JP3415070B2 - Range finder device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a range finder device and a camera for measuring a three-dimensional shape of an object.

[0002]

2. Description of the Related Art A range finder apparatus for measuring a three-dimensional shape based on projection light and triangulation of an observed image is
For example, a device capable of operating in real time as shown in FIG. 40 has been proposed.

In FIG. 40, 101A and 101B are laser light sources having slightly different wavelengths, 102 is a half mirror for combining laser light from the laser light sources having different wavelengths, and 103 is light source control for controlling the light intensity of the laser light sources. And 104, a rotating mirror for scanning laser light, 105
Is a rotation control unit for controlling the rotating mirror, 106 is a subject,
Reference numeral 107 denotes a lens for forming an image on the CCD, 108A,
Reference numeral 108B is an optical wavelength separation filter that separates light of the wavelength of the laser light source, 109A and 109B are CCDs that capture a monochrome image, 109C is a CCD that captures a color image, 1
10A and 110B are signal processing units of a monochrome camera, 11
1 is a signal processing unit of a color camera, 112 is a CCD 109
Reference numerals A and 109B denote a distance calculation unit that calculates the distance or shape of the object from the intensity of the laser light captured, and 113 is a control unit that adjusts the synchronization of the entire apparatus. Hereinafter, the operation of the range finder device thus configured will be described.

The laser light sources 101A and 101B emit laser beams having slightly different wavelengths. This laser light is line light having a light cross section that is perpendicular to the scanning direction of the rotating mirror, which will be described later, and becomes vertical line light when the rotating mirror scans in the horizontal direction.

FIG. 41 shows the wavelength characteristics of these two light sources. The reason why two light sources having similar wavelengths are used is to reduce the influence of the wavelength dependency of the reflectance of the subject. The laser light emitted from the laser light sources 101A and 101B is combined by the half mirror 102, and the rotating mirror 10
The subject 6 is scanned by 4.

The rotation control unit 105 scans the laser light.
Is performed by driving the rotating mirror 104 in the field cycle. At this time, the light intensities of both light sources are changed within one field cycle as shown in FIG. By synchronizing the change of the laser light intensity and the driving of the mirror angle, the two laser light intensities are changed to the CCD 109A,
The time in one scanning cycle can be measured by monitoring with 109B and calculating the light intensity ratio. For example, as shown in FIG. 42 (b), the light intensity is Ia
In the case of / Ib, the scanning time is measured as t0, and the rotation angle (φ) of the rotating mirror 104 is found from the measured value.

In this way, by making the ratio of the two laser light intensities and the mirror angle (that is, the angle of the subject viewed from the light source side) correspond to each other in a one-to-one manner, the distance calculation section described later can use both light sources. The distance or shape of the object is calculated from the ratio of the signal levels of the captured light according to the principle of triangulation.

The lens 107 is a CCD 109A, 109
An image of the subject is formed on B and 109C. The light wavelength separation filter 108A transmits light of the wavelength of the light source 101A and reflects light of other wavelengths. The optical wavelength separation filter 108B is
It transmits the light of the wavelength of the light source 101B and reflects the light of other wavelengths. As a result, the reflected light from the subject of the light from the light sources 101A and 101B is captured by the CCDs 109A and 109B, and the light of other wavelengths is captured by the CCD 109C as a color image.

The light source A signal processing unit 110A and the light source B signal processing unit 110B perform signal processing similar to that of a normal monochrome camera on the outputs of the CCDs 109A and 109B. The color camera signal processing unit 111 performs normal color camera signal processing on the output of the CCD 109C.

The distance calculator 112 calculates the distance for each pixel from the ratio of the signal levels photographed by the CCDs 109A and 109B for each wavelength of each light source, the baseline length, and the coordinate value of the pixel.

43 (a) and 43 (b) are diagrams for graphically explaining the distance calculation. In the figure, O is the lens 10
7 is the center, P is a point on the subject, and Q is the position of the rotation axis of the rotating mirror. Further, in order to simplify the explanation, the CCD 1
The position of 09 is shown folded back to the subject side. Also,
The length of OQ (baseline length) is L, and P viewed from Q in the XZ plane
Is φ, the angle of P viewed from O is θ, and O in the YZ plane
Letting ω be the angle of P viewed from the viewpoint of P
The three-dimensional coordinate of is calculated by the following equation (1).

Z = D tan θ tan φ / (tan θ + tan φ) X = Z / tan θ Y = Z / tan ω (1) As for φ in the formula (1), as described above, the CCD 109
Laser light sources 101A, 1 monitored by A, 109B
The light intensity ratio of 01B is used for calculation, and θ and ω are calculated from the coordinate values of pixels. Of the values shown in equation (1),
When all are calculated, the shape is obtained, and if only Z is obtained, the distance image is obtained.

[0015]

However, in the conventional structure as described above, a light source that can be modulated and a light source sweeping means are indispensable, and since the mechanical operation is included, the reliability of the device is low and the cost of the device is low. There was a problem that was high.

[0016] Further, it is usual that the laser element is substantially used for modulation, but there is a problem that it is difficult to realize stable measurement because the output and the wavelength of the laser element change depending on the temperature.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a stable range finder device without mechanical operation at low cost.

[0021]

SUMMARY OF THE INVENTION According to the present invention, a plurality of projection lights having a radiation pattern in which light intensities are three-dimensionally spatially different,
A range finder device that irradiates a subject from a light source in a time division manner, images reflected light from the subject of the plurality of projection lights with a camera, and performs distance measurement using the light intensity of the captured image in advance, For each of the plurality of surfaces including the center of the light source and the center of the lens, the relationship between the angle of each projection light from the light source and the light intensity ratio in each surface is obtained, and when measuring the actual distance, By irradiating the multiple projection lights
Therefore, the light intensity of each pixel obtained from the imaging data of the camera
And degree ratio, in a predetermined surface corresponding to the coordinate position before outs element, obtain the angle corresponding to the light intensity ratio of the angle and Jo Tokoro pixel based on the relationship and the light intensity ratio, the obtained Angle
Based on the previous SL and the two-dimensional coordinate position information on the image of the predetermined pixel when a rangefinder and calculates a distance to the object.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A range finder device according to an embodiment of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 1 is a configuration diagram of a range finder according to a first embodiment of the present invention. In FIG. 1, 1 camera, 2
Reference numerals a and 2b are light sources, 5 is a light source control unit, and 6 is a distance calculation unit. The operation of the above configuration will be described below.

The light source control section 5 causes the light sources 2a and 2b to alternately emit light in each field cycle in synchronization with the vertical synchronizing signal of the camera 1. As the light sources 2a and 2b, for example, FIG.
As shown in (a), it is possible to use a flash light source 7, 8 such as a xenon flash lamp, which is arranged vertically and in which the direction of the rear reflector is shifted to the left and right. 2 (b) is
FIG. 3 is a plan view of FIG. The light sources 2a and 2b radiate light in the ranges A and B, respectively. It is desirable that the xenon lamp has a small light emitting portion and can be regarded as a point light source when viewed from above. Further, the light sources 2a and 2b are arranged in the vertical direction, but the distance is about 1 cm, and it can be considered that light is emitted from almost one point.

The light pattern radiated from such a light source is as shown in FIG. This means that when light is projected on a temporary screen, the brightness of the screen surface is
It is shown in the direction. That is, each light source has the characteristic that it is brightest on the central axis and darkens toward the periphery. The reason that the center is bright and the periphery is dark is that the semi-cylindrical reflectors 9 and 10 are arranged behind the flash light sources 7 and 8. Further, the semi-cylindrical reflectors 9 and 10 are out of alignment, and the respective projection lights are emitted so as to partially overlap each other.

