Three dimensional information measurement method and apparatus

A three dimensional information measurement apparatus, comprising:

• a non-rotating rotator type mirror;
• an imaging apparatus disposed with its light receiving axis aligned with a center axis of said rotator type mirror, for measuring three dimensional information of a target placed in a space surrounding said center axis;
• a reference light projector for projecting reference light in the form of a beam;
• a first scanner for performing a main scan by deflecting said reference light in a direction of projection whereby said direction of projection changes in a circumferential direction centered about said center axis;
• a second scanner for performing a sub scan by deflecting said reference light whereby said direction of projection changes in a direction parallel to said center axis;
• and
• a three dimensional information computing unit for obtaining the three dimensional information of said target, based on a physical quantity corresponding to a projection angle representing the direction of projection of said reference light in the sub scan, and on a physical quantity corresponding to a position of a projected image obtained by said imaging apparatus and representing said reference light reflected from said target via said rotator type mirror.

A three dimensional information measurement apparatus, comprising

• a non-rotating rotator type mirror;
• an imaging apparatus disposed with its light receiving axis aligned with a center axis of said rotator type mirror, for measuring three dimensional information of a target placed in a space surrounding said center axis;
• a radiating reference light projector for projecting radiating reference light into a surrounding area;
• a scanner for performing a scan by deflecting said reference light in such a manner as to change a projection angle of said reference light;
• and
• a three dimensional information computing unit for obtaining the three dimensional information of said target, based on a physical quantity corresponding to said projection angle representing a direction of projection of said reference light in the scan, and on a physical quantity corresponding to a position of a projected image obtained by said imaging apparatus and representing said reference light reflected from said target.

A three dimensional information measurement apparatus, comprising

• a non-rotating rotator type mirror;
• an imaging apparatus disposed with its light receiving axis aligned with a center axis of said rotator type mirror, for measuring three dimensional information of a target placed in a space surrounding said center axis;
• a radiating reference light projector for projecting radiating reference light into a surrounding area;
• a scanner for performing a scan by deflecting said reference light in such a manner as to change a projection angle of said reference light, wherein said scanner includes another rotator type mirror and a driver for moving said other rotator type mirror along said center axis;
• and
• a three dimensional information computing unit for obtaining the three dimensional information of said target, based on a physical quantity corresponding to said projection angle representing a direction of projection of said reference light in the scan, and on a physical quantity corresponding to a position of a projected image obtained by said imaging apparatus and representing said reference light reflected from said target.

A three dimensional information measurement apparatus, comprising:

• a non-rotating rotator type mirror;
• an imaging apparatus disposed with its light receiving axis aligned with a center axis of said rotator type mirror, for measuring three dimensional information of a target placed in a space surrounding said center axis;
• a reference light projector for projecting reference light in the form of a beam;
• a scanner for deflecting said reference light in a direction of projection whereby said direction of projection changes in a circumferential direction centered about said center axis and for deflecting said reference light whereby said direction of projection changes in a direction parallel to said center axis;
• and
• a three dimensional information computing unit for obtaining the three dimensional information of said target, based on a physical quantity corresponding to a projection angle representing the direction of projection of said reference light in a scan, and on a physical quantity corresponding to a position of a projected image obtained by said imaging apparatus and representing said reference light reflected from said target via said rotator type mirror.