Abstract: Systems and methods applicable, for example, in distance functionality. A device might, for instance, perform image capture during translocation. Distance between the device and one or more objects might, for example, be determined. Such determination might, for instance, take into account translocation determination regarding one or more of the objects and translocation determination regarding the device.

Abstract: A position measuring system, comprising a distance measuring unit for projecting and scanning a pulsed beam for measurement to a measurement area and for measuring a distance based on a reflected light of the pulsed beam for measurement and for obtaining a position data group in the measurement area, a digital image pickup unit for acquiring an image data by taking an image of the measurement area, a storage unit for storing at least two sets of the position data groups and the image data acquired from at least two directions by interrelating and associating the position data groups with the image data, and an arithmetic unit for synthesizing the at least two position data groups through matching of the two images based on the two stored image data.

Abstract: A method, system, and medium for indexing an image object. The system of indexing an image object, the system includes: an image input unit receiving an image from a camera of a portable device, and displaying the received image on a display unit; a geographical object identification unit identifying a geographical object included in an object location corresponding to the image; a context information extraction unit extracting context information corresponding to the identified geographical object from a context database; and a display control unit displaying the context information on a position of the image, the position corresponding to the geographical object, and the image being displayed on the display unit.

Abstract: A position and orientation measurement apparatus has a subjective-view-index detection unit which detects indices on a physical space from an image captured by a subjective-view camera, an additional subjective-view-index detection unit which detects indices on the physical space from an image captured by an additional subjective-view camera having a spatial resolution different from the subjective-view camera, and a position and orientation estimation unit which calculates the position and orientation of the subjective-view camera using information associated with the image coordinates of the detected indices.

Abstract: A surveying apparatus is provided that includes a digital camera, an area-size presetter, a distance detector, an extracted-area calculator, and a trimming processor. The area-size presetter is used to preset the actual size of an extracted area to be imaged around a measurement point. The distance detector measures a distance to the measurement point. The extracted-area calculator determines the extracted area within an image captured by the digital camera. The extracted area is determined based on the distance and the preset size of the extracted area. The trimming processor extracts a trimming image including the extracted area from the captured image.

Abstract: A system and method for efficiently performing a depth map recovery procedure includes an imaging device that is implemented in a single-lens stereo-shutter configuration for simultaneously capturing overlaid images corresponding to a photographic target. A depth map generator is configured to analyze the overlaid images to determine disparity values corresponding to separation distances between matching points in the overlaid images. The depth map generator then utilizes the disparity values to calculate depth values that correspond to locations in the photographic target. The depth map generator may then utilize the foregoing depth values for creating a depth map corresponding to the photographic target.

Abstract: A non-contact imaging apparatus for examining an object having complex surfaces or shape deformations. The imaging apparatus includes at least one imaging device for obtaining a scanned image of the exterior surfaces of the object being examined. A predetermined reference image) of an ideal model for the object is stored in a memory. An image register is coupled to the imaging device and to the memory containing the reference image of the ideal model for the object. A transformation estimator compares the scanned image to the reference image and provides a transform which maps the scanned image to the reference image and provides a set of registered object data points. One or more filter modules process the registered object data points with a priori information to reduce noise and to further enhance the accuracy and precision of the registration. A gauge estimator is coupled to the filter module.

Abstract: A source image (S1) distorted by a camera lens can be transformed into a rectified target image (T), by means of a tabular imaging specification. The above occurs during read-out from the image sensor and in real-time. Each source pixel in the source image is assigned none, one or several target pixels in the target image (T1). A first controller (C1) controls the image sensors (B1, B2) accurately with tine and the image equalization and image correlation. A second controller (C2) controls the first controller (C1) and works in a manner temporally decoupled from the above.

Abstract: A system and method for cleaning a set of motion capture data, wherein the data correspond to a set of point coordinates relating to a model but may include missing or inaccurate values. A subset of the motion capture data is identified that corresponds to valid points matching locations of corresponding points of the model, and a best set of model parameters is computed in such a manner as to minimize a norm of the valid points with respect to the model. A complete set of point coordinates is then predicted based on the best set of model parameters and a subsequent set of cleaned motion capture data. Actual points are inserted where validated, and the process is iterated until a specified criterion is met.