FIG. 4 shows the relationship between the angle of the projection light from the light source and the light intensity on the surface in the H direction of FIG. The H direction is the direction of the line of intersection between the arbitrary screen S and the temporary screen among the plurality of surfaces including the center of the light source and the center of the lens. In the α portion of this light pattern, the light emitted from the two light sources to the subject space is bright on the right side of one of the light sources and bright on the left side of the other. However, this pattern also differs in the height direction (Y direction).

FIG. 5 shows the light intensity ratio of the above-mentioned two projection lights in the object illumination in the part α in FIG.
The relationship between the projection on a plane and the angle φ with respect to the X axis is shown. In the α portion, the light intensity ratio and the angle φ have a one-to-one correspondence. In order to measure the distance, two types of light patterns are projected in advance from a light source at a predetermined distance and are alternately projected onto a vertically standing plane, and the reflected light is imaged by the camera 1. Data on the relationship between the light intensity ratio and the angle of the projected light as shown in FIG. 5 is obtained for each (corresponding to the Y coordinate on the CCD). Each Y coordinate means each of a plurality of surfaces including the center of the light source and the center of the lens.

If the light source is arranged so that the line segment connecting the lens center of the camera 1 and the light source is parallel to the X axis of the CCD image pickup surface, the light intensity ratio and the projected light determined for each Y coordinate can be obtained. It is possible to accurately calculate the distance by using the data of the angle relationship. The method of calculating the distance using the light intensity ratio will be described below.

When the point P in FIG. 1 is taken as a point of interest, the luminance ratio obtained from the image pickup data at the time of irradiating two kinds of optical patterns with respect to the point P of the image picked up by the camera 1 and the Y coordinate value of the point P 5 is used to measure the angle φ of the point P viewed from the light source. The relationship shown in FIG. 5 has different characteristics depending on the Y coordinate value as described above.
It is assumed that the relationship between the light intensity ratio and the angle φ in the horizontal direction from the light source is prepared for each coordinate by measuring in advance. Further, the angle θ with respect to the point P viewed from the camera is determined from the position in the image (that is, the pixel coordinate value of the point P) and the camera parameters (focal length, optical center position of the lens system).
Then, from the above two angles and the distance (baseline length) between the light source position and the optical center position of the camera, the distance is calculated by the principle of triangulation.

With the optical center of the camera as the origin, the optical axis of the camera is set as the Z axis, the horizontal direction is set as the X axis, and the vertical direction is set as the Y axis, and the angle of the point of interest viewed from the light source with the X axis is φ. , The angle between the direction of the point of interest viewed from the camera and the X axis is θ, and the light source position is (0, −D), that is, the base line length is D, the depth value Z of the point of interest P is expressed by the above-mentioned equation (1) Z = D tan θ tanφ / (tan θ−tan φ)

As described above, according to the present embodiment, when the distance is measured by the range finder using the light intensity, the change in the light intensity caused by the light source or the optical system is corrected and the distance is measured. It is possible to realize a stable and accurate range finder device that can be realized by a dynamic operation.

By disposing a half mirror or dichroic mirror and a color camera in front of the infrared camera of the range finder according to this embodiment, a color image of the same viewpoint can be obtained at the same time as the distance image. include.

The distance calculation unit in the present embodiment calculates only the distance Z and outputs the calculation result as a distance image. However, using the angle ω shown in FIG. It is also possible to calculate all the three-dimensional coordinate values X, Y, Z from 2) and output the three-dimensional coordinate data, which is included in the present invention.

X = Z / tan θ Y = Z / tan ω (2) In the present embodiment, the light sources 2a and 2b are made to emit light at the same time, and the brightness of one center is indicated by the dotted line in FIG. If it is used as a normal flash lamp with large size and dark surroundings, it is possible to capture a normal two-dimensional image.

Further, in the present embodiment, if an infrared pass filter is inserted in front of the light source 2 and the camera 1 is sensitive to the infrared wavelength region, the flash light can be turned on by the user or another person. The image taken by the camera can be prevented from being disturbed. Further, if an image is picked up by a normal color camera at the same time as an infrared camera coaxially with a half mirror or a dichroic mirror, a depth image and a texture image corresponding thereto can be picked up at the same time.

Further, in the present embodiment, since the flash light flashes for several hundred microseconds, if the camera 1 is set to perform exposure by the shutter operation only during that period, the background light influences the distance measurement. It is possible to suppress the influence, and it is possible to capture a range image even in a somewhat bright place.

Further, in the present embodiment, the light intensity ratio at each pixel is calculated by irradiating the subject with two types of light patterns and using the picked-up images in each case, but when the light pattern is not radiated It is also possible to take the image of (3) and obtain a total of three types of images (two types of optical patterns, one type without optical patterns) for calculation. In this case, when calculating the light intensity ratio of each pixel, the difference value is calculated by subtracting the light intensity in the case of no light pattern from the light intensity value at the time of each light pattern irradiation. Then, the ratio of these difference values is calculated as the light intensity ratio. This makes it possible to suppress the distance calculation error due to the background light when capturing an image in a bright place.

(Second Embodiment) FIG. 7 is a block diagram of a range finder according to a second embodiment of the present invention. In FIG. 7, 1a is a camera having sensitivity to infrared light, 2a and 2b are light sources, 3a and 3b are infrared transmission filters, 4a and 4b are ND filters whose transmittance changes in the horizontal direction, and 5 is a light source control unit. , 6 are distance calculation units. The operation of the above configuration will be described below.

The light source control section 5 synchronizes with the vertical synchronizing signal of the infrared camera 1a, and the light sources 2a and 2b for each field cycle.
Light up. As the light sources 2a and 2b, it is preferable to use a xenon lamp or the like that emits flash light and has a small light emitting portion (that can be regarded as a point light source). In addition, the light sources 2a, 2
b is arranged vertically.

An infrared transmission filter 3 is provided on the front surface of each light source.
a, 3b and ND filters 4a, 4b are arranged. ND
The transmittances of the filters 4a and 4b change in the horizontal direction. FIG. 2 shows the angle from the light source in the horizontal direction, the ND filter 4a,
4b shows the relationship of transmittance of 4b.

With these ND filters, the light emitted from the two light sources to the object space is such that one side is bright on the right side and the other side is on the left side when viewed from the light sources. As a result, the right or left bright light is alternately projected onto the subject every field period.

FIG. 5 shows the light intensity ratio of the above two projected lights,
The relationship with the horizontal angle from the light source is shown. The method of calculating the distance using the light intensity ratio will be described below.

When the point P in FIG. 7 is taken as the point of interest, the relationship of FIG. 5 is used to determine the point P of the image picked up by the camera 1a from the luminance ratio between the fields of the point P of the image viewed from the light source. Measure the angle. The angle with respect to the point P viewed from the camera is determined from the position in the image (that is, the pixel coordinate value of the point P) and the camera parameters (focal length, optical center position of the lens system). Then, from the above two angles and the distance (baseline length) between the light source position and the optical center position of the camera, the distance is calculated by the principle of triangulation.

