DISTANCE IMAGE ACQUISITION APPARATUS AND DISTANCE IMAGE ACQUISITION METHOD

• Main Authors: KAMIYA Takeshi, MASUDA Tomonori, TAKAO Hiroaki, MISAWA Takeshi, FUJITA Koudai
• Format: Patent
• Language: English
• Published: 22.03.2018
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

Disclosed are a distance image acquisition apparatus and a distance image acquisition method capable of acquiring a distance image with satisfactory accuracy based on a first pattern projected from a host apparatus even in a case where patterns of structured light having the same shape are projected simultaneously from the host apparatus and another apparatus. A distance image acquisition apparatus (10) includes a projection unit (12) which projects a pattern of structured light, a light modulation unit (22) which modulates a switching timing of projection and non-projection of the pattern with a code, an imaging unit (14) which is provided in parallel with and apart from the projection unit (12) by a baseline length, performs imaging in synchronization with a projection period and a non-projection period of the pattern, and generates a first captured image captured in the projection period of the pattern and a second captured image captured in the non-projection period of the pattern, a differential image generation unit (20D) which generates a differential image of the first captured image and the second captured image, a pattern extraction unit (20A) which extracts the pattern from the differential image, and a distance image acquisition unit (20B) which acquires a distance image indicating a distance of a subject within a distance measurement region based on the pattern extracted by the pattern extraction unit (20A).