Abstract: A vehicle vision system that uses a depth map, image intensity data, and system calibration parameter to determine a target's dimensions and relative position. Initial target boundary information is projected onto the depth map and onto the image intensity. A visibility analysis determines whether the rear of a target is within the system's field of view. If so, the mapped image boundary is analyzed to determine an upper boundary of the target. Then, vertical image edges of the mapped image boundary are found by searching for a strongest pair of vertical image edges that are located at about the same depth. Then, the bottom of the mapped image boundary is found (or assumed from calibration parameters). Then, the target's position is found by an averaging technique. The height and width of the target are then computed.

Abstract: An Image analysis system uses a multiple-region light detector for detecting light received from the receiving optics, wherein different regions of the light detector can be actuated separately. Control electronics synchronises the timing and direction of illumination of the light source and the actuation of the light detector. The time of light of light signals from the light source to the actuated portion of the detector for all illuminated directions is measured, and distances are derived. A warning is generated if the derived distance is less than a predetermined threshold.

Abstract: A method of distance estimation is to be implemented using a digital camera, and includes: selecting a pre-established reference dimension corresponding to a target whose distance is to be estimated; enabling operation of the digital camera to capture a clear image containing the target; obtaining a focal length corresponding to the captured clear image; calculating an image dimension for each of predetermined distance values with reference to the selected reference dimension and the focal length; and showing the distance values on a display unit at positions based on proportions of the calculated image dimensions. The distance of the target can be estimated as one of the distance values corresponding to a dimension of the target image contained in the clear image and shown on the display unit.

Abstract: A technique for optical navigation involves summing intensity values from a photodetector array on a per-column and a per-row basis for both reference image data and sample image data and then performing separate one-dimensional cross-correlations on the per-column sums and on the per-row sums to separately determine displacement in the x and y directions, respectively.

Abstract: A method and system for improving the accuracy and timeliness of video metadata by incorporating information related to the motion of the camera as derived from the video imagery itself. Frame-to-frame correspondences are used to accurately estimate changes in camera pose. While the method and system do not require geo-registration, geo-registration results, if available, may be considered in processing the video images and generating improved camera pose estimates.

Abstract: A method for determining the distance of visibility for a driver of a vehicle in the presence of an element disrupting the visibility of the driver, the method comprising the following steps: determining the luminosity of the pixels of a region of an image taken in the field of vision of the driver, resulting in a luminosity curve, determining a first tangent to the curve of luminosity, determining a second tangent to the curve of luminosity, determining a sweep-line according to the first tangent and second tangent, the sweep-line being representative of the distance of visibility.

Abstract: Navigating a UAV, including receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation, the pixel having a location on the GUI; mapping the pixel's location on the GUI to Earth coordinates of the waypoint; receiving downlink telemetry, including a starting position from a GPS receiver on the UAV, from the UAV through a socket on the remote control device; calculating a heading in dependence upon the starting position, the coordinates of the waypoint, and a navigation algorithm; identifying flight control instructions for flying the UAV on the heading; and transmitting uplink telemetry, including the flight control instructions, through the socket to the UAV. In some embodiments the UAV is piloted, under control of a navigation computer on the UAV, from the starting position to the waypoint in accordance with a navigation algorithm.

Abstract: The invention is a method for printing a color proof from an initial halftone bitmap file (10) having individual dots (10a, 10b, 10c, 10d) using a spatial filter (20) which is created from a calibration curve (30) for a printing press (380). The method further consists of sending an initial halftone bitmap file consisting of individual dots to the spatial filter creating a filtered output (40), quantizing the filtered output from the spatial filter to “n” levels to create a quantized image (50), transmitting the quantized image to a color printer (70), and printing a halftone color proof (80) on the color printer.

Abstract: A distance measuring apparatus and method in which a target subject is detected from image data obtained through imaging, the distance to the object is calculated based on the size of the target subject, and the distance to the target subject is further measured using a distance measuring sensor. Then, a subject distance is determined according to the size of the detected target subject, and based on the distance to the target subject calculated based on the size of the target subject and/or the distance to the target subject obtained by the distance measuring sensor.

Abstract: A method and system are disclosed for estimating a position of moving objects in a set of image data. In accordance with exemplary embodiments of the present invention, a position of an object is identified in a first frame of image data acquired at a first time. The object is determined to be undetected in a second frame of image data acquired at a second time. Movement of the object is estimated to determine its estimated position in the second frame of image data using at least one of velocity and acceleration of the object and time between frames of image data. The estimated position is used to determine a position of the object in a third frame of image data acquired at a third time.