With the optical center of the camera as the origin, the optical axis direction of the camera is set to the Z axis, the horizontal direction is set to the X axis, and the vertical direction is set to the Y axis, and the angle between the point of interest as seen from the light source and the X axis is φ. , Θ is the angle between the direction of the point of interest as seen from the camera and the X axis, and the light source position is (0, −D), that is, the base line length is D, the depth value Z of the point of interest P is Z = D tan θ tan φ / (tan θ− It can be calculated as tan φ).

The distance calculator 6 calculates a distance image from the video signal of the camera 1a. The method may be the same as that of the first embodiment, but there is another method capable of more accurate measurement as follows. FIG. 8 is a configuration diagram of the distance calculation unit 6. In FIG. 8, 11a and 11b are field memories and 12
Reference numerals a and 12b are light intensity correction means, 13 is a light intensity ratio calculation means, and 14 is a distance conversion means. The operation of each component will be described below.

The image picked up by the camera 1a is written in the field memories 11a and 11b for each field.

The light intensity correction means 12a and 12b are means for correcting the light intensity written in the field memory.
The reason for the correction will be described below. FIG. 9 shows the relationship between the imaged light intensity and the pixel coordinate value when a point light source irradiates a screen with a constant distance Z with light (without an ND filter) and the reflected light from the surface is imaged. Show. In FIG. 9, for simplification, only the lateral direction is shown one-dimensionally,
Similarly in the vertical direction, the light intensity shows a curvilinear distribution.

As factors of this distribution, peripheral dimming by the lens system of the camera, changes in reflected light intensity due to changes in the incident angle of the light rays on the object surface, changes in light intensity depending on the angle from the light source, and the like can be considered. The change in the light intensity caused by these factors causes an error in observing the light intensity ratio, that is, an error in measuring the distance. Therefore, it is necessary to convert the light intensity to improve the distance measurement accuracy. If this error is present, a portion that is not a monotonically increasing curve may occur in the characteristic curve of FIG. 5 in some cases. In such a portion, the light intensity and the above angle do not have a one-to-one correspondence. As a result, the measurement result will be incorrect. Further, if there is no error, the light intensity (ratio) is constant in the Y-axis direction, and there is an advantage that only one conversion table in FIG. 5 is required (the first embodiment requires conversion tables for the number of Y coordinate values). Will be).

Therefore, the light intensity converting means 12a, 12b.
In order to reduce the measurement error, the two-dimensional curve distribution of the light intensity in the image on the screen separated by the reference distance without the ND filter is measured in advance, and the light intensity is And the angle of the projected light (corresponding to FIG. 5) and when measuring the actual distance of the object, the light intensity of the field memory is corrected and converted according to the curve distribution of the light intensity measured in advance. . The correction conversion holds a coefficient (that is, a ratio of the light intensity imaged in each pixel to a peak value or a certain arbitrary value) for correcting the above-mentioned curve distribution of the light intensity to a constant value as a two-dimensional LUT (lookup table). Then, the data in the field memory is multiplied by the correction count for each pixel.

When the distance for arranging the subject is known in advance, the reference distance can be set near the distance to improve the accuracy in distance measurement.

As described above, according to the present embodiment, when the distance is measured by the range finder using the light intensity, the distance measurement is performed by correcting the error of the light intensity caused by the light source or the optical system. It is possible to realize a stable and accurate range finder device that can be realized by a dynamic operation.

By disposing a half mirror or dichroic mirror and a color camera in front of the infrared camera of the range finder according to this embodiment, a color image of the same viewpoint can be obtained at the same time as the distance image.

In the description of the distance calculator in this embodiment, only the distance Z is calculated and the calculation result is output as a distance image. However, using the angle ω shown in FIG.
All three-dimensional coordinate values X, Y, and Z can be calculated from the following formula Z = D tan θ tanφ / (tan θ−tan φ) X = Z / tan θ Y = Z / tan ω, and three-dimensional coordinate data can be output.

In the light intensity correction in the distance calculation unit of the present embodiment, when the object is far from the above-mentioned reference distance, the position of the imaged pixel shifts (that is, parallax occurs), so that the distance measurement accuracy is improved. descend. In such a case, the light intensity correction amounts for a plurality of reference distances are prepared in advance, the correction is first performed at one reference distance, the distance is calculated, and then the correction amount at the reference distance close to it is calculated. The measurement accuracy can be improved by calculating the distance again using.

In the present embodiment, the light source 2a,
If two b are simultaneously emitted and used as a normal flash lamp in which one center has a high brightness and the periphery is dark as shown by the dotted line in FIG. 4, a normal two-dimensional image can be captured.

In the present embodiment, if an image is picked up by a normal color camera at the same time as an infrared camera coaxially with a half mirror, a dichroic mirror, etc., a depth image and a texture image corresponding thereto can be picked up at the same time. it can.

Further, in the present embodiment, since the flash light flashes for several hundred microseconds, if the camera 1 is set to perform exposure by the shutter operation only during that period, the background light influences the distance measurement. It is possible to suppress the influence, and it is possible to capture a range image even in a somewhat bright place.

Further, in the present embodiment, the light intensity ratio at each pixel is calculated by irradiating the subject with two types of light patterns and using the picked-up images in each case, but when the light pattern is not radiated It is also possible to pick up the image of 3 and obtain a total of 3 types of images (2 types of optical patterns, 1 type without optical patterns) for calculation.

In this case, when calculating the light intensity ratio of each pixel, the difference value is calculated by subtracting the light intensity in the case of no light pattern from the value of the light intensity in each light pattern irradiation. Then, the ratio of these difference values is calculated as the light intensity ratio. This makes it possible to suppress the distance calculation error due to the background light when capturing an image in a bright place.

Further, in the present embodiment, the light pattern projected onto the subject is replaced by a light-transmissive liquid crystal display element (normal type) instead of the ND filters 4a and 4b and the light sources 2a and 2b whose transmissivity changes in the lateral direction. (As used in a liquid crystal image projector) and one light source. The present embodiment is performed by switching the light transmission pattern of the light transmission type liquid crystal display element and causing the light source to emit light twice, or by switching on the light source and switching the two types of light patterns of the light transmission type liquid crystal display element. In the same manner as the above form, two types of light patterns can be radiated to the subject in a time division manner.

(First Reference Example) FIG. 10A relates to the range finder of the present invention.
It is a schematic perspective view which shows the structure of a 1st reference example . The configuration of this example will be described below with reference to FIG.

As shown in FIG. 10A, the semiconductor laser 2
Reference numeral 01 is a light source means for emitting light of wavelength λ. The first optical fiber 202 is means for guiding the light emitted from the semiconductor laser 201 to the light distributor 203. Further, a collimator lens 204 is arranged between the first optical fiber 202 and the semiconductor laser 201. The light distributor 203 is a light distributor that splits the light guided from the first optical fiber 202 into two paths. The light distributor 203 is provided with a shutter mechanism, and is a means for sending the branched light to the second optical fibers a and b in a time division manner. Second optical fiber a
(205a) and the second optical fiber b (205b) each have one end connected to the light distributor 203 and irradiate the subject (for example, the inner wall of the stomach) with the light branched from the opening at the other end. Optical fiber. Camera unit 20
Reference numeral 6 denotes an image pickup unit that acquires image data of the subject by the reflected light from the subject received by the light-receiving optical fiber bundle 207. A lens 210 is arranged close to the tip of the light-receiving optical fiber bundle 207. CCD2
An image sensor 09 is attached to the camera unit 206 so that the light from the light-receiving optical fiber bundle 207 can be received. In addition, the opening 20 of the second optical fiber a (205a)
The light emitted from 8a exhibits the light intensity distribution as shown in FIG. 4 described in the above embodiment. Second optical fiber b (2
The same applies to the light emitted from the opening 208b of (05b). These lights, thus, depending on the horizontal position,
The light intensity distribution is different because the light emitted from the opening of the optical fiber diffuses based on the opening angle. Therefore, the shape of the light intensity distribution can be changed by adjusting the opening angle. The opening angle can be adjusted to some extent by setting the refractive index in the diameter direction of the optical fiber to a predetermined value.

