JPH0946730A - 3D shape extraction device - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To extract three-dimensional shape information of an object with high accuracy. A photographing lens having a zoom lens.
Image sensor 102R, 102 through R, 100L
The image picked up by the L image signal processing unit 104R, 104L
The main subject and the back surface thereof are separated from the signal processed in step 1 by the object separation units 105R and 105L. This is sent to the image processing unit 220, where the three-dimensional shape of the main subject is extracted based on each parameter at the time of imaging. The above parameters are automatically adjusted so that the main subjects imaged by the image sensors 102R and 102L fit within the overlapping imaging regions and the main subject fits within the depth of focus.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional shape extraction device for extracting three-dimensional information of an object or environment necessary for generating a three-dimensional shape model used in CG, CAD and the like.

[0002]

2. Description of the Related Art Conventionally, as a technique for obtaining a three-dimensional shape of an object, for example, Journal of Television Society, Vo1.45, N.
o. 4 (1991), pp. 453-460. The methods for obtaining the three-dimensional shape of an object as described in the above document are roughly classified into a passive method and an active method. A typical passive method is a stereo image method in which triangulation is performed using two cameras. In this method, a place where the same thing is seen is searched from the left and right images, and the three-dimensional position of the subject is measured from the amount of displacement of the position. In addition, as a typical active method, an optical radar type range finder that projects the light, measures the time until it reflects and returns to find the distance, or projects a slit-shaped light pattern. There is a slit light projection method for measuring a three-dimensional shape from the displacement of the pattern shape reflected on the subject.

[0003]

However, in the above-mentioned stereo image method, the main purpose is to calculate the distance information from a specific position where the camera is installed to the object, and the stereoscopic shape itself of the object is measured. However, it is not possible to obtain a highly accurate three-dimensional shape. Further, in the active method, there is a problem that the apparatus becomes large in size because the object is irradiated with the laser beam and the cost becomes high. Furthermore, in any of the methods, camera control that can flexibly deal with a dynamic imaging method in which an image is taken while moving around a certain object is not performed.

The present invention has been made in view of the above circumstances, and the first object of the present invention is to provide a three-dimensional shape extraction device for obtaining a three-dimensional shape and pixel information by imaging a subject with a plurality of imaging systems. The focal length and the focusing are automatically executed to realize accurate three-dimensional shape extraction and reduce the load on the photographer. An object of the second invention is to smoothly execute the adjustment of the focusing position. An object of the third invention is to always control the imaging parameter to an appropriate state when imaging. A fourth object of the present invention is to notify a photographer of a state in which an image can be picked up, and to make a state in which an image pick-up work can be smoothly executed.

An object of the fifth invention is to obtain posture information at the time when the photographer inputs a video. An object of the sixth invention is to help a photographer to smoothly carry out the work. An object of the seventh invention is to prevent a failure of imaging work. An eighth object of the present invention is to automatically perform focal length and focusing by a three-dimensional shape extraction device that obtains three-dimensional shape and pixel information from a monocular imaging system, realizes accurate shape extraction, and at the same time, the photographer It is to reduce the load.

A ninth object of the present invention is to maintain a state in which the posture of the three-dimensional shape extracting apparatus can be always detected. First
An object of the invention of 0 is to be able to cope with a plurality of known subjects. An eleventh aspect of the present invention is to smoothly perform a re-taking operation for image capturing. A twelfth object of the present invention is to prevent shooting failure by automatically adjusting the focal length so that a known feature of a subject for posture detection is also simultaneously input when capturing a main subject. It is also possible to reduce the load on the photographer.

[0007]

Means for Solving the Problems In the first invention,
A plurality of image pickup means having a zoom lens for picking up an image of a subject, and an image pickup parameter so that a main subject from which a three-dimensional shape is to be extracted fits in the overlapping image pickup regions of the respective image pickup means and the main subject falls within the depth of focus. And adjusting means for automatically adjusting the.