Abstract: A mobile apparatus is provided, which includes a plurality of imaging devices, a measurement device for measuring a current position and direction of the imaging devices, a map data storing section which stores map data including at least registered information on positions of stationary objects, a recognized distance calculating section which obtains a parallax for a plurality of images, a reference distance calculating section which calculates a reference distance from the imaging devices to a front border of each stationary object, a retracting section for determining a range of image processing, which selects a set of pixels to be processed so as to generate a retracted image, a detecting section for detecting objects from the retracted image, a transport device, and a transport controller for controlling movement of the transport device according to information about the objects detected by the detecting section.

Abstract: The present invention comprises an illumination portion (11), and, a light receiving portion (12) having an image sensor (27) which are disposed in a surveying machine body (8), arithmetic portion (38) for calculating a position of a reflection light image (MO) from a reflector (2) in an area of the image sensor (27) based on a received light of the image sensor (27), a rotation mechanism for rotating the surveying machine body (8) so as to position the reflector (2) on a light receiving optical axis of the light receiving portion (12) based on the position obtained by the arithmetic portion (38), a storing portion (45) for storing a quantity of light of each pixel in the image sensor (27), and an edge position detecting portion (46) for detecting a beginning edge position (La) and end edge potion (Lb) of the reflection light image (MO) every scanning line in the image sensor (27).

Abstract: An image size changing section obtains a size-changed image by changing the size of one of two original images captured by a pair of cameras. If an edge of an object has many oblique components, the edge is difficult to detect as a vertical edge but, when the image is horizontally reduced, an oblique edge becomes close to a vertical edge. For this reason, a feature end points are extracted with reliability by a feature extracting section and, thereby, an object is recognized and the distance to the object is determined reliably.

Abstract: A moving object detection device comprising: an object distance setting part, determining the distance to a moving object that moves the most based on a distance image, in which information on distances to image-taken objects are embedded, and a difference image, in which the movements of moving objects are embedded as movement information; an object distance image generating part, generating an object distance image corresponding to the abovementioned distance; and a contour extraction part, extracting a contour inside the object distance image to detect a moving object.

Abstract: In a computerized system including a camera mounted in a moving vehicle. The camera acquires consecutively in real time image frames including images of an object within the field of view of the camera. Range to the object from the moving vehicle is determined in real time. A dimension, e.g. a width, is measured in the respective images of two or more image frames, thereby producing measurements of the dimension. The measurements are processed to produce a smoothed measurement of the dimension. The dimension is measured subsequently in one or more subsequent frames. The range from the vehicle to the object is calculated in real time based on the smoothed measurement and the subsequent measurements. The processing preferably includes calculating recursively the smoothed dimension using a Kalman filter.

Abstract: Exemplary embodiments of the present invention include a method for navigating a UAV. Such embodiments include receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation. The pixel has a location on the GUI. Such embodiments also include mapping the pixel's location on the GUI to Earth coordinates of the waypoint, transmitting the coordinates of the waypoint to the UAV, reading a starting position from a GPS receiver on the UAV, and piloting the UAV, under control of a navigation computer on the UAV, from the starting position to the waypoint in accordance with a navigation algorithm.

Abstract: A method for approximating an object's pose from a camera generated image of a scene is performed by first extracting a binary map from the image. The binary map is filtered to include silhouettes of objects located within a predetermined range of distances from the camera. An initial binary shape template may be applied to the binary map to locate potential target object silhouettes. Iterative stages of binary templates are applied to the each target object silhouette that represent a range of poses of the target object. Each stage of templates has higher spatial fidelity than the previous stage and poses corresponding to templates that do not sufficiently match the silhouette are eliminated from consideration. The target object's pose is approximated based on a set of templates that best matches the target object silhouette.

Abstract: First image data including a first pixel value according to the intensity of background light is obtained by means of only exposure. Second image data including a second pixel value according to the intensity of the light reflected or scattered by an object is obtained by so controlling light emission and exposure as to receive part of the reflected or scattered light over the whole exposure period. The part of the reflected or scattered light corresponds to the flat period of emitted pulsed light. Third image data including a third pixel value according to the distance to the object is obtained by so controlling light emission and exposure as to receive the part of the reflected or scattered light for a time according to the distance. The first pixel value is subtracted from each of the second and third pixel values so that the influence of the background light can be excluded.

