Abstract: In an aspect of the invention, a projector apparatus (20) with a distance image acquisition device includes a projection image generation unit (28), a difference value acquisition unit (101) that acquires a difference value between distance information of a first distance image acquired at a first timing and distance information of a second distance image acquired at a second timing, a determination unit (103) that determines whether the body to be projected is at a standstill on the basis of the difference value acquired by the difference value acquisition unit (101), a projection instruction unit (105) that outputs a command to project an image generated by the projection image generation unit (28) to the body to be projected, and a projection control unit (107) that controls a projection operation of the projector apparatus (20) on the basis of the projection command output from the projection instruction unit (105).

Abstract: A distance image acquisition apparatus includes a projection unit which performs a plurality of times of light emission with a plurality of light emission intensities to project a first pattern of structured light onto a subject within a distance measurement region, an imaging unit which is provided in parallel with and apart from the projection unit by a baseline length, images the subject in synchronization with each of the plurality of times of light emission, and generates a plurality of captured images corresponding to the plurality of light emission intensities, a normalization unit which normalizes a plurality of captured images with coefficients corresponding to the plurality of light emission intensities to acquire a plurality of normalized images, a discrimination unit which compares a plurality of normalized images and discriminates the first pattern projected from the projection unit, and a distance image acquisition unit.

Abstract: A received light signal of the measurement light which is reflected from the subject and is then incident on a distance image sensor is acquired from the distance image sensor and a distance image is generated on the basis of the acquired received light signal. The position of a leading end of a medical instrument inserted into the subject is acquired. A leading end position image indicating the position of the leading end of the medical instrument in the subject is acquired. A projection image which is projected to the subject and corresponds to a surface shape of a corresponding part of the subject corresponding to the position of the leading end is generated from the leading end position image, on the basis of the shape of the subject detected from the distance image and the position of the leading end. The projection image is projected to the corresponding part.

Abstract: A distance measurement device includes an emission unit, a detection unit, a first reduction unit that reduces, based on a detection result of the detection unit, influence of variation of an optical axis of the image formation optical system on a subject image received as light by a light receiving section, a second reduction unit that reduces variation of an optical axis of the directional light with respect to the subject based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section.

Abstract: A distance measurement device includes an emission unit, a detection unit, a first reduction unit that reduces, based on a detection result of the detection unit, influence of variation of an optical axis of the image formation optical system on the subject image received as light by the light receiving section, a second reduction unit that reduces variation of an optical axis of the directional light with respect to the subject based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section.

Abstract: A distance measurement device includes an imaging unit, a measurement unit that measures a distance to a subject by emitting directional light which is light having directivity to the subject and receiving reflection light of the directional light, and a deriving unit that acquires a correspondence relation between an in-provisional-image irradiation position, which corresponds to an irradiation position of the directional light onto the subject, within a provisional image acquired by provisionally imaging the subject by the imaging unit whenever each of a plurality of distances is provisionally measured by the measurement unit and a distance which is provisionally measured by the measurement unit by using the directional light corresponding to the in-provisional-image irradiation position, and derives an in-actual-image irradiation position, within an actual image acquired by performing actual imaging by the imaging unit, based on the acquired correspondence relation.

Abstract: The invention provides a projector apparatus with a distance image acquisition device and a projection mapping method that can project an image focused on the entire projection object even in a case in which there is a difference in distance to the projection object and the projection object moves. Two projector apparatuses with a TOF camera, that is, a first projector apparatus with a TOF camera including a first projector apparatus for a far distance and a first TOF camera that acquires a distance image of a far projection object and a second projector apparatus with a TOF camera including a second projector apparatus for a near distance and a second TOF camera that acquires a distance image of a near projection object can project a projection image for a far distance and a projection image for a near distance which are focused on the entire projection object even in a case in which there is a difference in distance to the projection object and the projection object moves.

Abstract: A distance measurement device includes an imaging unit, a measurement unit, a change unit that is capable of changing an angle at which the directional light is emitted, a deriving unit that derives an in-image irradiation position corresponding to an irradiation position of the directional light onto the subject which is used in measurement, within a captured image based on the distance measured by the measurement unit and the angle, and a control unit that controls the measurement unit to measure the distance and controls the deriving unit to derive the in-image irradiation position based on the distance measured by the measurement unit and the angle changed by the change unit until the in-image irradiation position falls in a default range within the captured image in a case where the in-image irradiation image is out of the default range.

Abstract: A distance measurement device measures a distance to a subject by emitting directional light to the subject and receiving reflection light of the directional light, acquires a correspondence relation between an in-provisional-image irradiation position, which corresponds to an irradiation position of the directional light onto the subject, within a provisional image acquired by provisionally imaging the subject whenever each of a plurality of distances is provisionally measured and a distance which is provisionally measured by using the directional light corresponding to the in-provisional-image irradiation position, derives an in-actual-image irradiation position, within an actual image acquired by performing actual imaging based on the acquired correspondence relation, and performs a predetermined process as a process of suppressing a decrease in accuracy of the in-actual-image irradiation position in a case where the distance acquired through the actual measurement is out of a range of a distance specified

Abstract: A distance measurement device includes an imaging unit, an emission unit, a light receiving unit, a derivation unit which derives a distance to the subject based on a timing at which directional light is emitted and a timing at which reflected light is received, an execution unit which executes at least one of focus adjustment of an imaging optical system with respect to the subject or exposure adjustment prior to imaging by the imaging unit, and a control unit which performs control such that the timing at which at least one of focus adjustment or exposure adjustment is executed by the execution unit and the timing of a distance measurement by the emission unit, the light receiving unit, and the derivation unit are synchronized and performs control such that transition is performed to a state where actual exposure by the imaging unit is possible after the distance measurement is completed.

