JPH10232111A - Distance measuring device - Google Patents

Abstract

(57) [Summary] [Problem] To allow a user to always stereoscopically view a captured image and a pointing pointer naturally, and to specify a rough measurement point only in a wide three-dimensional space without being restricted by the binocular parallax of an observer. To measure the distance of the subject. SOLUTION: A parallax control unit 4 that controls binocular parallax so that a stereoscopic image captured by a plurality of cameras falls within a binocular fusion range of an observer by horizontal movement of left and right images, and a virtual space of a 3D display 6. A superimposer 5 that displays a pointer that roughly specifies the position of the subject in the camera, pointer operation means 8 that moves the position of the pointer, and a parallax detection area that is determined by the approximate position specified by the pointer operation means 8. The apparatus includes a parallax detection unit 3 for calculating parallax, and a distance calculation unit 10 for calculating an accurate positional relationship between a camera and a subject and a distance between a plurality of subjects based on an output of the parallax detection unit.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device for measuring a distance between objects.

[0002]

2. Description of the Related Art The principle of a conventional distance measuring device is, for example, as shown in FIG. This is a so-called two left and right stereo cameras (101, 102 are lenses, 103,
(104 is an imaging surface), the subject is imaged, and where the specific point Ps of the subject is shown in the left and right images is calculated using an image matching method. Since these are PL and PR, the distance is calculated based on the principle of triangulation. Is calculated.

In practice, as shown in FIG. 3, an observer designates a place to be measured as a region R in a left image, and uses image matching to determine where an image contained in this region R is located in a right image. To calculate.

[0004] In this way, the amount of displacement between the left and right images of the subject is obtained, the positions of PL and PR in FIG. 7 are identified, and the position of Ps is calculated by triangulation.

[0005]

However, the conventional distance measuring device as described above displays an image taken by a stereo camera on a display in a distance measurement, and a subject to be measured while observing the image. When the (area) is indicated by a superimposed pointer (stereoscopic display) on an image, the binocular disparity of the subject or the designated pointer becomes larger than the binocular fusion range of the observer depending on the position of the subject, and the stereoscopic vision is obtained. In some cases, the measurement points cannot be set well with the pointer. (Especially, when the subject has both a very far point and a very close point, they cannot be stereoscopically viewed at the same time due to the binocular fusion limit of the observer.) State easily). If the subject does not enter the field of view of the camera at one time, the distance between the two points cannot be measured.

Further, in order to calculate the distance from a very far point to a very close point, the corresponding point search calculation required for calculating the binocular disparity by image processing requires a very large search range. It has to be wide and the amount of calculation becomes very large.

Further, when the distance to be measured is a distance between a plurality of subjects, it is impossible to measure unless all subjects are visible in the field of view of the camera at one time.

The present invention takes into account the problems of such a conventional distance measuring apparatus, and allows the user to always naturally view the captured image and the pointing pointer in a stereoscopic manner, without being restricted by the binocular parallax of the observer. A distance that can measure the distance of a subject in a three-dimensional space by specifying rough measurement points, further reduce the search range when calculating binocular parallax, and further measure the distance between subjects that are not in the same visual field. Provide measurement technology.

[0009]

According to a first aspect of the present invention, a binocular disparity is controlled such that a stereoscopic image picked up by a plurality of cameras moves horizontally between left and right images to enter a binocular fusion range of an observer. A parallax control unit, and a 3D display that displays an output of the parallax control unit via a superimposer.
A superimposer for displaying a pointer for roughly designating the position of the subject in the virtual space of the 3D display;
Pointer operation means for moving the position of the pointer,
A parallax detection unit that calculates a binocular parallax of a parallax detection area determined by the approximate position specified by the pointer operation unit; and a precise positional relationship between a camera and the subject based on an output of the parallax detection unit. A distance calculation unit that calculates the distance between the subjects.