Abstract: A driving assistance system for regulating an operation of a vehicle in a discrete manner according to different ranges of risk potentials associated with the vehicle, such that different risk potentials in different ranges are conveyed to the driver in a different and discrete manner. The system includes a device for calculating a risk potential associated with the vehicle, and a data processor for regulating an operation of the vehicle, such as a reaction force applied to the acceleration pedal, based on a control parameter assuming one of a plurality of values according to the calculated risk potential associated with the vehicle, wherein each of the values is assigned to one of a plurality of predetermined ranges of risk potentials.

Abstract: An image analysis device installed on a vehicle for detecting objects that are likely to affect the vehicle. An image processing unit included in the image analysis device sets a seeking area in a left-hand image of the field, and calculates a moving increment for seeking “Step” using a variable “n”. A correlation calculation process is sequentially executed in the seeking area set in the left-hand image of the field while moving a reference image stepwise at the moving increment “Step” so as to obtain a correlation area that gives the highest degree of correlation, and then a new seeking area is set, which consists of the correlation area and horizontally arranged two areas that sandwich the correlation area, and the moving increment “Step” is decreased in order to reduce the amount of calculation.

Abstract: A projection array is provided that comprises a plurality of discrete projection elements. An image array is obtained of a scene with the light projected onto it that is coded using the projection array. Correspondence information is determined for each element in the image array, where the correspondence information can be used to determine which of the plurality of elements in the projection array corresponds to a particular image element. The determination of correspondence information for each element in the image array can be made independently of correspondence information for other elements in the image array.

Abstract: An image capturing apparatus for obtaining information regarding a depth of a subject, includes: a capturing section for performing image capturing for the subject at a plurality of viewpoints; and a controller for controlling the capturing section to successively perform the image capturing at the plurality of viewpoints, wherein the controller controls the capturing section to perform the image capturing for the subject two or more times at least one of the viewpoints.

Abstract: Deriving a three-dimensional panorama from a plurality of images of a scene generated by a range imaging camera of the type that produces ambiguities in range information includes the steps of: (a) acquiring a plurality of adjacent images of the scene, wherein there is an overlap region between the adjacent images and at least some of the adjacent images are range images; (b) providing offset data for the range images in order to recover corrected relative scene spatial information and provide a corrected range image, and (c) deriving a three-dimensional panorama from the corrected range image. In order to provide offset data, a relative range difference is detected between adjacent range images as a constant offset between the adjacent images; and the constant offset is applied to at least one of adjacent range images to correct for ambiguities in the relative ranges of the range images.

Abstract: A system and apparatus for acquiring images of electric transmission line tower structures, equipment attached to said tower structures, and transmission lines suspended from said towers. The system uses a fixed wing aircraft and an arrangement of at least one still camera, means for detecting a tower structure, a data storage unit, and a central processing unit containing operational software. The central processing unit is connected to the camera, the means for detecting a tower structure, and the storage unit. The detection means is a laser altimeter or a combination of preset longitude/latitude coordinates for tower locations and a GPS unit which supplies continuous longitude/latitude coordinates for the aircraft location for comparison to those preset coordinates. The aircraft is flown along the transmission line at a predetermined altitude above the tops of said towers (60–100 feet).

Abstract: Latitudes and longitudes of first and second points on a measured map image are recorded together with an image file. First, a beginning of position information data of the map image is shown. Subsequently, it is shown that information of the first point is started. Subsequently, an X coordinate of the first point on the map image is shown. Subsequently, a Y coordinate of the first point on the map image is shown. Subsequently, the latitude of the first point is shown. Subsequently, the longitude of the first point is shown. Subsequently, it is shown that information of the second point is started. Subsequently, an X coordinate of the second point on the map image is shown. Subsequently, a Y coordinate of the second point on the map image is shown. Subsequently, the latitude of the second point is shown. Subsequently, the longitude of the second point is shown.

Abstract: A method links edges in stereo images into chains which correspond to physical contours in a scene. First, edges are detected in the stereo images. Edges between the stereo images are matched, such that each edge has associated stereo matches. The edges are linked into chains, such that each chained edge has a single associated stereo match, and neighboring edges in a chain have matches with a substantial similar stereo disparity.

