Range image producing method and apparatus for image taking
First Claim
1. A range image producing method of producing a range image in which a distance is represented with a pixel value by image taking of a scene containing a principal object from an image taking position with an image pickup device, comprising steps of:
- applying light modulated at a predetermined period to said scene;
determining a first distance range and a second distance range, wherein said first distance range is from an image taking position to a point short of said principal object, and said second distance range is a distance range defined by eliminating said first distance range from a range between said image taking position and said principal object;
receiving said light reflected by an object located in a first distance range with said image pickup device in a reception sequence and reception time according to said first distance range, to output a first image signal;
receiving said light reflected by said principal object with said image pickup device in a reception sequence and reception time according to said second distance range, to output a second image signal;
forming a first range image and a second range image according to respectively said first and second image signals; and
designating blank portions within said second range image by comparison of said first and second range images, to compensate for said blank portions for forming said range image.
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Abstract
An apparatus for image taking includes a range image sensor, in which a range image is produced in which a distance is represented with a pixel value by image taking of a principal object from an image taking position. An image pickup device receives light reflected by the principal object, to output an image signal for respective pixels. A light reception control unit changes over a reception sequence and reception time, and causes the image pickup device to output image signals associated with first and second distance ranges. The second distance range is a distance range where the principal object exists and is over the first distance range. A first range image and second range image, are formed according to the image signals. Blank portions are designated within the second range image by comparison of the first range image and second range image, to compensate for the blank portions.
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Citations
11 Claims
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1. A range image producing method of producing a range image in which a distance is represented with a pixel value by image taking of a scene containing a principal object from an image taking position with an image pickup device, comprising steps of:
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applying light modulated at a predetermined period to said scene; determining a first distance range and a second distance range, wherein said first distance range is from an image taking position to a point short of said principal object, and said second distance range is a distance range defined by eliminating said first distance range from a range between said image taking position and said principal object; receiving said light reflected by an object located in a first distance range with said image pickup device in a reception sequence and reception time according to said first distance range, to output a first image signal; receiving said light reflected by said principal object with said image pickup device in a reception sequence and reception time according to said second distance range, to output a second image signal; forming a first range image and a second range image according to respectively said first and second image signals; and designating blank portions within said second range image by comparison of said first and second range images, to compensate for said blank portions for forming said range image. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus for image taking and for producing a range image in which a distance is represented with a pixel value by image taking of a scene containing a principal object from an image taking position with an image pickup device, comprising:
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a light source for applying light modulated at a predetermined period to said scene; a light reception control unit for changing over a reception sequence and reception time between a first receiving condition for a first distance range and a second receiving condition for a second distance range in a scanning period of one frame, to cause said image pickup device to output first and second image signals associated with said first and second receiving conditions, wherein said first distance range is from an image taking position to a point short of said principal object, and said second distance range is a distance range defined by eliminating said first distance range from a range between said image taking position and said principal object; an image forming unit for forming a first range image and a second range image according to respectively said first and second image signals; and an image processor for designating blank portions within said second range image by comparison of said first and second range images, to compensate for said blank portions for forming said range image. - View Dependent Claims (8, 9)
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10. An apparatus for image taking, comprising:
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an image taking lens for focusing light from a scene containing a principal object; a visible light image pickup device for receiving said light from said scene, to output a visible image signal by photoelectric conversion; a light source for applying infrared rays modulated at a predetermined period to said scene; path splitting optics disposed between said image taking lens and said visible light image pickup device; an infrared image pickup device, disposed in a light path of split of said path splitting optics, for carrying out photoelectric conversion of said infrared rays reflected by said object in said scene, to output an infrared image signal; a light reception control unit for changing over a reception sequence and reception time between a first receiving condition for a first distance range and a second receiving condition for a second distance range in a scanning period of one frame, to cause said infrared image pickup device to output first and second infrared image signals associated with said first and second receiving conditions, wherein said first distance range is from an image taking position to a point short of said principal object, and said second distance range is a distance range defined by eliminating said first distance range from a range between said image taking position and said principal object; an image forming unit for forming a visible light image according to said visible image signal, and for forming a first range image and a second range image according to respectively said first and second infrared image signals; an image processor for designating blank portions within said second range image by comparison of said first and second range images, to compensate for said blank portions for forming said range image; and a visible light image extractor for extracting an image from said visible light image according to said second range image. - View Dependent Claims (11)
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Specification