The range finder of this example has a function similar to that of the distance calculating section 6 described in the above embodiment, and calculates the distance to the object based on the image data from the camera section 206. Means (not shown) are provided. Further, it is of course possible to use an optical fiber bundle for both or one of the first optical fiber 202 and the second optical fibers a, b (205a, 205b).

With the above configuration, the operation of this example will be described below with reference to FIG.
This will be described using 0 (a).

The range finder of this example can be used as an endoscope such as a gastric camera.

That is, the second optical fibers a and b (205a,
The tip of 205b) and the tip of the light-receiving optical fiber 207 are inserted into the patient's stomach.

From the openings of the second optical fibers a and b, light having a light intensity distribution characteristic as shown in FIG. 4 is radiated in a time division manner as in the first embodiment. The light receiving optical fiber 207 receives the reflected light of these lights. Further, the camera unit 206 sends the image data of the inner wall of the stomach obtained from these reflected lights to the distance calculation unit. The distance calculation unit calculates and outputs the three-dimensional distance data of the inner wall of the stomach in the same manner as in the first embodiment. The output distance data is sent to a monitor (not shown) and displayed three-dimensionally. While looking at the monitor, the doctor can move the tip of the second optical fiber and see the image of the affected area that is three-dimensionally projected. As a result, a more accurate medical examination can be performed as compared with the conventional case.

In the above example , the range finder having one semiconductor laser as the light source section has been described, but the present invention is not limited to this. For example, as shown in FIG. 10B, two light source sections are provided. The configuration may be provided. That is, in this case, the semiconductor lasers 201a, 201a serving as the light source unit
In b, optical fibers 205a and 205b for individually guiding the emitted light to the subject side and irradiating the subject are provided. Also, each of these optical fibers 205a, 20
Collimator lenses 204a and 204b are arranged between 5b and the semiconductor lasers 201a and 201b. With such a configuration, the same effect as described above is exhibited.

In the above example , the first optical fiber 202
Although the configuration including the optical distributor 203 between the two second fibers 205a and 205b has been described, the present invention is not limited to this, and for example, the optical distributor 203 and the second optical fiber 20.
Instead of 5a and 205b, a configuration may be provided in which the light guided from the first optical fiber is provided with a light branching unit (not shown) for branching the light into two paths at the tip of the fiber and irradiating the subject. In this case, the second optical fiber can be omitted and the same effect as described above can be obtained.

Further, in the above example , as shown in FIG. 11A, the configuration in which nothing is arranged in front of the optical fibers 205a and 205b has been described, but the present invention is not limited to this, for example, each optical fiber. Openings 208 of 205a and 205b
The collimating lens 301 (see FIG.
(See (b)), the cylindrical lens (or rod lens) 302 (see FIG. 11C), and the opening 20.
It may be arranged on the front surfaces of 8a and 208b. As a result, the intensity of the light emitted from the opening can be changed more efficiently and positionally. It should be noted that the front surface of each of the openings 208a and 208b outputs light whose light intensity does not differ locally, and instead, the light transmittance changing filter 1 (303) whose light transmittance is positionally different.
It is also possible to dispose a) and the transmittance change filter 2 (303b) in front of the openings 208a and 208b.

Here, the characteristics of the filter shown in FIG. 11D will be further described with reference to FIGS. 12A and 12B.

For example, the intensity distribution of the light transmitted through the transmittance changing filter 1 (303a) shown in FIG. 12 (a) is set so as to be the one indicated by reference numeral 401a in FIG. 12 (b). There is. On the other hand, the transmittance change filter 2
The intensity distribution of light transmitted through (303b) is set so as to be denoted by reference numeral 401b in the figure. Figure 1
FIG. 2B is a diagram showing the light intensity distribution in the range of α shown in FIG. The present invention can be realized by using such a transmittance changing filter.

Further, in the above-mentioned example, the case where the light distributor is provided with the shutter mechanism and the light is radiated to the subject in a time-division manner has been described, but not limited to this, for example, the light from the light source is used. Light of a plurality of frequencies is included, and by providing a filter in the light distributor, light of different wavelengths is emitted from the opening. Further, by providing the camera unit with the filter and the light receiving element capable of separately receiving these two types of wavelengths, it becomes possible to simultaneously irradiate the subject with each of the two types of wavelengths of light. . This makes it possible to reduce the measurement time. Also in the configuration shown in FIG. 10B, the semiconductor lasers 201a and 201b
If the camera section 206 is provided with a filter and a light receiving element that can receive light by distinguishing between two types of wavelengths, the measurement time can be shortened as described above.

Further, although the semiconductor laser is used as the light source in the above example , the present invention is not limited to this, and for example, an LED or a lamp may be used.

Next, an example of a camera related to the present invention will be described in which the above-described range finder device according to the present invention is realized in a more compact and simple structure.

That is, in the range finder device described above, the light reflectors of the light sources 2a and 2b are displaced as shown in FIG. 2, or an optical filter having a different light transmittance depending on the horizontal position is provided in front of the arc tube. It has to be installed, and the structure is complicated.

In addition, the accuracy of measurement cannot be obtained because triangulation is used unless the distance between the camera lens and the light source is more than several tens of centimeters. Become.

Further, there is a drawback that the size and size of an object imaged by a conventionally known camera cannot be easily calculated unless the distance to the subject is known. In addition, it is impossible to know the size of the subject from the color image once taken.

Further, in order to extract a subject from an image captured by a conventionally known camera, it is necessary to prepare an environment in which the background has a single color in advance, which requires extensive preparation.

A shape measuring camera and a subject extracting camera according to this embodiment, which can solve these disadvantages, will be described below with reference to the drawings. ( Second Reference Example ) FIGS. 13A and 13B are configuration diagrams of a shape measurement camera and a subject extraction camera according to a second reference example of the present invention. FIG. 20 is a block diagram of this camera.

In FIG. 13, 501 and 502 are camera housings, 503 is a taking lens, 504 is a recording medium, and 5 is a recording medium.
Reference numerals 05 and 506 are first and second strobes forming a light source unit, respectively, and 507 is a finder. In FIG. 20,
532 is a display unit, 533 is an imaging unit, 534 is a light source control unit, 535 is a distance calculation unit, 536 is a color image calculation unit,
Reference numeral 538 is a media recording / playback unit, and 550 is an image memory.

The structure of this shape measuring camera is shown in FIG.
As shown in FIG. 13A, a housing 501 containing a camera unit and a housing 502 containing a light emitting unit are different in thickness from each other and have a structure in which they can be fitted to each other and overlap each other. The state of (a) and the state of (b) can be selected by the user by sliding the housings 501 and 502. When carrying, it is kept in a small state in the state of (a), and when shooting, the case is extended to the state as in (b) for use. Thereby, the distance D between the center of the lens 503 and the strobes 505 and 506 of the light source unit can be set to be large at the time of use. 20A is a simple method that does not use the image memory 550, and FIG. 20B is a type that has an image memory and is capable of high-speed imaging / display.