Abstract: Apparatuses and methods are presented that use a direct synthesis approach using layers in order to directly generate a virtual view from a pair of images. In one embodiment, a range space is discretized into a plurality of layers. For each layer, the first input image and the second input image are warped to the layer. A matching score is then determined for each pixel in the new view based on the warped input images. For each pixel in the virtual view, a best layer is determined. After the best layer has been determined, the color of the pixel in that layer is used for that pixel in the generated view.

Abstract: Dense range data obtained at real-time rates is employed to estimate the pose of an articulated figure. In one approach, the range data is used in combination with a model of connected patches. Each patch is the planar convex hull of two circles, and a recursive procedure is carried out to determine an estimate of pose which most closely correlates to the range data. In another aspect of the invention, the dense range data is used in conjunction with image intensity information to improve pose tracking performance. The range information is used to determine the shape of an object, rather than assume a generic model or estimate structure from motion. In this aspect of the invention, a depth constraint equation, which is a counterpart to the classic brightness change constraint equation, is employed. Both constraints are used to jointly solve for motion estimates.

Abstract: An image processor includes an imaging unit that captures an image of a target area, a face region extraction unit that extracts a face region, which corresponds to a face of a person, from the image captured by the imaging unit, a distance estimation unit that estimates a distance from the imaging unit to each position of the image captured by the imaging unit, a distance distribution calculation unit that sets up a distance estimation area below the face region by a predetermined distance and calculates distance distribution from the imaging unit in the distance estimation area, using the distance estimated by the distance estimation unit, and a wheelchair presence determination unit that determines whether a person corresponding to the face region extracted is sitting in a wheelchair, by comparing the distance from the imaging unit of the face region estimated by the distance estimation unit with the distance distribution in the distance estimation area.

Abstract: An apparatus for protecting an occupant in a vehicle includes a pair of image sensors for taking images of an area on a seat in the vehicle. Transverse-direction shifts between corresponding portions of the images are calculated. Longitudinal-direction positions of objects whose images are in the portions of the images taken by the image sensors are measured in response to the calculated transverse-direction shifts. A longitudinal-direction position of an occupant on the seat is decided in response to the measured longitudinal-direction positions of the objects. Occupant protecting operation at a time of occurrence of a collision of the vehicle is changed in response to the decided longitudinal-direction position of the occupant. From the measured longitudinal-direction positions of the objects, one corresponding to a highest position with respect to the vehicle and being in front of the seat is selected as a longitudinal-direction position of a head of the occupant.

Abstract: A system and method for automated and/or semi-automated analysis of video for discerning patterns of interest in video streams. In a preferred embodiment, the present invention is directed to identifying patterns of interest in indoor settings. In one aspect, the present invention deals with the change detection problem using a Markov Random Field approach where information from different sources are naturally combined with additional constraints to provide the final detection map. A slight modification is made of the regularity term within the MRF model that accounts for real-discontinuities in the observed data. The defined objective function is implemented in a multi-scale framework that decreases the computational cost and the risk of convergence to local minima. To achieve real-time performance, fast deterministic relaxation algorithms are used to perform the minimization. The crowdedness measure used is a geometric measure of occupancy that is quasi-invariant to objects translating on the platform.

Abstract: The process comprises the following steps: calculating, for an image, a depth map corresponding to the depth, in the three-dimensional space, of image pixels; calculating, for an image, a resolution map corresponding to the three-dimensional resolution of the image pixels, based on the depth map; matching a current image pixel with a pixel of another image of the sequence, pixels relating to a common point in the three-dimensional scene, by projecting the current image pixel onto the other image; selecting a current image pixel according to its resolution and to that of the pixels of the sequence matched with this said pixel; constructing the three-dimensional model from the selected pixels. One application concerns the generation of images for browsing.

Abstract: A flash ladar system has a laser provided with beam focusing optics for directing a laser fan beam pulse to a scanning element that in turn directs the laser fan beam to a vertical region of space. Light reflected from an object in the vertical region of space is directed by a reflecting element to a sensor provided with a column of photosensitive pixels that connects to a charge storage matrix of non-photosensitive pixels. After an integration period electrical charges are shifted from the photosensitive region to an adjacent column in the charge storage region. The process of integrate and shift is repeated for multiple integration periods until the charge storage region is filled with charges whereupon a serial shift register removes the information to be processed by a data processor.