In the eighth aspect of the present invention, the image pickup means having a zoom lens and configured to be movable, and the main image pickup object from which the three-dimensional shape is to be extracted and the known subject are imaged a plurality of times while the image pickup means moves. At this time, while the main subject and a known subject fall within the field of view of the image pickup means, adjusting means for automatically adjusting the image pickup parameter so that the main subject falls within the depth of focus, and the plurality of picked-up images Is provided based on the imaging parameter to obtain a three-dimensional shape.

According to a twelfth aspect of the invention, when the image pickup means having a zoom lens is movable, and when the image pickup means is moving, a main subject from which a three-dimensional shape is to be extracted and a known subject are imaged a plurality of times. In addition, the control unit for the main subject and the known subject is provided with an adjusting unit that automatically adjusts the imaging parameter so that the control unit fits within the visual field of the imaging unit.

[0010]

According to the first aspect of the invention, when the subject is imaged by a plurality of image pickup means having a zoom lens and the three-dimensional shape and pixel information of the subject are output, the area of the subject in the overlapping region is changed while changing the focal length. It is possible to obtain the peak, detect the peak, calculate the depth of focus of the imaging system, and automatically adjust the imaging parameter based on each value.

According to the eighth invention, when the main subject and a known subject for posture detection are imaged by the image pickup means having a zoom lens and the three-dimensional shape and pixel information of the subject are output, the main subject and the While setting and controlling the focal length so that a known subject fits within the field of view of the imaging means,
It is possible to automatically adjust the imaging parameters so that the main subject is within the depth of focus, hold the imaging parameters, and perform stereoscopic shape extraction based on the image and orientation information at each imaging position, and further the imaging parameters. .

According to the twelfth aspect of the invention, when the main subject and a known subject for posture detection are imaged by the image pickup means having a zoom lens and the three-dimensional shape and pixel information of the subject are obtained, the image is input. Imaging parameters can be automatically adjusted so that the main subject and the known subject feature are within the visual field of the imaging system.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 is a schematic diagram of a three-dimensional shape extraction apparatus according to a first embodiment of the present invention. In FIG. 1, 1 is a three-dimensional shape extracting device according to the present invention, 2 is a main subject for which a three-dimensional shape of a subject is to be obtained, and 3 is a back surface of the main subject in the subject. In the three-dimensional shape extraction device 1, 100R is an imaging lens on the right side when viewed from the device,
100L is an imaging lens on the left side. An illumination unit 200 emits illumination light according to the imaging environment. 10L represents the imaging range of the right imaging lens 100R, and 10R represents the imaging range of the left imaging lens 100L. Further, the three-dimensional shape extraction device 1 is equipped with a camera posture detection unit such as a vibration gyro (not shown) so as to detect the position of the device 1.

The three-dimensional shape extracting apparatus 1 moves the main subject 2 while moving from the image pickup start position A0 to the image pickup end position An.
Is imaged. Further, at this time, the position information of the three-dimensional shape extraction device 1 at each imaging point between A0 and An is calculated from the signal obtained from the camera posture detection unit.

FIG. 2 shows a block diagram of the three-dimensional shape extraction device 1. In FIG. 2, 100R and 100L are imaging lenses, which are zoom lenses. 101R and 101L are diaphragms, 102R and 102L are image sensors, and CC
D or the like can be used. 103R and 103L are A /
The D conversion units 104R and 104L are the image sensor 102.
The signals from R and 102L are converted into video signals. The video signal processing units 105R and 105L are subject separation units,
The main subject 2 from which three-dimensional information is to be extracted and the back surface 3 are separated. Reference numerals 106R and 106L denote zoom control units that adjust the focal length of the zoom lens. Reference numerals 107R and 107L denote focus control units that adjust the focus position. 10
8R and 108L are diaphragm control units that adjust the diaphragm amount.

Reference numeral 201 denotes a camera attitude detection unit, which is composed of a vibration gyro and outputs a signal corresponding to the image pickup position of the camera. Reference numeral 210 denotes a controller, which controls the entire three-dimensional shape extraction apparatus, and includes a microcomputer 900, a memory 910, and an image calculation processing section 920, as shown in FIG. An image processing unit 220 extracts the stereoscopic information of the subject from the video signals obtained from the image sensors 102R and 102L, and also obtains the stereoscopic information of the subject at each of the extracted image capturing points by the camera posture detection unit 201. It is integrated and output based on the information about the posture of. A recording unit 250 records an image.