According to a second aspect of the present invention, a plurality of cameras provided with a camera moving means capable of moving a position and a direction in which an image is picked up, and a picked-up three-dimensional image horizontally moved between left and right images so as to be within a binocular fusion range of an observer. A parallax control unit that controls binocular parallax to enter, a 3D display that displays the output of the parallax control unit via a superimposer, and moves a camera to an arbitrary position and direction by the camera moving unit. A superimposer that displays a pointer that roughly specifies the position of a subject displayed in the virtual space of the 3D display; a pointer operation unit that moves the position of the pointer; and a plurality of outlines that are specified by the pointer operation unit A parallax detection unit that calculates binocular parallax of a plurality of parallax detection areas determined by a position, and a parallax detection unit that is designated based on an output of the parallax detection unit. Characterized in that it has a different distance calculation unit and the calculating the position and exact positional relationship between these numbers of subjects.

According to a third aspect of the present invention, a plurality of cameras, a 3D display for displaying the output of the cameras via a superimposer, and a pointer for roughly designating a position of a subject in a virtual space of the 3D display are displayed. A superimposer, a pointer operation unit for moving the position of the pointer, a disparity detection unit that calculates a binocular disparity of a disparity detection area determined by an approximate position specified by the pointer operation unit, and a disparity detection unit. A distance calculation unit that calculates an accurate positional relationship between the camera and the subject and a distance between the plurality of subjects based on the output.

According to a fourth aspect of the present invention, there are provided a plurality of cameras provided with a camera moving means capable of moving a position and a direction in which an image is picked up, a 3D display for displaying a stereoscopic image picked up by the camera moving means through a superimposer, A superimposer for moving the camera to an arbitrary position and direction by moving means and displaying a pointer for roughly specifying a position of a subject displayed in the virtual space of the 3D display;
Pointer operation means for moving the position of the pointer,
A parallax detection unit that calculates binocular parallax of a plurality of parallax detection areas determined by a plurality of approximate positions specified by the pointer operation unit, and a plurality of subjects that are specified based on the output of the parallax detection unit It is characterized by having a different distance calculator for calculating the position and the exact positional relationship between them.

According to a fifth aspect of the present invention, there are provided a plurality of cameras, a display for displaying one of the three-dimensional images picked up by the camera via a superimposer, and a pointer for roughly designating a position of a subject in the display. A superimposer to be displayed; pointer operation means for moving the position of the pointer; a disparity detection unit for calculating binocular disparity of a disparity detection area determined by a general position specified by the pointer operation means; A distance calculation unit that calculates an accurate positional relationship between the camera and the subject and a distance between a plurality of subjects based on an output of the detection unit.

According to a sixth aspect of the present invention, there are provided a plurality of cameras provided with a camera moving means capable of moving a position and a direction to be imaged, and a display for displaying one of three-dimensional images picked up by the camera via a superimposer. A superimposer that moves a camera to an arbitrary position and direction by the camera moving unit, and displays a pointer that roughly specifies the position of a subject displayed on the display; and a pointer operating unit that moves the position of the pointer. A parallax detection unit that calculates binocular parallax of a plurality of parallax detection regions determined by a plurality of approximate positions specified by the pointer operation unit, and a plurality of subjects specified based on an output of the parallax detection unit. It is characterized by having a different distance calculator for calculating the position and the exact positional relationship between them.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings showing an embodiment.

(First Embodiment) FIG. 1 shows a configuration diagram of a distance measuring apparatus according to a first embodiment of the present invention.

In FIG. 1, 1 and 2 are cameras, 3 is a parallax detector, 4 is a parallax controller, 5 is a super imposer, 6
Denotes a 3D display, 7 denotes a graphic generation unit, 8 denotes a pointer operation unit, 9 denotes a controller, and 10 denotes a distance calculation unit.

The operation of the present embodiment configured as described above will be described. First, images with different viewpoints of a subject to be measured are captured by the cameras 1 and 2. The parallax of the captured image is controlled by the parallax control unit 4 to the binocular fusion range of the observer, and the graphic generation unit 7 is controlled by the superimposer 5.
Are superimposed on the left and right images, respectively.