The strobes 505 and 506 of the light source section are constructed, for example, as shown in FIG.
And a light shielding plate 528 having a hole whose center position is shifted. At this time, as shown in the plan view of FIG. 15, the light emitted from the line segment of the arc tube 530 is caused by the light shielding plate 528.
Light is emitted while changing the way light is blocked depending on the location. At this time, the position of the hole of the light shielding plate 528 is displaced from the strobe light emitting tube 530, and light such that the light gradually becomes stronger between points A and B on the straight line l is generated. As a result, as shown in FIG. 16, two strobe arc tubes generate light patterns in which the light intensity changes in opposite directions. Next, a method of calculating the depth distance using such light will be described. The contents are almost the same as the depth distance calculation method described above.

The optical pattern thus obtained is shown in FIG.
7, the pattern is such that the light intensity changes. FIG. 1 shows this change in light intensity one-dimensionally in the lateral X direction.
8 In the α portion of this light pattern, the light emitted from the two light sources to the subject space is bright on the right side on one side and bright on the left side on the other side when viewed from the light sources. However, this pattern also changes in the height direction (Y direction).

FIG. 19 shows the relationship between the light intensity ratio of the above-mentioned two projection lights in subject illumination and the angle φ in the horizontal direction from the light source in the α portion of FIG. In the α part, the light intensity ratio and the horizontal angle φ from the light source
The relationship is one-to-one. In order to measure the distance, two types of light patterns are alternately projected in advance on a vertically standing plane, and the reflected light is imaged by the camera 501. As a result, as shown in FIG. It is necessary to obtain data on the relationship between the light intensity ratio and the position from the light source in the horizontal direction.

Further, if the light source is arranged so that the line segment connecting the lens center of the camera 501 and the light source is horizontal with the X axis of the image pickup surface, the light intensity ratio determined for each Y coordinate and the horizontal direction are determined. The distance can be accurately calculated by using the data of the positional relationship from the light source. This is shown in FIG.
It is calculated by the distance calculator of (a). The method of calculating the distance using the light intensity ratio will be described below.

When the point P in FIG. 20A is the point of interest, the light source strobes 505 and 506 for the point P of the image picked up by the image pickup section 533 based on the user's image pickup intention.
A diagram corresponding to the Y-coordinate value of the point P and the luminance ratio obtained from the imaging data output from the imaging unit 533 when two types of light patterns from each are projected by the light source control unit 534 in a time division manner. By using the relationship of 19, the angle φ of the point P viewed from the light source is measured.

As described above, the relationship of FIG. 19 has different characteristics depending on the Y coordinate value, and the relationship between the light intensity ratio and the angle φ in the horizontal direction from the light source is prepared for each Y coordinate by measuring in advance. It has been done. Further, the angle θ with respect to the point P viewed from the camera is determined from the position in the image (that is, the pixel coordinate value of the point P) and the camera parameters (focal length, optical center position of the lens system). Then, the distance is calculated by the principle of triangulation from the above two angles and the distance (base line length D) between the light source position and the optical center position of the camera.

With the optical center of the camera as the origin, the optical axis direction of the camera is set to the Z axis, the horizontal direction is set to the X axis, and the vertical direction is set to the Y axis, and the angle of the point of interest viewed from the light source and the X axis is φ. , The angle between the direction of the point of interest viewed from the camera and the X axis is θ, and the light source position is (0, −D), that is, the base line length is D, the depth value Z of the point of interest P is given by the formula Z = Dtanθtanφ / (tanθ It can be calculated as −tan φ). At this time, if the value of D (the distance between the lens and the light source unit) is small, the accuracy of the measured depth value Z becomes poor. For example, for a subject up to a distance of about 3 m, if the value of D is set to 20 to 30 cm, the measured distance is about 1
Depth can be measured with an error of%. As the value of D becomes smaller than this, the measurement error becomes larger than this. The X and Y coordinates of the point of interest P are given by the following formula.

X = Z / tan θ Y = Z / tan ω Further, the color image calculation unit 536 calculates an image obtained by averaging the image pickup data at the time of the above-mentioned two types of light pattern irradiation,
This is a color image. The two types of optical patterns are shown in FIG.
As described above, the brightness changes complementarily to each other, and by adding and averaging these, it is possible to obtain a color image equivalent to that captured by a strobe with uniform brightness.

The color image and the depth image obtained as described above are displayed on the display unit 532 and recorded on the recording medium 504 through the medium recording / reproducing unit 538. Of course, the color image and the depth image once recorded can be read by the media recording / reproducing unit 538 and displayed on the display unit 532.

Further, as shown in FIG. 20B, the image pickup section 53
If the image data from 3 is once stored in the image memory 550, images can be continuously input.
Further, a plurality of images once recorded on the recording medium 504 can be read out to the image memory 550 and reproduced and displayed at high speed.

As described above, according to this example , a plurality of light patterns can be generated with a simple structure by using a linear stroboscopic arc tube and a light-shielding plate with holes for the light intensity change pattern. It is possible to realize a stable shape measurement camera.

Further, it is small when carried, and the main body is extended during photography to extend the lens 503 and the strobe 50 of the light source unit.
It is possible to realize a shape measuring camera capable of taking a large distance D of 5,506 and measuring highly accurate depth images.

(Third Reference Example) FIG. 28 is a configuration diagram of a shape measurement camera and a subject extraction camera according to a third reference example of the present invention. In FIG. 28, 501 and 502 are camera housings, and 505 and 506 are first and second strobes 518 forming a light source unit, respectively.
Is a display panel, 519 is a touch panel, 532 is a display unit, 533 is an imaging unit, 535 is a distance calculation unit, 536 is a color image calculation unit, 538 is a media recording / playback unit, and 53.
Reference numeral 7 is a control unit. The operations of the shape measuring camera and the subject extracting camera having the above configurations will be described below.

FIG. 27 shows the back surface of the shape measuring camera. On the back side, a display panel 518 and a touch panel 519 are arranged so as to overlap with each other, and a captured color image or depth image is displayed.
The attention position (coordinates) in the image can be specified.

FIG. 28 is a block diagram of display / distance measurement. The captured distance image and color image are input to the control unit 537, and the user's attention position designation coordinates are also input to the control unit 537. To be done. The control unit 537 displays the captured color image on the display panel 518, calculates the actual distance and the like from the plurality of designated designated coordinates input by the touch panel 519 and the depth image, and then displays the display panel 5
18 is displayed.

FIG. 25 shows how the attention position is designated. First, it is assumed that the display unit 518 displays a color image of a desk photographed by the user. The user designates the designated points A523 and B524 with a finger or a stick.

If specified, the shape measuring camera determines the actual coordinates A of the respective coordinate positions of the obtained depth image.
Using the values of (Xa, Ya, Za) and B (Xb, Yb, Zb), the distance Lab of the line segment AB connecting the points A and B, that is,

[0102]

[Equation 1]

Is calculated and displayed on another part of the display panel 518. In this example, it is displayed that the length of AB is 25 cm. In this way, the user can measure the distance between the points to be measured of the photographed subject without touching the subject even if this is the length in the depth direction.

Similarly, it is possible to measure the size of a circular subject instead of a straight line. FIG. 26 is an example when a circular table is imaged. For example, the user touches a touch panel with a finger or a rod-shaped object at three appropriate positions A523, B524, and C526 on the circular circumference to be measured while looking at the color image captured and displayed on the display panel 518. Specify by.

