Distance image acquisition apparatus and distance image acquisition method
First Claim
1. A distance image acquisition apparatus comprising:
- a projector which projects a first pattern of structured light distributed in a two-dimensional manner with respect to a subject within a distance measurement region in a plurality of wavelength bandwidths;
a camera which is provided in parallel with and apart from the projector by a baseline length, performs imaging with sensitivities to the plurality of wavelength bandwidths, and generates a plurality of captured images including the first pattern reflected from the subject and corresponding to the plurality of wavelength bandwidths; and
a processor configured to;
determine whether or not a second pattern of structured light projected from another distance image acquisition apparatus is included in the captured images;
extract the first pattern from at least a captured image determined as the second pattern being not included; and
acquire a distance image indicating a distance of the subject within the distance measurement region based on the first pattern extracted,wherein the first pattern and the second pattern are dot patterns, andin a case where the number of dots of a dot pattern in the captured image exceeds the number of dots of the first pattern projected from the projector, the processor determines that the second pattern is included in the captured image.
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Accused Products
Abstract
A distance image acquisition apparatus includes a projection unit which projects a first pattern of structured light in a plurality of wavelength bandwidths, an imaging unit which is provided in parallel with and apart from the projection unit by a baseline length, performs imaging with sensitivities to a plurality of wavelength bandwidths, and generates a plurality of captured images corresponding to a plurality of wavelength bandwidths, a determination unit which determines whether or not a second pattern of structured light projected from another distance image acquisition apparatus is included in the captured images, and a pattern extraction unit which extracts the first pattern from a captured image determined as the second pattern being not included by the determination unit, and a distance image acquisition unit which acquires a distance image indicating a distance of a subject within a distance measurement region based on the first pattern.
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Citations
7 Claims
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1. A distance image acquisition apparatus comprising:
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a projector which projects a first pattern of structured light distributed in a two-dimensional manner with respect to a subject within a distance measurement region in a plurality of wavelength bandwidths; a camera which is provided in parallel with and apart from the projector by a baseline length, performs imaging with sensitivities to the plurality of wavelength bandwidths, and generates a plurality of captured images including the first pattern reflected from the subject and corresponding to the plurality of wavelength bandwidths; and a processor configured to; determine whether or not a second pattern of structured light projected from another distance image acquisition apparatus is included in the captured images; extract the first pattern from at least a captured image determined as the second pattern being not included; and acquire a distance image indicating a distance of the subject within the distance measurement region based on the first pattern extracted, wherein the first pattern and the second pattern are dot patterns, and in a case where the number of dots of a dot pattern in the captured image exceeds the number of dots of the first pattern projected from the projector, the processor determines that the second pattern is included in the captured image. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A distance image acquisition method comprising:
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projecting a first pattern of structured light distributed in a two-dimensional manner with respect to a subject within a distance measurement region from a projector in a plurality of wavelength bandwidths; performing imaging with sensitivities to the plurality of wavelength bandwidths with an camera provided in parallel with and apart from the projector by a baseline length, and generating a plurality of captured images including the first pattern reflected from the subject and corresponding to the plurality of wavelength bandwidths; determining whether or not a second pattern of structured light projected from another distance image acquisition apparatus is included in the captured images; extracting the first pattern from at least a captured image determined as the second pattern being not included; and acquiring a distance image indicating a distance of the subject within the distance measurement region based on the extracted first pattern; and in a case where the number of dots of a dot pattern in the captured image exceeds the number of dots of the first pattern projected from the projector, determining that the second pattern is included in the captured image, wherein the first pattern and the second pattern are dot patterns.
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Specification