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RANGE IMAGE MEASURING APPARATUS

外国特許コード F160008865
整理番号 (S2015-0455-N0)
掲載日 2016年10月5日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2016JP054316
国際公開番号 WO 2016133053
国際出願日 平成28年2月15日(2016.2.15)
国際公開日 平成28年8月25日(2016.8.25)
優先権データ
  • 特願2015-032121 (2015.2.20) JP
発明の名称 (英語) RANGE IMAGE MEASURING APPARATUS
発明の概要(英語) This range image measuring apparatus 1 is provided with: imaging units 3 in which are arrayed a plurality of pixels Xijeach having a photoreception unit 12 for converting pulse light emitted from a light source 2 and reflected by a target object O to an electrical charge, in response to incidence of the pulse light, an electrical charge accumulation unit 13 for accumulating electrical charges transferred from the photoreception unit 12, a charge expulsion unit 14 for expelling electrical charges transferred from the photoreception unit 12, and a gate electrode 15 for controlling transfer of electrical charges from the photoreception unit 12 to the electrical charge accumulation unit 13 or to the charge expulsion unit 14, according to a plurality of control patterns P for controlling the charge transfer destination; and a control means 4 and a signal-processing circuit 5 for, on the basis of the plurality of control patterns P and a plurality of electrical charge quantities Q accumulated in the electrical charge accumulation unit 13, estimating the pulse light flight time from the light source 2 to the photoreception unit 12.
特許請求の範囲(英語) [claim1]
1. The light absorbent section which converts particular pulse light to electric charge at object ones according to the incidence of the pulse light which is reflected,
As it is connected by the aforementioned light absorbent section, the aforementioned electric charge is transferred from the particular light absorbent section, the charge storage section which outputs the electric charge signal by the fact that particular electric charge is accumulated, and,
The gate section which controls the transfer of the aforementioned electric charge to the aforementioned charge storage section from the particular light absorbent section in accordance with the plural control patterns of the specified period which is connected by the aforementioned light absorbent section, controls the transfer of the aforementioned electric charge,
The image pickup element where the plural pixel sections which it possesses respectively are arranged into 2 dimensional condition and,
On the basis of the plural aforementioned electric charge signals, and the particular plural control patterns which are output by the fact that the aforementioned gate section controls the transfer of the aforementioned electric charge the aforementioned plural control patterns with respectively in accordance from the aforementioned charge storage section, until the aforementioned light absorbent section the processing section which presumes the optical duration of flight of the aforementioned pulse light and,
The depth map measuring device which it has.
[claim2]
2. The aforementioned processing section presumes the aforementioned optical duration of flight from the optical duration of flight histogram which is calculated by the fact that opposite problem is solved from the aforementioned plural electric charge signals, and the aforementioned plural control patterns,
As for the aforementioned optical duration of flight histogram, in the claim 1 which corresponds to the frequency distribution of the timing where from the aforementioned light absorbent section the aforementioned electric charge was transferred to the aforementioned charge storage section the depth map measuring device of statement.
[claim3]
3. As for the aforementioned processing section, in the claim 2 which presumes the aforementioned optical duration of flight from peak position in the aforementioned optical duration of flight histogram the depth map measuring device of statement.
[claim4]
4. As for the aforementioned processing section, in the claim 2 which presumes the aforementioned optical duration of flight from center of gravity of the aforementioned frequency distribution in the vicinity of peak position in the aforementioned optical duration of flight histogram the depth map measuring device of statement.
[claim5]
5. As for the aforementioned plural control patterns, random transfer of the aforementioned electric charge on/it turns off either of the claim 1-4 which is pattern of pulse condition in one section the depth map measuring device of statement.
[claim6]
6. Possessing plural aforementioned image pickup elements,
Each one of the plural aforementioned gate sections which are included in the identical aforementioned image pickup element controls the transfer of the aforementioned electric charge in accordance with identical aforementioned control pattern,
As for each one of the plural aforementioned gate sections which are included in the aforementioned image pickup element which differs mutually, either of the claim 1-5 which controls the transfer of the aforementioned electric charge in accordance with the aforementioned plural control patterns which differ mutually in one section the depth map measuring device of statement.
[claim7]
7. Each one of the plural aforementioned gate sections which are included in the plural aforementioned image pickup elements controls the transfer of the aforementioned electric charge in accordance with identical aforementioned control pattern,
The aforementioned processing section presumes the depth map from the compressed picture which includes the aforementioned electric charge signal of the plural aforementioned pixel sections which are output from each one of the plural particular image pickup elements, with stereo method,
As for the aforementioned processing section, parallax and magnification ratio of the aforementioned compressed picture are revised on the basis of the parallax information which is obtained from the particular depth map, the aforementioned optical duration of flight is presumed on the basis of the plural aforementioned compressed pictures, and the plural aforementioned control patterns which are revised,
As for the aforementioned processing section, as the distance which is sought from particular optical duration of flight as the distance which is calculated from every aforementioned pixel section, concerning the distance above specified distance is used, concerning the distance under specified distance in the claim 6 which uses the distance which is obtained by the aforementioned depth map the depth map measuring device of statement.
[claim8]
8. Possessing one aforementioned image pickup element,
The aforementioned pixel section respectively, possessing the plural aforementioned charge storage sections,
The aforementioned pixel section in respectively, as for the aforementioned gate section, either of the claim 1-5 which controls the consecutive following and the transfer of the aforementioned electric charge to the aforementioned plural charge storage sections in the aforementioned plural control patterns which designate the aforementioned charge storage section which differs mutually as ahead transferring the aforementioned electric charge in one section the depth map measuring device of statement.
[claim9]
9. Possessing one aforementioned image pickup element,
The aforementioned pixel section respectively, possessing the plural aforementioned charge storage sections,
The aforementioned pixel section in respectively, as for the aforementioned gate section, in order the aforementioned plural control patterns where the tip of transferring the aforementioned electric charge differs mutually, for the aforementioned electric charge not to be transferred to the plural aforementioned charge storage sections simultaneously, either of the claim 1-5 which controls the transfer of the aforementioned electric charge in accordance with the complex control pattern which is combined in parallel, in one section the depth map measuring device of statement.
[claim10]
10. Each one of the plural aforementioned gate sections which are included in aforementioned plural pixel sections which have been approached mutually controls the transfer of the aforementioned electric charge in accordance with the aforementioned plural control patterns which differ mutually,
As for the aforementioned processing section, either of the claim 1-5 which presumes the aforementioned optical duration of flight on the basis of the aforementioned plural electric charge signals, and the aforementioned plural control patterns which are output by the aforementioned charge storage section which aforementioned plural pixel sections which have been approached mutually have in one section the depth map measuring device of statement.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • SHIZUOKA UNIVERSITY
  • 発明者(英語)
  • KAGAWA KEIICHIRO
  • KAWAHITO SHOJI
  • MOCHIZUKI FUTA
  • YASUTOMI KEITA
国際特許分類(IPC)
指定国 National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS JP KE KG KN KP KR KZ LA LC LK LR LS LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG
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