Thereafter, the shape measuring camera uses the spatial coordinate values A (Xa, Ya, Za) and B (Xb, Y) of these three points.
From b, Zb) and C (Xc, Yc, Zc), the equation of the circle passing through these is obtained. There are various methods for obtaining, but for example, a perpendicular bisector of line segments AB and BC is obtained, and the intersection point thereof is the center G (Xg, Yg, Zg) of the circle. next,
The average value of the lengths of the line segments GA, GB, and GC may be the radius of the circle.

The radius thus obtained is displayed as 50 cm in FIG. 26 to inform the user. By doing so, the size of a complicated shape such as a circle can be measured without touching the subject. In addition, if there is a mathematical formula that defines the shape such as an equilateral triangle or an ellipse, the user can specify multiple points to measure the size from the depth image without touching the subject. You can Further, in this case, although the user inputs the coordinates of the point of interest using the touch panel, a cursor (a cross pattern etc.) that moves vertically and horizontally is displayed on the display panel 518, and the position is moved by the push button to specify. Then, the coordinates of the point of interest may be input.

If the object size calculation result is recorded on the recording medium 504 through the medium recording / reproducing unit 538, the user need not remember the measurement result.
It is convenient because the recording medium 504 can be taken out and used in a device (personal computer or the like) having the same function as the medium recording / reproducing unit 538 capable of reading and writing. Of course, the measurement result may be superimposed on the photographed color image and stored as an image.

In the above example, the length of the subject is measured, but it is also possible to measure the lengths and obtain the area and volume based on the measured lengths.

Further, another display / use example of the photographing data will be described.

As shown in FIG. 27, on the back surface of the camera,
The display unit 518 and the touch panel 519 are arranged so as to overlap each other, and the captured color image or depth image is displayed so that the user can specify the attention position (coordinates) in the image with a finger or a stick. It has become. Utilizing this,
It is possible to realize a subject extraction camera capable of obtaining an image in which only the subject focused on by the user is cut out.

FIG. 28 is a block diagram of the display / cutout operation, which basically has the same structure as the shape measuring camera described above. The captured distance image and color image are input to the control unit 537, and the user's attention position designation coordinates are also input to the control unit 537.

The control section 537 displays the photographed color image on the display panel 518, and from the plurality of designated designated coordinates input by the touch panel 519 and the depth image,
Only the subject intended by the user is cut out and displayed on the display unit 518.
, And can be recorded in the recording medium 504. This operation will be described with reference to FIG.

First, the user wants to cut out the subject 520. The user designates a part of the subject 520 on the touch panel 519. The control unit 537 obtains the depth value of the portion including the coordinates from the depth image, determines that the portion having the depth continuously connected thereto is the subject of interest to the user, and displays only that portion. , The other part is filled with a specific color, and the display panel 518
To display.

The determination of the connected portion is based on the designated coordinates as a starting point, and extends the area vertically and horizontally as long as the depth value continuously changes, and if there is a depth discontinuous portion, stops there. Image processing may be performed.

Further, the user specifies a distance a little longer than the distance of the subject to be cut out from the camera or a range of distance to be cut out by the touch panel or the push button, and the control unit 537 is specified by the value. The color image having a value closer to the specified distance, or the color image included only in the specified distance range is displayed, and the other part is filled with a specific color and displayed on the display panel 518. The data is recorded on the recording medium 504.

By doing so, the camera can judge and cut out only the subject of interest to the user, and display / record this. Further, in this case, depending on the image processing, as shown in FIG. 30, there is a possibility that a portion, which is a background portion, may be determined to be the foreground due to a malfunction.

In this case, the user touches the touch panel 519.
By designating a portion (FIG. 29) that seems to have malfunctioned due to the above and correcting the display result so that this is the background, a high-quality clipped color image of the subject can be obtained. Of course, in this case, the user may specify the portion determined to be the background due to the malfunction and perform the correcting operation so that this portion becomes the foreground.

As described above, by using the information of the depth image to cut out the color image according to the distance, it is possible to easily obtain and save the image in which only the subject of interest to the user is cut out.

Further, in FIG. 28, by arranging an image memory in the control unit 537 and temporarily placing an image to be reproduced / operated in the image memory, the access speed of the image is increased or a plurality of images are increased in speed. You can also switch and display / operate.

As described above, according to this example , the actual size of the subject can be measured without touching the subject. Further, it is possible to realize a shape measurement camera and a subject extraction camera that can easily cut out and save only the subject of interest to the user based on the depth information.

[0121] Further, Oite the second example, the housing of the shape measuring camera, be configured as shown in FIG. 21, the same effect can be obtained. That is, the camera unit 509 in which the imaging unit 533 is arranged and the first and second strobes 50 forming the light source.
The strobe part 508 on which 5, 506 are arranged is connected by a connecting part 510 having a hinge-like structure, and the user can freely fold it as shown in FIG. 21 (a) or (b).
It is a structure that can be extended like. When carrying
If it is as shown in (a), it is small, and if it is expanded and used as shown in (b) at the time of shooting, the lens 503 and the first and second light sources are used.
The distance D between the strobes 505 and 506 can be increased.

Further, as shown in FIG. 21C, the lens and the first and second strobes 505 and 506 may be arranged vertically. In this case, in the depth image calculation, the angles φ and θ change in the horizontal direction in the above description, but only in the vertical direction, the depth image can be calculated by the same calculation after that. In order to generate a change in the light intensity in the vertical direction, the light source has a vertically arranged arc tube configuration as shown in FIG.

In this case, as shown in FIG.
A case 501 having a camera part and a case 502 having a light emitting part, which are different in thickness from each other and can be fitted to each other in the vertical direction, are fitted.
Similar effects are obtained. The structure of the light source unit at this time is shown in FIG.
It becomes like (c) .

[0124] Further, Oite the second example, the housing of the shape measuring camera, be configured as shown in FIG. 22, the same effect can be obtained. That is, the first and second strobes 5 of the light source unit
The housing 517 of the portion including 05 and 506 is made small, and is connected to the camera housing 501 by a hinge structure. At the time of use, the user rotates the housing 517 to turn the first and second strobes 5 of the light source unit.
By exposing 05 and 506, the housing can be made small while preventing the first and second strobes 505 and 506 of the light source unit from being normally exposed and being damaged by careless contact. It is possible to set a large distance D.

Further, in the second example, the light source is configured as shown in FIG. 2, but as shown in FIG. Even if the structure is placed, the same optical pattern generation function can be provided.

In this case, the arc tube 5 as shown in FIG.
2, the light transmitting portions are sequentially set on the left side and the right side as shown in (c), and the arc tube 529 emits light one by one in each state, as shown in FIG. 2 arc tubes without using one arc tube
A light pattern similar to that in FIG. 18 can be generated by sequentially emitting light.

As a result, the number of arc tubes is small, and the emission position of the light emission pattern does not come out from the position slightly shifted up and down as shown in FIG. 2, but it is as if light was emitted from the same position. It is possible to reduce the depth measurement error.

In FIG. 20, the position of the emission point Q of the optical pattern is shifted in the vertical direction in this example, but in this case it is at the same position, so the straight line PQ becomes one line, This is because an error does not occur as compared with depth calculation using straight lines having different vertical positions.

Further, in this case, as shown in FIG. 24D , the entire surface of the liquid crystal barrier 531 can be used as a light-transmitting state so that it can be used also as a strobe for a camera for picking up a normal two-dimensional image.

