Imaging device
To improve a distance measurement accuracy by combining a plurality of distance measuring methods while avoiding interference of projection light. A light source projection unit projects intensity-modulated spatial pattern light. A time-of-flight distance measurement camera measures a distance to an object on the basis of a time of flight of a modulated component included in reflected light of the spatial pattern light from the object. A spatial information distance measurement camera measures a distance to the object on the basis of spatial information included in the reflected light. A depth synthesizing unit synthesizes measurement results of the distances in the time-of-flight distance measurement camera and the spatial information distance measurement camera to determine a depth value of each pixel position of an image imaged by the time-of-flight distance measurement camera or the spatial information distance measurement camera.
1. An imaging device comprising:
a light source projection unit configured to project intensity-modulated spatial pattern light;
a first time-of-flight distance measurement camera configured to measure a distance to an object on the basis of a time of flight of a modulated component included in reflected light of the spatial pattern light from the object;
a spatial information distance measurement camera configured to measure a distance to the object on the basis of spatial information included in the reflected light;
a depth synthesizing unit configured to synthesize measurement results of the distances in the first time-of-flight distance measurement camera and the spatial information distance measurement camera to determine a depth value of each pixel position of an image imaged by the first time-of-flight distance measurement camera or the spatial information distance measurement camera; and
a second time-of-flight distance measurement camera configured to measure a distance to the object on the basis of the time of flight of the modulated component included in reflected light of the spatial pattern light from the object, wherein
the first time-of-flight distance measurement camera and the second time-of-flight distance measurement camera are operated with the spatial information distance measurement camera; wherein
each of the first time-of-flight distance measurement camera and the second time-of-flight distance measurement camera generates a depth value of each pixel position and reliability of the depth value as the measurement result,
the first time-of-flight distance measurement camera and the second time-of-flight distance measurement camera generate a depth value of each pixel position and reliability of the depth value as the measurement result as the spatial information distance measurement camera, and
the depth synthesizing unit selects a depth value having highest reliability in the measurement results of the first time-of-flight distance measurement camera and the second time-of-flight distance measurement camera and the measurement result as the spatial information distance measurement camera, for each pixel, to determine the depth value of each pixel position.
2. The imaging device according to claim 1 , wherein
the light source projection unit includes
a light source generation unit configured to generate an intensity-modulated light source according to a predetermined modulation signal and a predetermined vertical synchronization signal, and
an optical element configured to deform the light source according to a spatial position to generate the spatial pattern light.
3. The imaging device according to claim 1 , wherein
the depth synthesizing unit determines the depth value of each pixel position on the basis of magnitude of the reliability in the measurement result.
4. The imaging device according to claim 3 , wherein
the depth synthesizing unit selects a depth value having highest reliability in the measurement results, for each pixel, to determine the depth value of each pixel position.
5. The imaging device according to claim 1 , wherein
the first time-of-flight distance measurement camera and the spatial information distance measurement camera are an integrated camera that measures a distance to the object on the basis of the time of flight of the modulated component included in reflected light, and measure a distance to the object on the basis of triangulation calculation regarding the spatial information included in the reflected light.