3 3 3 3 3D information calculation apparatus 3D measurement apparatus 3D information calculation method and 3D information calculation program

摘要

Provided is a three-dimensional information calculation device that can accurately measure the distance to the subject by excluding the effects of ambient light and compensating for the difference in the image due to the movement of the subject or the hand of the camera. The 3D information computing device 50 first image of the first wavelength region of the same time and the same angle of view of the subject when projecting structural light in the first wavelength region and a second wavelength region different from the first wavelength region An image input unit that receives the third image of the first wavelength region and the fourth image of the second wavelength region at the same time and same angle of view of the subject when the second image and the structure light are not projected; The first image difference unit 51 calculates a first difference image in the first wavelength region based on the subtraction of the first image and the third image, and based on the subtraction of the second image and the fourth image. A second image difference unit 52 for calculating a second difference image in a second wavelength region, an image extraction unit 53 for calculating an extraction image based on subtraction of the first difference image and the second difference image, and It includes a three-dimensional calculation unit 54 for calculating the distance to the subject based on the extracted image.