A focus detection unit 270 detects a focus state by the separated main subject 2 and back surface 3. Reference numeral 260 denotes a left / right difference detection unit that detects a difference between left and right parameters, and 230
Is a shutter, 280 is an external interface for external input, and 240 is a display unit such as an LED.

Next, the operation of the above configuration will be described. The subject image is input through the imaging lenses 100R and 100L. The input subject image is the image sensor 10
It is converted into an electric video signal in 2R and 102L. The converted video signals are A / D conversion units 103R, 1
In 03L, the analog signal is converted into a digital signal and supplied to the video signal processing units 104R and 104L.

In the video signal processing units 104R and 104L, the digitized video signal of the subject is converted into a luminance signal and a color signal of appropriate forms. Next, in the subject separation units 105R and 105L, the video signal processing unit 1
Based on the signals obtained from 04R and 104L, the main subject 2 and the back surface 3 of the imaged subject whose stereoscopic shape is to be measured are separated. As a method of separation, for example, an image of the back surface 3 is captured in advance, the image is held in a memory, and then the main subject 2 to be measured is placed and imaged. A method of performing matching and difference processing between the imaged image and the image of the rear face held in the memory in advance to separate the rear face region is used. The separation method is not limited to this, and separation may be performed based on color or texture information. The separated image of the main subject 2 is supplied to the image processing unit 220, and in this image processing unit 220, three-dimensional shape extraction processing is performed based on each parameter at the time of imaging.

Next, the processing sequence of the three-dimensional shape extraction device will be described with reference to the flowchart of FIG. When the power is turned on and a video signal is input in step S1, the controller 210 performs exposure adjustment in step S2,
The video signals obtained by the subject separation units 105R and 105L are integrated by the image calculation processing unit 920 in FIG. 3 to calculate the brightness level of the main subject 2. When it is determined in step S3 that the brightness level is insufficient for extracting the three-dimensional shape, the illumination 200 is turned on in step S4. In that case, the illumination intensity level may be variable according to the calculated brightness level.

Next, in step S5, the focus position is adjusted using the left and right video signals set to the appropriate brightness level. The focus position is first adjusted on the main subject 2 and then on the rear surface 3 as shown in FIG. Focus detection is
This is performed by the focus detection unit 270. As the detection method, a known method such as detecting the sharpness of the edge or the blur amount from the video signal can be used. Assuming that the distances at which focusing is performed on the left and right sides are X ₁ and X ₂ in FIG. 5, the focus detection unit 270 outputs this value to the controller 210. The controller 210 determines the distance X for focusing at the time of measurement based on this value, and the focus control unit 10
A control signal is output to 7R and 107L. The distance X may be, for example, an intermediate position X = (X ₁ + X ₂ ) / 2 between X ₁ and X ₂ , or X = (mX ₁ + nX) with appropriate weighting.
₂ ) You may ask for it.

The range within the depth of focus when the focal position is adjusted to the distance X can be expressed as follows in the range from the distance X ₁ 'to X ₂ '. X ₁ ′ = Xf ² / {f ² + δF (X−f)} X ₂ ′ = Xf ² / {f ² −δF (X−f)} (1) Here, δ is a circle of least confusion. For example, the pixel size of the image sensors 102R and 102L may be used.

The controller 210 uses X ₁ and X ₂ and X
_In order to set the F number of the diaphragm so that ₁ ′ and X ₂ ′ substantially match, a control signal is given to the diaphragm control units 108R and 108L. When the brightness level changes to a certain extent or more by this operation, the intensity of the illumination 200 is changed to deal with it. Alternatively, an AGC (auto gain control) circuit may be incorporated to perform level correction electrically.

