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US 2003/0193659 A1Published application
Range finder device and camera
AssigneeMatsushita Electric Industrial Co., Ltd.
InventorsKenya Uomori, Takeo Azuma, Atsushi Morimura
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AssigneeMatsushita Electric Industrial Co., Ltd.
InventorsKenya Uomori, Takeo Azuma, Atsushi Morimura
Estimating the term…
A range finder device, for measuring, when a plurality of projected lights having radiation patterns whose light intensity differs three-dimensional space-wise are irradiated onto an object from a light source on a time-sharing basis to image-pick up reflected light of the projected light from the object with a camera, a distance using the light intensity of an image picked up, characterized in that, with respect to each of a plurality of surfaces including the center of the light source and the center of a lens, there is obtained, in advance, relation between an angle of each projected light from the light source and light intensity ratio in each surface, characterized in that, at the time of actual distance measurement, light intensity of each pixel of the camera is measured, and on the basis of the light intensity thus measured, and relation between the angle and the light intensity ratio on a predetermined surface corresponding to a coordinate position of the pixel measured, there is obtained the angle corresponding to the light intensity of the predetermined pixel thus measured, and characterized in that, on the basis of these light intensity measured, the angles obtained and further two-dimensional coordinate position information on the predetermined pixel on the image, a distance to the object is calculated.
A range finder device, for measuring, when a plurality of projected lights having radiation patterns whose light intensity differs three-dimensional space-wise are irradiated onto an object from a light source on a time-sharing basis to image-pick up reflected light of said projected light from said object with a camera, a distance using the light intensity of an image picked up,
A range finder device, characterized by comprising:
A range finder device, characterized by comprising:
A range finder device, characterized by comprising:
A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized in that said camera has such a structure that a distance between said light-emitting means and an image-pickup lens is variable, and characterized in that the interval between said light-emitting means and said image-pickup lens can be taken sufficiently large during the use.
A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized in that said light-emitting means has such a structure that shading plates each having a hole are arranged in front of each of a plurality of straight-line shaped light sources arranged, and each hole in the respective shading plates is deviated from each other position-wise, and said plurality of light sources emit light on a time-sharing basis.
A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up,
A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized by comprising:
A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, comprising:
The camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up, characterized by comprising:
A camera for shape measuring or object extracting, having light-emitting means for irradiating an object with projected light having a specified radiation pattern, for image-picking up reflected light of said light-emitting means from said object to obtain a depth image using light intensity of the image picked up,
Dependencies are inferred from the claim text.
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Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the…: means…
For measuring contours or curvatures: by projecting a pattern, e.g. one or more lines, moiré fringes on the object
Use of electric means to obtain final indication: use of electric radiation detectors
Systems determining position data of a target: indirect determination of position data
Term end not estimated
The present invention relates to a range finder device for measuring a three-dimensional shape of an object.
As a range finder device for performing three-dimensional shape measurement based on triangulation of projected light and an observed image, such a real-time operable range finder device as shown in, for example, FIG. 40 has been proposed.
In FIG. 40, reference numerals 101A and 101B denote laser light sources having slightly different wavelength; 102, a half mirror for synthesizing laser light from the laser light sources having the different wavelength; 103, a light source control part for controlling light intensity of the laser light source; 104, a rotary mirror for scanning laser light; 105, a rotation control part for controlling the rotary mirror; 106, an object; 107, a lens for forming an image on CCD; 108A and 108B, light wavelength separation filters for separating light having wavelength from the laser light source; 109A and 109B, CCD for picking up a monochromatic image; 109C, CCD for picking up a color image; 110A and 110B, signal processing parts for a monochromatic camera; 111, a signal processing part for a color camera; 112, a distance calculation part for calculating a distance or a shape of an object from intensity of laser light photographed by CCD 109A and 109B; and 113, a control part for adjusting synchronization of the entire device. Hereinafter, the description will be made of the operation of a range finder device thus configured.
FIG. 1 is a block diagram showing the configuration of a range finder device according to a first embodiment of the present invention;
FIG. 2(a) is a perspective view showing the configuration of a light source in the range finder device according to the first embodiment, and FIG. 2(b) is a plan view showing the configuration of a light source in the range finder device according to the first embodiment;
FIG. 3 is a view showing a light pattern of a light source according to the first embodiment;
1 Camera
1a Infrared camera
2a Light source