment lens unit 21 becomes the calculated focus coefficient (S16), and when it is determined that focus adjustment is not necessary, the control unit 40 40, the adjustment lens unit 21 may maintain the current focus position (S17).

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

Referring to FIG. 6, a 3D time flight image acquisition system including a 3D time flight image acquisition device according to an embodiment of the present invention will be described. Referring to FIG. 6, a configuration of a 3D time flight image acquisition system including the 3D time flight image acquisition device of FIG. 1 is disclosed.

The 3D time flight image acquisition system includes a display unit 2 for displaying an image transmitted from the 3D time flight image acquisition device 1 and the 3D time flight image acquisition device 1, and an input unit for receiving input from a user. (3) and a power supply for a three-dimensional time flight image acquisition system including a data storage unit 4 capable of storing data generated from the three-dimensional time flight image acquisition device 1 and a three-dimensional time flight image acquisition device 1. It may include a power supply unit (5) for supplying a and a three-dimensional time flight image acquisition device (1) for communicating with an external device.

The communication unit 6 includes WPAN (Wireless Personal Area Networks) including Bluetooth, ZigBee, and NFC, Wireless LAN (WLAN), Wi-Fi, Wibro, Wimax, and High Speed Downlink Packet. Wireless communication method such as Access, Global Positioning System (GPS) or Ethernet, xDSL (ADSL, VDSL), Hybrid Fiber Coax (HFC), Fiber to The Curb (FTTC), Fiber To The Home (FTTH), Although a wired communication method such as USB (Universal Serial Bus) can be used, the communication method of the communication unit 6 is not limited to the communication method described above, and in addition to the above-mentioned communication method, all other forms of well-known or future development It may include a communication scheme.

7 and 8, a user interface displayed on a display unit in a 3D time flight image acquisition system including a 3D time flight image acquisition device according to an embodiment of the present invention will be described. . Referring to FIG. 7, a diagram illustrating that a 3D depth image is displayed on a display unit of the 3D time flight image acquisition system of FIG. 6 is described. Referring to FIG. 8, the 3D time flight image acquisition system of FIG. A diagram showing that a three-dimensional intensity image is displayed on a display is disclosed.

The display unit 2 may include a resolution display area 110 in which the resolution of the 3D image is displayed. For example, the display unit 2 may be displayed as Full-HD, but is not limited thereto.

In addition, the display unit 2 may include an auto focus region 120 that is displayed by the adjustment lens unit 21 to display the position of the region where the focus is to be formed. It is not limited.

In addition, the display unit 2 may display a three-dimensional depth image in a color corresponding to the size at each distance value, and a color-distance value correspondence relationship display area expressing a relationship between the distance value and the color in the form of a stick. 130 may be included in the display unit 2.

On the other hand, the display unit 2 indicates whether the auto focus control is performed by the adjustment lens unit 21 in the form of an icon in the auto focus display area 140 and the viewing angle control unit 11 that the auto viewing angle is adjusted. An automatic viewing angle adjustment display area 150 displayed in the form of an icon may be included.

In addition, the display unit 2 may display a three-dimensional intensity image in a shade corresponding to the size of each intensity value, and a shade-intensity value correspondence relation display area expressing a relationship between the distance value and the shade in the form of a stick. 160 may be included in the display unit 2.

Referring to FIG. 9, an embodiment to which an apparatus for obtaining 3D time flight images according to an embodiment of the present invention may be applied will be described. Referring to FIG. 7, an example of an electronic device to which the 3D flying image acquisition device of FIG. 1 is applied is shown.

The three-dimensional time-flight image acquisition device 1 may be used as an image acquisition device of various electronic devices. For example, the three-dimensional time flight image acquisition device 1 may be applied to a smartphone 200, in addition to a tablet PC, a printer, a handheld game console, a portable notebook, navigation, a car or a household appliance. appliances).

Although embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. I can understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims

An apparatus for acquiring a three-dimensional time flight image for acquiring a three-dimensional time of flight image of an object,

A light source for irradiating light toward the object;

A viewing angle adjusting unit configured to adjust a viewing angle of the light source according to a distance between the object and the 3D time-flight image acquisition device;

An adjustment lens unit for adjusting focus according to a distance between the object and the three-dimensional time-flight image acquisition device, wherein the light reflected from the object is received by the image pickup device via the adjustment lens unit;

An imaging device configured to receive light reflected from the object and generate raw image data; And

The signal processor receives the raw image data from the imaging device and generates a three-dimensional depth image and a three-dimensional intensity image by processing the raw data by using a three-dimensional time flight method.

3D time flight image acquisition device comprising a.
The method of claim 1,

The signal processing unit,

Analyzing the three-dimensional depth image and the three-dimensional intensity image to detect an object and calculate a depth value and an intensity value corresponding to the detected object,

Calculating information on the size of the detected object and the distance between the detected object and the three-dimensional time-flight image acquisition device based on the calculated depth value and intensity value,

Calculating a maximum viewing angle of the light source based on the calculated size and distance information,

And the viewing angle adjusting unit adjusts the viewing angle of the light source to be the maximum viewing angle when the current viewing angle of the light source does not coincide with the derived maximum viewing angle.
The method of claim 2,

When there are a plurality of detected objects, calculating the maximum viewing angle of the light source based on the calculated size and distance information may include detecting the maximum size derived based on the calculated size and distance information. Deriving a maximum viewing angle of the light source based on an object, a detected object farthest from the three-dimensional time-flight image acquisition device, or a plurality of detected objects spaced apart from each other.
The method of claim 1,

The signal processing unit,

The object is detected by analyzing the 3D depth image and the 3D intensity image, and a depth value and an intensity value corresponding to the detected object are calculated.

Calculating information on the boundary of the detected object and the distance between the detected object and the three-dimensional time-flight image acquisition device based on the calculated depth value and intensity value;

Calculating a focus coefficient required to obtain a 3D time-flight image in which a focal point is formed on the detected object based on the calculated boundary and distance information,

The adjustment lens unit, if the current focus coefficient and the calculated focus coefficient does not match, to adjust the focus position to be the calculated focus coefficient, 3D time-flight image acquisition device.
The method of claim 1,

And a light source driver for controlling at least one of the size, phase, frequency, pulse encryption, pulse width, and rise time of the light irradiated from the light source.
The method of claim 1,

And the adjustment lens unit adjusts a path of light reflected from the object so that a specific portion of the object within the viewing angle of the light source is enlarged to form an image on the imaging device.
The method of claim 1,

And a motion sensor for detecting a movement, inclination, and a direction of the 3D time flight image acquisition device.
A three-dimensional time flight image acquisition device according to claim 1; And

A display unit for displaying a three-dimensional image transmitted from the three-dimensional time flight image acquisition device

Including,

The display unit is to display the position of the area that is adjusted by the control lens to form a focus, 3D time flight image acquisition system.