After the focus position adjustment is performed as described above, the zoom is adjusted in step S6. FIG.
3 is a diagram showing an outline of zoom adjustment. With the main subject 2 substantially within the depth of focus, the image sensor 102
The images obtained from R and 102L are held in the memory 910 in the controller 210, and the image calculation processing unit 92
At 0, the overlap area is detected. As a detection method, a correlation calculation process for comparing two images to obtain a correlation, a template matching process for searching an image set as a template from the images, and the like are used. As shown in FIG. 6A, in the initial state, the overlap area 5 of the main subject 2
00, and then the controller 210 sets a zoom value in the direction in which the area of this region increases in the screen as shown in (b), and outputs a control signal to the zoom control units 106R and 106L.

FIG. 7 shows changes in the overlap area 500 of the main subject 2 in the screen due to a series of zoom adjustments. In FIG. 7, the image calculation processing unit 920 of the controller 210 calculates the focal length f at which the area P of the overlap region 500 has a peak, and the zoom control units 106R and 106L.
To the control signal.

When the focal length f is changed by this operation and the range of the depth of focus is changed to a certain extent or more as a result, X ₁ and X ₂ and X ₁ ′ and X ₂ ′ are expressed by equation (1). In order to set the F numbers so that they substantially coincide with each other, a control signal is given to the aperture control units 108R and 108L in accordance with the parameter readjustment step S6. That is, after the series of adjustments of S1 to S7, step S8 of parameter readjustment and left / right difference correction is performed. In the left-right difference correction, the left-right difference detection unit 260 detects a difference in exposure amount, focus position, and zoom value from left and right video signals. Based on the detected difference signal, the controller 210 causes the zoom control units 106R and 10R to
6L, focus control units 107R and 107L, and aperture control units 108R and 108L are given control signals to correct the left-right difference.

Further, the distance information can be expressed by the following equation. Z = fb / d (2) Here, Z: distance, f: focal length, b: base line length, and d: parallax. Therefore, the focal length f is as follows using the distance separation power determined by the parallax as a parameter. ∂z / ∂d = − (fb / d ² ) → f = − (d ² / b) · (∂z / ∂d) (3) Therefore, when the focal length is adjusted in step S5, step S5 is performed.
It is also possible to set the separability from an external computer or the like through the external I / F 280 by 9 and set the focal length based on this value.

When the imaging parameters are adjusted in steps S2 to S9, the controller 210 causes step S10 to be performed.
Then, a signal is given to the display section 240 to notify the photographer of the end of parameter setting. This display unit 240 is a CRT, LCD
Or the like, or a simple display using an LED or the like. A sound may be generated together with the display.

Next, the photographer confirms the display of the LED or the like,
Start the work of extracting a three-dimensional shape. When the photographer presses an input start button (not shown) in step S9, the detection signal of the camera posture detection unit 201 is initialized in step S12. Next, the subject is imaged while moving the apparatus in the An direction from A0 as shown in FIG. In this case, the controller 210 prohibits the change of the imaging parameter from when the input start button is pressed until the end button is pressed. While the device is moving, the camera attitude detection unit 201 detects the attitude and speed of the device in step S13.
When the detected moving speed of the device deviates from the appropriate level in step S14, the photographer is informed by the LED of the display unit 240 in step S15.

In step S16, the photographer presses the shutter 230 at an appropriate interval to input an image. Here, the controller 210 may calculate the timing at which the shutter 230 is released based on the signal from the camera attitude detection unit 201, and notify the photographer through the LED or the like of the display unit 240. When the controller 210 detects that the shutter 230 is pressed, the attitude at that time is calculated from the detection signal of the camera attitude detection unit 201 in step S17 in synchronization therewith, and the attitude information is given to the image processing unit 220. Then, in step S18, the image processing unit 22
0 obtains the three-dimensional coordinates of the subject from the posture information and the left and right video signals, and outputs the three-dimensional coordinates to the recording unit 250 together with the pixel value.
In step S19, the recording section 250 converts the given signal into an appropriate format based on the given signal and writes it in the recording medium, and then, in step S20, until the input is completed, step S1
When all the inputs have been completed by repeating the processes of 7 to S20, the process is completed in step S21.

