Imaging device and three-dimensional-measurement device

A three-dimensional-measurement device comprising:

• A. an imaging device including:
• a first imaging unit which images a first range to generate a first image;
• a laser radiation unit which is adapted to radiate a laser beam in an arbitrary direction within the first range;
• a laser receiving unit which receives a reflected beam of the laser beam;
• a second imaging unit which images a second range including a radiation position of the laser beam within the first range to generate a second image;
• a laser radiation position specification unit which searches for a portion matching the second image in the first image to specify the radiation position in the first image;
• and
• a distance calculation unit which calculates the distance to the radiation position specified by the laser radiation position specification unit based on the time of receiving the reflected beam by the laser receiving unit;
• and
• B. calculation device including:
• an image analysis unit which extracts a plurality of feature points in the first image obtained at a first imaging position by the imaging device and the first image obtained at a second imaging position by the imaging device, and calculates the relative position and the relative angle of the imaging device at the first and second imaging positions by performing pattern-matching of the extracted feature points;
• and
• a three-dimensional data creation unit which creates three-dimensional data of a subject based on the first image obtained at the first and second imaging positions and the relative position and the relative angle calculated by the image analysis unit.