Abstract: A position of a honeycomb structure, which is comprised of an outer shell, separation walls arranged in the form of a honeycomb within the outer shell, and a number of axially extending cells which are defined by the separation walls, is recognized. When the position recognition is carried out, the honeycomb structure is located with the axis extending in an upward and downward direction. A camera to pickup image data is disposed out of an area directly above an upper surface of the honeycomb structure in the axial direction. Image data including the entirety of the upper surface of the honeycomb structure is picked up by the camera, so that the position of the honeycomb structure is recognized based on the image data.

Abstract: The invention relates to a method for detecting an object (1) in relation to a surface (2). A synthetic image (3c, 4c) is produced from at least two distinct viewpoints (3, 4), for each of said viewpoints, by means of a geometrical transformation comprising at least one perspective projection (3a, 4a) of the object on the surface (2), each synthetic image being associated with the viewpoint concerned. By discriminating between the synthetic images, it is possible to detect the presence of and determine the position of the object (1) in relation to the surface (2), by searching for contrast inversions. The invention can be used for surveying a swimming pool.

Abstract: Apparatus and methods for enhancing the accuracy of height above ground measurements in which the registration error between successive images taken of the terrain over which an aircraft is flying is minimized, the earlier image having first been transformed according to measurements of the aircraft linear and angular velocities, the focal length and attitude of the image sensor, and an initial, coarse height estimate. By an iterative process, a more accurate height estimate is obtained.

Abstract: A method of determining segments in a series of images based on previous segmentation results and on motion estimation. A second segment (108) of a second image (106) is determined based on a first segment (102) of a first image (100), with the first segment (102) and the second segment (108) corresponding to one object (104). The method comprises a calculation step to compare values of pixels of the first image (100) and the second image (106) in order to calculate a motion model which defines the transformation of the first segment (102) into the second segment (108). An example of such a motion model allows only translation. Translation can be described with one motion vector (110).

Abstract: A carriage moves back and forth under a vehicle and three cameras or laser fixed along one axis pivot in a common plane, utilizing two cameras at time to locate a target fixed to a reference point on the undercarriage of the vehicle. Triangulation calculations, combined with the location of the cameras provide the location of the reference point in space in a three-dimensional coordinate system and compare that location with a stored designed location of the reference point prior to the crash, allowing the vehicle structure to be returned to its designed shape by other equipment.

Abstract: There is provided a stereoscopic image forming apparatus which can reduce the image memory capacity and the time required for synthesizing a three-dimensional striped image. A three-dimensional image is synthesized such that pixels of the same coordinates in respective images of a multiple viewpoint image sequence of the subject viewed from a plurality of viewpoints are arranged as adjacent pixels in accordance with the arrangement of the viewpoints of the images based on the acquired subject image and an acquired parallax map corresponding thereto. Pixels values of the subject image corresponding to the respective pixels of the three-dimensional image are found according to a parallax deviation derived from the corresponding parallax map and are written into the respective pixels of the three-dimensional image. The synthesized three-dimensional image is outputted, whereby a stereoscopic image can be observed through an optical member having a cyclic structure superposed on the outputted image.

Abstract: Boundary curves of a source image are identified. Each pixel of a distance map is associated with a corresponding region of the source image. Each pixel is assigned a calculated distance value corresponding to the Euclidean distance between a center of that pixel and the nearest point of the closest boundary curve. The nearest point is located to sub-pixel accuracy. A method of compressing and decompressing a source image includes the step of generating a first distance map having a first resolution. The first distance map is downsampled to generate a second distance map having a second resolution. The second distance map may be interpolated to generate an interpolated distance map having the first resolution. A soft threshold is applied to the interpolated distance map to generate a reconstructed source image having the first resolution.

Abstract: There are performed three types of object shooting, i.e., a projection pattern shooting using a pattern including both characterization of a stripe based on a color and characterization based on a gradation of the same component, a flash shooting without a pattern and a non-flash shooting without a pattern. A two-dimensional image information generation portion corrects the influence of a surface reflectivity of an object or external light from the three types of images, and estimates a pattern structure using the characteristic based on a color with respect to an object having a white-based color or a low-saturation color and based on a gradation with respect to an object having a high-saturation color. A depth calculation portion specifies the correspondence relationship between the estimated pattern structure and information of the projected pattern, and calculates a depth of each part of the object based on a result of specification.