(Second Embodiment) FIG. 8 shows an outline of a second embodiment of the three-dimensional shape extraction device according to the present invention. In FIG. 8, 705 is a main subject, and 700 is a three-dimensional shape extraction device. Reference numeral 100 is an imaging lens, and 200 is an illumination unit. Reference numeral 703 denotes a calibration pad on which the main subject 705 is placed, and the three-dimensional shape extraction device 700
Detects the posture based on the image of the pad 703.
The letters A, B, C, and D written on the pad 703 are markers for detecting the posture of the apparatus 700, and the posture is calculated from the direction and distortion of these markers.

FIG. 9 shows a three-dimensional shape extraction device 7 according to this embodiment.
It is a block diagram of 00. In FIG. 9, the parts having the same numbers except the L and R symbol parts of each part in FIG. 2 have the same function and operation. In FIG. 9, reference numeral 100 is an imaging lens, and a zoom lens or the like is used. Reference numeral 101 is a diaphragm, and 102 is an image sensor such as a CCD. Reference numeral 103 is an A / D conversion unit, 104 is a video signal processing unit, and 105 is a subject separation unit.

Reference numeral 740 is an attitude detector, which is a pad 703.
The orientation of the device 700 is detected from the direction and distortion of the marker. An image processing unit 720 extracts a three-dimensional shape of the main subject 705 from the video signal and the posture information.
A focus detection unit 770 has the same function and operation as the first embodiment except that it is a monocular. An image memory 750 and a controller 710 control the entire apparatus. A memory 730 is provided in the controller 710.

Next, the operation will be described with reference to the flowchart of FIG. Steps S1 to S5 are performed for one video signal as in the case of FIG. The present embodiment differs from the first embodiment in the zoom adjusting method in step S22. The device 700 of the present embodiment includes the pad 7
Since the posture is detected by a combination with 03, it is necessary to obtain the pad 703 in an appropriate range at the time of imaging. Therefore, first, the subject separation unit 105 has a characteristic portion of the pad 703 held in advance (A, B at the four corners in FIG. 8,
Correlation calculation or template matching processing is performed between the patterns C and D) and the image currently obtained, and the detection signal is output to the controller 710. The controller 710 sets the focal length so that the characteristic portion of the pad 703 is included in the visual field within an appropriate range. At the same time, the information on the focal length is held in the memory 730 in the controller 710. As a result, the entire pad can be kept in the visual field at all times, so that the posture can always be detected from the shape of the characteristic portion.

Next, when the parameters of the optical system are set, the LED of the display section 240 is turned on in step S23,
Notify the photographer that input is possible. Upon receiving this display, the photographer starts input in step S24,
While moving the apparatus 700, the shutter 230 is opened at an appropriate interval in step S25 to input the image. At this time, based on the information of the subject separation unit 105, the controller 7
Reference numeral 10 sets the focal length so that the characteristic portion of the pad 703 including the main subject always fits within the visual field within an appropriate range. At the same time, image pickup parameter information including the focal length at each image pickup position is held in the memory 730. This results in step S2
At 6, the posture detection unit 740 detects the posture from the state of the characteristic portion.

Subsequently, in step S27, the image processing unit 720
Reads out a plurality of video signals held in the image memory 750, converts the image based on the imaging parameter information held in the memory 730 in the controller 710,
Correct to an image with the same focal length. Further, the image processing unit 7
20 extracts the three-dimensional shape of the subject from the corrected video signal and the posture signal obtained by the posture detection unit 740, and gives it to the recording unit 250. The recording unit 250 converts the obtained signal into an appropriate format and records it on a recording medium. Then, in step S28, the image is captured until the entire input is completed, and when the entire input is completed, the process ends in step S29. (Third Embodiment) FIG. 11 is a block diagram showing a third embodiment of the three-dimensional shape extracting apparatus according to the present invention. In FIG. 10, those denoted by the same reference numerals as those in FIGS. 1 and 9 have the same functions and operations, and description thereof will be omitted. In FIG. 11, reference numeral 820 denotes a memory, which holds information regarding pads. Reference numeral 780 is a selection means for selecting the type of the pad 703 and the like. A recording unit 790 records the imaging parameters together with the three-dimensional shape. It also has a function of reading out the recorded information as needed. Reference numeral 800 denotes a controller, which controls the entire system. Reference numeral 810 denotes a matching processing unit, which performs matching processing with the currently captured image based on the pre-recorded three-dimensional shape and pixel information read by the recording unit 790.