Further, in the second example , the depth image and the color image are calculated in the shape measuring camera and the subject extracting camera body, and these are recorded in the recording medium.
As shown in FIG. 1, in the camera body, the image data captured in synchronization with the first and second strobes 505 and 506 of the light source is recorded on the recording medium 5 through the medium recording / reproducing unit 538.
04, and the image data is read out by the analysis device 39 composed of a personal computer or the like,
A desired analysis result may be output by the distance calculation unit 535 / color image calculation unit 536, and the display unit 532 may be used to cut out a subject or measure the shape.

Further, the image data can be transferred to the analysis device 539 without going through the recording medium 504. For example, the camera body and the analysis device 539 are connected using the current data communication means. For example, in wired communication, a parallel data interface, a serial data interface, or a telephone line can be used. In wireless communication, optical communication
Infrared communication, mobile phone network communication, and radio wave communication can be used. Further, the analysis result can be recorded in a recording medium.

Further, in this case, the image pickup section 533 is a video camera for shooting a moving image, and when the recording medium 504 is a recording medium such as a tape, it is usually used as a camera for shooting a color moving image and is required by the user. If the push button or the like is pressed only when the flash is turned on, and the index signal for identifying only the image (frame, field, etc.) of that portion is stored in the recording medium, the analyzing device 539 can output the index signal. Extract only the video of the part you have, and color image only that part.
Depth images can be calculated and output.

Further, in the second example , the light source unit was attached to the camera housing 501 from the beginning, but by making only the light source unit removable, it is small and easy to carry during normal color image pickup. Therefore, a method in which the light source unit is attached and used only when capturing a depth image is also conceivable.

FIG. 37 (a) shows an external light source having a structure like that of an external strobe device for photography and having the light source as shown in FIGS. It is used by being connected to the camera housing 501 via the camera connection section 549 as shown in FIG. 37 (b). FIG. 38 shows an example of a light source for eliminating the shadow of the subject as shown in FIGS. 35 and 36.

In FIG. 38A, the light sources are symmetrically arranged on both sides of the connecting portion 549. FIG. 38 (b) shows how the camera is connected. Further, in FIG. 37 and FIG. 38, the camera body and the light source are connected by a structure like a strobe shoe of a film camera, but as shown in FIG. 39 (a), a method of mounting using a tripod mounting screw of the camera is also considered. To be

In this case, as shown in FIG. 39 (b), the structure is such that the camera housing 501 is attached using the screws at the bottom. If the light source is separated as such a removable external light source device, the camera becomes large only when a depth image is captured, and when used as a normal camera, the convenience of small size and light weight can be obtained.

Further, in the third example , in the configuration of FIG. 31, the user can specify the coordinates by the configuration using the touch panel, but the user may specify the coordinates by other means. For example, when it is realized by a personal computer, an input device such as a mouse or a keyboard can be used.
Besides, you can also apply trackball, switch, volume, etc.

[0138] The second, Oite the third example, FIG. 1
As shown in FIG. 3, FIG. 21, FIG. 22, and FIG.
33, the first and second strobes 505 of the two light source units
Although 506 is arranged on one side, in this case, when the subject 540 and the background 541 are imaged in the arrangement as shown in FIG. 32, the obtained image is such that the light from the light source is blocked by the subject 540 as shown in FIG. As a result, a shadow 542 is generated.

This part is a region where the light from the light source does not reach, and is a region where information as a range image cannot be obtained. In this case, as shown in FIG.
A light source 543 having the same configuration as the second strobes 505 and 506.
This shadow area can be eliminated by disposing 544 on the opposite side of the first and second strobes 505 and 506 of the light source with the lens as the center. The method is shown below.

First and second strobes 505 and 506 of the light source
Is a region β, and when the light sources 543 and 544 are used, a region α is a portion where information as a distance image cannot be obtained. Similar to the above calculation, the distance image A and the color image A when the first and second strobes 505 and 506 of the light source are used, and the distance image B and the color image B when the light sources 543 and 544 are used, respectively. Calculate independently. At this time, in each of the images, the areas β and α are determined as the areas of low brightness from the obtained image data.

Next, the distance images A and B are combined to newly generate a distance image having no shadow area. This is the range image A,
If there is an area that has not been determined as a portion with low brightness in either one of B, the value is adopted, and if neither is a shadow area, it is realized by using the average value of both image data. it can.

The same applies to the color image. If at least one of the color images A and B has data that is not a shadow portion, a new color image having no shadow area can be combined.

In the case of the above configuration, the light source needs to be arranged on the left and right sides or the upper and lower sides of the lens. In that case,
As shown in FIG. 5, if the housings 512 and 513 having the light source parts are slid to the left and right of the camera body 511 and extended in the opposite direction, the size can be reduced when the user carries it. When carrying and using in the state of FIG. 35 (a), it can be extended as shown in FIG. 35 (b) to have a large base line length D, and it is possible to prevent the depth image measurement accuracy from deteriorating.

Further, as shown in FIG. 36, the same effect can be obtained even if the structure is such that it can be folded in three stages. As shown in FIG. 36 (a), when being carried, it can be folded and made small and carried, and when used, it can be widened as shown in FIG. 36 (b) to increase the baseline length D, which is the distance between the lens and the light source.

Further, as shown in FIG. 21C, in order to make the arrangement of the lens and the light source vertical, the casings 512 and 5 shown in FIG.
13 may be arranged above and below the housing 511 , or the housings 512 and 513 may be arranged above and below the housing 511 in FIG .
Yes.

[0146]

As is apparent from the above description, according to the range finder apparatus of the present invention, a low cost and highly reliable apparatus that can be realized by all electronic operations without including mechanical operations. Can be provided.

Further, according to the range finder apparatus of the present invention, even when the light from the light source has a two-dimensional pattern, the distance can be measured with high accuracy.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a range finder device according to a first embodiment of the present invention.

2A is a perspective view showing a configuration of a light source of the range finder apparatus according to the first embodiment, and FIG. 2B is a plan view showing a configuration of a light source of the range finder apparatus according to the first embodiment.

FIG. 3 is a diagram showing an optical pattern of a light source according to the first embodiment.

FIG. 4 is a diagram showing an optical pattern of a light source and an optical pattern in the case of a plurality of light emission in the first embodiment.

FIG. 5 is a relationship diagram between a light intensity ratio and an angle φ from a light source in the first embodiment.

FIG. 6 is a conceptual diagram of calculation of three-dimensional positions X, Y, Z in the first embodiment.

FIG. 7 is a block diagram showing a configuration of a range finder device according to a second embodiment of the present invention.

FIG. 8 is a block diagram of distance calculation and light intensity conversion according to the second embodiment.

FIG. 9 is a diagram showing changes in light intensity with respect to the X coordinate in the second embodiment.

[10] (a): a block diagram illustrating the configuration of your <br/> Keru rangefinder to the first reference example relating to the present invention, (b): in the first reference example relating to the present invention It is a block diagram which shows the structure of the modification of a range finder apparatus.

11A to 11C are layout explanatory diagrams of the lens system in Example 1, and FIG. 11D is a layout explanatory diagram of the transmittance changing filter in Example 1 .

[12] (a): Example illustration of the transmittance change filter in 1, (b): is a distribution diagram of the light intensity by transmittance change filter in the Example 1.

FIG. 13 (a), (b) a second reference relating to the present invention.
It is a figure of the camera for shape measurement of an example , and a subject extraction.

FIG. 14 is a configuration diagram of a light source unit of the camera of the second reference example .

FIG. 15 is a principle diagram of a light source unit of the camera of the second reference example .

