公开(公告)号：US09807369B2

公开(公告)日：2017-10-31

申请号：US14043899

申请日：2013-10-02

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Manabu Usuda ,  Kazutoshi Onozawa ,  Kazuo Fujiwara

IPC: H04N13/02 ,  G01S17/02 ,  G01S17/89 ,  G01S7/491 ,  G01C11/06

CPC classification number: H04N13/239 ,  G01C11/06 ,  G01S7/4914 ,  G01S17/023 ,  G01S17/89 ,  H04N13/254 ,  H04N13/257 ,  H04N13/271

Abstract: A 3D imaging apparatus includes: a first image capturing camera generating a base image to be used for obtaining a first range image showing a three-dimensional character of an object; a second image capturing camera generating a reference image to be used for obtaining the first range image; a stereo matching unit searching for corresponding pixels between the base image and the reference image, and generating a first range image by calculating a disparity between the corresponding pixels; and a light source emitting to the object infrared light whose intensity is modulated. The first image capturing camera further generates a second range image by receiving a reflected light in synchronization with the modulated intensity. The reflected light is the infrared light reflected off the object. The second range image includes range information on a range between a point of reflection off the object and the first imaging unit.