Next, the operation will be described with reference to the flowchart of FIG. After the power is turned on in step S1, the photographer selects the type of pad 703 by the selection means 780 at the start of input in step S30. Then the controller 80
In step S31, 0 reads out information from the memory 820 based on the selected information and uses it for control of parameters such as focal length and focus and posture detection.

Thereafter, as shown in steps S32 to S41, the same control as in FIG. 10 is performed to start the input, and the three-dimensional shape is extracted. Further, when it is desired to perform the retake during the input in step S42, the retake mode is selected by the selection means 780. In that case, in step S43, the recording unit 79
0 reads out the signals recorded so far, and step S4
In step 4, a matching calculation process is performed with the image currently captured. When the correspondence between the currently imaged region and the read signal is obtained by the matching calculation process, the LED or the like of the display unit 240 is turned on in step S37 to notify the photographer that the input preparation is completed.

In the case of re-taking in step S42, it is possible to change the arrangement of the main subject 705 on the pad 703, and in this case as well, matching processing is performed with the previously recorded signal to deal with it. Input is started from the area where is obtained. In addition, when the input work is ended once again and the process is redone, the recording unit 790 reads out the imaging parameters in addition to the previously recorded stereoscopic shape and pixel signal, sets the same imaging parameters as those previously captured, and inputs the same. To do. Further, when it is desired to use the pad 703 which is not registered in the memory 820 in advance, the setting is performed from the computer or the like through the external I / F 280. If the photograph is not taken again, the steps S39 to S45 are performed until the input is completed.
After performing S42, the process ends in step S46.

[0040]

As described above, according to the first aspect of the present invention, since the main subject can be contained in the overlapping portion of the respective image pickup systems and the focused and clear image can be obtained,
The accuracy of the three-dimensional shape is improved, and since it is automated, the usability is significantly improved. Further, according to the second aspect of the invention, since the position for focusing is an intermediate position from the bottom surface of the subject, it is possible to smoothly perform the adjustment when the entire subject is within the depth. Further, according to the third aspect, even if a part of the parameters is changed, the image obtained for readjustment can always obtain a constant level of quality.

According to the fourth aspect, the photographer can easily determine whether or not the image pickup can be started. Further, according to the fifth aspect, since the posture information of the camera can be obtained at the same time when the video is input, the accuracy and reliability of shape extraction can be improved. Also, the sixth
According to the invention, since the photographer can know when to press the shutter, the operability is significantly improved. Also,
According to the seventh invention, since the moving speed of the camera at the time of inputting a video can be intuitively known, the operability is improved and the quality of the input video is improved.

According to the eighth aspect of the invention, it is possible to input a high-quality image with the monocular imaging device and obtain a three-dimensional shape with high accuracy and reliability. Further, according to the ninth aspect, the feature points for posture detection can always be included in the visual field, and it is possible to prevent imaging failure. Further, according to the tenth invention, it is possible to cope with a case where there are a plurality of known subjects, and it is possible to properly use them according to the subject whose shape is to be extracted. According to the eleventh invention, the re-shooting operation can be smoothly advanced, and the entire area including the bottom surface of the subject can be easily imaged.

According to the twelfth aspect of the invention, since the focal length is automatically adjusted at the time of inputting an image, there is no failure in photographing, and the field of view is set every time the photographer inputs an image. Since it is not necessary, the burden on the photographer is significantly reduced.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention.

FIG. 2 is a block diagram showing a first embodiment.

FIG. 3 is a block diagram showing a configuration of a controller shown in FIG.

FIG. 4 is a flowchart showing the operation of the first embodiment.

FIG. 5 is a configuration diagram illustrating focusing.