FIG. 16 is a light intensity diagram of a light source unit of a camera of a second reference example .

FIG. 17 is a diagram showing a light intensity pattern of a light source unit of a camera of a second reference example .

FIG. 18 is a diagram showing a light intensity pattern of a light source unit of a camera of a second reference example .

FIG. 19 is a diagram showing a light intensity ratio of a light source unit of a camera of a second reference example .

20A and 20B are block diagrams of a camera according to a second reference example .

21A to 21D are configuration diagrams of a camera (2) in a second reference example .

22A and 22B are external views of a camera (3) in a second reference example .

23A to 23C are configuration diagrams of a camera (4) in a second reference example.

24A to 24D are configuration diagrams of a light source unit of a camera (2) according to a second reference example .

FIG. 25 is a diagram showing a camera display method (1) in a third reference example related to the present invention.

FIG. 26 is a diagram showing a camera display method (2) in the third reference example .

FIG. 27 is a rear external view of the camera of the third reference example .

FIG. 28 is a block diagram of a camera according to a third reference example .

FIG. 29 is a diagram showing an image correction operation (1) of the camera of the third reference example .

FIG. 30 is a diagram showing an image correction operation (2) of the camera of the third reference example .

FIG. 31 is another configuration diagram of the camera of the second reference example .

FIG. 32 is a diagram showing occlusion occurrence of a camera according to second and third reference examples related to the present invention.

FIG. 33 is a diagram showing occlusion of a camera in second and third reference examples .

FIG. 34 is a diagram showing a method for avoiding occlusion of a camera in second and third reference examples .

35 (a) and (b) are external views for avoiding occlusion of the camera (1) in the second and third reference examples .

36A and 36B are external views for avoiding occlusion of the camera (2) in the second and third reference examples .

37 (a) and (b) are external views of the external light source unit (1) of the camera in the second and third reference examples .

38A and 38B are external views of the external light source unit (2) of the camera in the second and third reference examples .

39 (a) and (b) are external views of the external light source section (3) of the camera in the second and third reference examples .

FIG. 40 is a configuration diagram of a conventional range finder device.

FIG. 41 is a characteristic diagram showing wavelength characteristics of a light source of a conventional range finder device.

42A and 42B are characteristic diagrams of intensity modulation of a light source of a conventional range finder device.

43 (a) and (b) are diagrams of measurement principles in the range finder.

[Explanation of symbols]

1 camera 1a infrared camera 2a light source 2b light source 3a Infrared transmission filter 3b infrared transmission filter 4a ND filter whose transmittance changes in the horizontal direction 4b ND filter whose transmittance changes in the horizontal direction 5 Light source control unit 6 Distance calculator 7 Flash light source 8 Flash light source 9 Reflector 10 Reflector 11a Field memory a 11b Field memory b 12a Light intensity converter a 12b Light intensity converter b 13 Light intensity ratio calculator 14 Distance converter 101A laser light source 101B laser light source 102 half mirror 103 light source controller 104 rotating mirror 105 Rotation control unit 106 subject 107 lens 108A Optical wavelength separation filter 108B Optical wavelength separation filter 109A image sensor 109B image sensor 109C color image sensor 110A camera signal processor 110B camera signal processor 111 Color camera signal processor 112 Distance calculator 113 control unit 201 semiconductor laser 202 First optical fiber 203 Optical distributor 204 collimator lens 206 camera section 207 Second optical fiber 501 housing 502 housing 503 lens 504 recording media 505 First Strobe 506 Second Strobe 507 Finder 508 Strobe part 509 camera body housing 510 connection 511 camera body 512 light source unit housing 513 light source unit housing 514 Third Strobe 515 4th Strobe 516 connection 517 light source 518 display panel 519 touch panel 520 subject (foreground) 521 Subject (background) 527 Portion determined to be foreground due to malfunction 528 light shield 529 Strobe arc tube A 530 Strobe arc tube B 531 LCD barrier 532 display 533 Imaging unit 534 Light control unit 535 Distance calculator 536 color image calculator 537 Control unit 538 Media recording / playback unit 539 Analysis Department 540 subject (foreground) 541 Subject (background) 542 Portion where light from the light source is blocked 543 light source unit 3 544 Light source unit 4 545 camera mounting screw 546 Light source unit housing (1) 547 Light source unit housing (2) 548 Light source fixed base 549 Light source fixture (strobe shoe fitting) 550 image memory 551 Reflector (1) 552 Reflector (2) 100 part determined to be background

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References Tokuhyo 5-502720 (JP, A) BRIAN CARRIHILL, R OBERT HUMMEL, "Experiences with the lntensity Ratio Depth Sensor", COMPUTER AND VISUAL GIR IMAGE PROCESSI NG, Academic Press, Inc, No. 32, pp. 337-358 (58) Fields investigated (Int.Cl. ⁷ , DB name) G01B 11/00-11/30 G01C 3/06

Claims (10)

(57) [Claims] 1. A plurality of projection lights having radiation patterns having three-dimensionally spatially different light intensities are irradiated from a light source onto a subject in a time division manner, and reflected lights from the subject of the plurality of projection lights are respectively imaged by a camera. Then, a range finder device for performing distance measurement using the light intensity of the imaged image, wherein, in advance, for each of a plurality of surfaces including a light source center and a lens center, from the light source in each surface The relationship between the angle of each projected light and the light intensity ratio is obtained in advance.
Light intensity ratio of each pixel obtained from the imaged data of the camera
If, in a given surface corresponding to the coordinate position before outs element,
Obtain the angle corresponding to the light intensity ratio of the pixels of the constant Tokoro based on the relationship between the angle and the light intensity ratio, into a 2-dimensional coordinate position information on the image of the obtained angle before Symbol predetermined pixel A range finder device characterized in that the distance to the subject is calculated based on the distance. 2. The plurality of projection lights are two, and their projection directions are projected in different directions while partially overlapping each other, and the angles and the light intensities of the respective projection lights from the light source. and relationships rangefinder according to claim 1, wherein the the angle of each projected light from said light source, and the ratio of the light intensity of the two projected light at that angle, which is the relationship. 3. The range finder apparatus according to claim 2, wherein the projection light is generated by arranging two light sources having a reflecting plate behind them. 4. The range finder device according to claim 1, wherein the light intensity of the captured image is a difference value of the image light intensity when the projection light is present and when the projection light is not present. . 5. The subject is irradiated with the plurality of projection lights at the same time, the reflected light from the subject of the projection lights is captured by the camera, and the captured image is used as a normal image. The range finder device according to claim 1 or 2. 6. The range finder apparatus according to claim 1, wherein the camera suppresses the influence of background light by setting the exposure time to be equal to or shorter than the light emission period of the projection light. 7. The range according to claim 1 or 2, wherein the lens and the light source are arranged such that a straight line connecting the lens and the light source is parallel to a horizontal axis of an image pickup element surface. Finder device. 8. The range finder device according to claim 2, wherein the plurality of projection lights are generated by a light source having a light transmission plate having two-dimensionally different transmittances in front thereof. 9. The range finder device according to claim 2, wherein the plurality of projection lights are realized by using an optical element and a light source capable of switching a light transmittance pattern. 10. The correction amount is obtained by measuring the light intensity of the projected light from the light source without the reflector or the light transmission plate, and the angle and the light intensity of each projected light from the light source are calculated. When obtaining the relationship of, the light intensity is corrected by the correction amount,
10. The range finder device according to claim 3, wherein the measured light intensity is corrected by the correction amount even when the actual distance is measured.