Abstract: A distance image acquisition apparatus includes a projection unit which projects a first pattern of structured light in a plurality of wavelength bandwidths, an imaging unit which is provided in parallel with and apart from the projection unit by a baseline length, performs imaging with sensitivities to a plurality of wavelength bandwidths, and generates a plurality of captured images corresponding to a plurality of wavelength bandwidths, a determination unit which determines whether or not a second pattern of structured light projected from another distance image acquisition apparatus is included in the captured images, and a pattern extraction unit which extracts the first pattern from a captured image determined as the second pattern being not included by the determination unit, and a distance image acquisition unit which acquires a distance image indicating a distance of a subject within a distance measurement region based on the first pattern.

Abstract: The distance image acquisition apparatus (10) includes a projection unit (12) which projects a first pattern of structured light distributed in a two-dimensional manner with respect to a subject within a distance measurement region, a light modulation unit (22) which spatially modulates the first pattern projected from the projection unit (12), an imaging unit (14) which is provided in parallel with and apart from the projection unit (12) by a baseline length, and captures an image including the first pattern reflected from the subject within the distance measurement region, a pattern extraction unit (20A) which extracts the first pattern spatially modulated by the light modulation unit (22) from the image captured by the imaging unit (14), and a distance image acquisition unit (20B) which acquires a distance image indicating a distance of the subject within the distance measurement region based on the first pattern.

Abstract: 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.

Abstract: A distance image acquisition apparatus includes a projection unit which performs a plurality of times of light emission with a plurality of light emission intensities to project a first pattern of structured light onto a subject within a distance measurement region, an imaging unit which is provided in parallel with and apart from the projection unit by a baseline length, images the subject in synchronization with each of the plurality of times of light emission, and generates a plurality of captured images corresponding to the plurality of light emission intensities, a normalization unit which normalizes a plurality of captured images with coefficients corresponding to the plurality of light emission intensities to acquire a plurality of normalized images, a discrimination unit which compares a plurality of normalized images and discriminates the first pattern projected from the projection unit, and a distance image acquisition unit.

Abstract: The distance image acquisition apparatus (10) includes a projection unit (12) which projects a first pattern of structured light distributed in a two-dimensional manner with respect to a subject within a distance measurement region, a light modulation unit (22) which spatially modulates the first pattern projected from the projection unit (12), an imaging unit (14) which is provided in parallel with and apart from the projection unit (12) by a baseline length, and captures an image including the first pattern reflected from the subject within the distance measurement region, a pattern extraction unit (20A) which extracts the first pattern spatially modulated by the light modulation unit (22) from the image captured by the imaging unit (14), and a distance image acquisition unit (20B) which acquires a distance image indicating a distance of the subject within the distance measurement region based on the first pattern.

Abstract: Disclosed are a distance image acquisition apparatus and a distance image acquisition method capable of achieving high distance measurement accuracy and omitting wasteful imaging or calculation. The distance image acquisition apparatus (10) includes a distance image sensor (14), a drive mode setting unit (20A), a distance image generation unit (20B), a pulse light emission unit (22), and an exposure control unit (24). The exposure control unit (24) controls emission and non-emission of pulse light emitted from the pulse light emission unit (22) according to a drive mode set by the drive mode setting unit (20A), and controls exposure in the distance image sensor (14). The distance image generation unit (20B) performs calculation processing of a sensor output acquired from the distance image sensor (14) according to the drive mode set by the drive mode setting unit (20A) to generate a distance image corresponding to a distance of a subject.

Abstract: A distance image acquisition apparatus includes a projection unit which projects a first pattern of structured light in a plurality of wavelength bandwidths, an imaging unit which is provided in parallel with and apart from the projection unit by a baseline length, performs imaging with sensitivities to a plurality of wavelength bandwidths, and generates a plurality of captured images corresponding to a plurality of wavelength bandwidths, a determination unit which determines whether or not a second pattern of structured light projected from another distance image acquisition apparatus is included in the captured images, and a pattern extraction unit which extracts the first pattern from a captured image determined as the second pattern being not included by the determination unit, and a distance image acquisition unit which acquires a distance image indicating a distance of a subject within a distance measurement region based on the first pattern.

Abstract: A distance measurement device includes a detection unit, an optical path forming unit, a first reduction unit, based on a detection result of the detection unit, influence of variation of the optical axis of the image formation optical system, a second reduction unit that is disposed in a different part from a common optical path and reduces variation of the optical axis of the directional light with respect to the subject based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section.

Abstract: A distance measurement device includes a detection unit, an optical path forming unit, a common reduction unit that reduces influence of variation of an optical axis of an image formation optical system, and reduces variation of an optical axis of the directional light, an auxiliary reduction unit that auxiliarily reduces at least one of influence of variation of the optical axis of the image formation optical system or variation of the optical axis of the directional light, and a control unit that, in a case of operating the common reduction unit and the auxiliary reduction unit at the same time, controls the common reduction unit and the auxiliary reduction unit to reduce variation of an irradiation position of the directional light in a subject image received as light by a light receiving section.

Abstract: A distance measurement device includes an emission unit, a detection unit, a first reduction unit that reduces, based on a detection result of the detection unit, influence of variation of an optical axis of the image formation optical system on a subject image received as light by a light receiving section, a second reduction unit that reduces variation of an optical axis of the directional light with respect to the subject based on the detection result of the detection unit, and a control unit that, in the case of operating the first reduction unit and the second reduction unit at the same time, controls the first reduction unit and the second reduction unit to reduce variation of an irradiation position of the directional light in the subject image received as light by the light receiving section.