FIG. 6 is a configuration diagram illustrating zoom adjustment.

FIG. 7 is a graph illustrating zoom control.

FIG. 8 is a schematic configuration diagram of a second embodiment of the present invention.

FIG. 9 is a block diagram showing a second embodiment.

FIG. 10 is a flowchart showing the operation of the second embodiment.

FIG. 11 is a block diagram showing a third embodiment of the present invention.

FIG. 12 is a flowchart showing the operation of the third embodiment.

[Explanation of symbols]

 1 Stereoscopic Shape Extraction Device 2 Main Subject 10R, 10L Imaging Optical System 100R, 100L Photographic Lens 101R, 101L Aperture 102R, 102L Image Sensor 104R, 104L Video Signal Processing Unit 105R, 105L Subject Separation Unit 106R, 106L Zoom Control Unit 107R, 107L Focus control unit 108R, 108L Aperture control unit 201 Camera attitude detection unit 210 Controller 220 Image processing unit 230 Shutter 240 Display unit 270 Focus detection unit 760 External I / F

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Nao Kurahashi 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Inc. (72) Inventor Shigeki Okauchi 3-30-2 Shimomaruko, Ota-ku, Tokyo Canon Within the corporation

Claims (12)

[Claims] 1. A plurality of image pickup means having a zoom lens for picking up an image of a subject, and a main subject from which a three-dimensional shape is to be extracted is contained in an overlapping image pickup area of each of the image pickup means, and the main subject is within the depth of focus. A three-dimensional shape extraction device comprising: an adjusting unit that automatically adjusts an imaging parameter so that the image pickup parameter fits. 2. The three-dimensional shape extraction according to claim 1, wherein a position for focusing is an intermediate position between a surface on which the main subject is placed and a position of the main subject which is closest to each image pickup means. apparatus. 3. The three-dimensional shape extraction device according to claim 1, wherein when some of the imaging parameters are changed, other parameters are readjusted. 4. The three-dimensional shape extraction device according to claim 1, further comprising notifying a photographer that the adjustment of the imaging parameter is completed. 5. The plurality of image pickup means are integrally movable so that a position detection means for detecting the position of each of the image pickup means is provided in synchronization with the shutter release of the photographer. The three-dimensional shape extraction device according to claim 1, which is characterized in that. 6. The three-dimensional shape extraction device according to claim 5, wherein the photographer is notified of the shutter release timing based on the detection by the position detection means. 7. The three-dimensional shape extraction device according to claim 5, wherein when the moving speed of each of the image pickup means is inappropriate based on the detection by the position detection means, the photographer is notified. 8. An image pickup means having a zoom lens and configured to be movable, and when the image pickup means picks up a main subject from which a three-dimensional shape is to be extracted and a known subject a plurality of times while moving, the main subject Adjusting means for automatically adjusting the imaging parameters so that the subject and the known subject fall within the field of view of the imaging means, and the main subject falls within the depth of focus; A solid shape extraction device including a correction means for performing a correction process to obtain a solid shape. 9. The three-dimensional shape extraction device according to claim 8, wherein the focal length is controlled so that the known feature points of the subject are always within the visual field of the image pickup means. 10. A holding means for holding information of a plurality of known subjects and a selecting means, wherein information of the known subject is selectively read from the holding means in response to a signal from the selecting means. The three-dimensional shape extraction device according to claim 8, which is characterized in that. 11. A recording means for recording the three-dimensional shape and pixel information of the main subject, wherein the information already recorded in the recording means is read when re-imaging is performed by the imaging means, and the read information is read. 9. The three-dimensional shape extraction device according to claim 8, wherein the input is restarted after a corresponding area between the current image information and the current image information is detected. 12. A movable image pickup means having a zoom lens, and the main image pickup means for picking up a main subject and a known subject for which a three-dimensional shape is to be extracted a plurality of times while moving the image pickup means. An image pickup apparatus comprising: a subject and an adjusting unit that automatically adjusts an image pickup parameter so that a characteristic part of a known subject falls within the visual field of the image pickup unit.