FIG. 2 shows this state. FIG.
A plan view of the scene displayed by the D display 6, (b) is an example of a display screen, in which a subject and a pointer (a square indicates a parallax detection area and a cross indicates the center of the detection area) are displayed. .

As described above, the observer can simultaneously observe the captured stereoscopic image and the (stereoscopic) pointer graphic.
Here, in the initial state, it is assumed that the pointer graphic is displayed at the center of the screen with a parallax of 0 (α in FIG. 2). The shaded area in FIG. 2 is the range in which the observer can view stereoscopically. That is, point B is stereoscopically viewable, but point A has a binocular parallax larger than the stereoscopically viewable range, and is not stereoscopically viewable. Therefore, it is difficult for the observer to specify the point A using stereoscopic vision.

Suppose that it is desired to measure the distance between points A and B in the subject M. The image of point A on the display surface is A for each of the left and right eyes
The image of the point B is displayed as BL and BR as L and AR. The observer observes the stereoscopic image displayed using the binocular stereopsis, but the size of the binocular parallax that can be clearly observed is limited, and the shaded portion in FIG. Let it be a range. First, the observer moves the pointer in the direction of the point A by the pointer operating means 8 in order to clearly see the point A.

The parallax control unit determines, from the stereoscopic images captured by the cameras 1 and 2, the magnitude of the binocular parallax of the image portion indicated by the pointer calculated by the parallax detecting unit 3, and the binocular parallax of the observer. The left and right display images are translated in the horizontal direction so as to fall within the fusion range of.

This operation may always function,
It functions only when the observer informs the controller of the control of the parallax by some means (using a pointer operation means, a switch, or the like), and may hold the translation amount thereafter.

As shown in FIG. 3, the parallax detection section 3 detects a parallax of a portion indicated by the pointer in the left and right images as a parallax detection region. There are various detection methods such as image matching and gradient methods. Here, a method using image matching will be described. Assuming that the positions of the pointer designated by the observer are PL and PR, the binocular parallaxes ΔxA and ΔyA are based on the left image.

[0025]

(Equation 1)

[0026]

(Equation 2)

Is calculated by Here, it is assumed that xk and yk take the coordinate values in the detection region R (shaded area), and i and j are searched in the search range (2WH × 2Wv). When the left image is used as a reference, generally, the search range of the search right image searches for a range of 2WH × 2Wv around the same coordinates as the left image. Here, the observer specifies the search range while observing the stereoscopic image. By giving the approximate three-dimensional position as PL and PR, it is possible for the observer to specify to some extent to search around the object while looking at the three-dimensional position of the subject. Thus, it is not necessary to search all in a wide three-dimensional space, and the matching operation can be performed by searching only near the designated coordinates.

Based on the binocular disparity ΔX obtained by (Equation 1) and (Equation 2), the parallax control unit 4 horizontally moves the left and right images in opposite directions to each other, and this is the fusion of the observer. The value is set to be equal to or smaller than the limit of the binocular parallax (this value is set to S). At this time, the magnitude of the minimum parallel movement amount ΔSA of each image is as follows.

[0029]

(Equation 3)

By the above operation, when the controller is instructed to change the parallax by moving the pointer, the parallax at that point is updated to a size observable by the observer, and the observer is brought into a state where the observer can clearly observe. Thus, the position of the point A can be designated by a pointer.

The three-dimensional position of the pointer is brought closer to the three-dimensional position of the point A (the depth position does not need to be completely coincident and may be a rough position. (The pointer is moved three-dimensionally so that the center of the parallax detection area is point A)) and the controller 9 is notified that the point A is designated using the mouse SW or the like. The parallax detection device calculates the binocular parallax by the same method as the above-described calculation.

The values are ΔXA and ΔYA, and the coordinates of the pointer at this time are the left image (XAL, YAL) and the right image (XAR, YAR).
And

Similarly, the observer moves the pointer near another reference point B for measuring the distance, designates the reference point B (FIG. 2γ), and the parallax detection unit 3 detects the parallax of the point B. ,
Assume that the values are ΔXB and ΔYB, and the coordinates of the pointer at that time are the left image (XBL, YBL) and the right image (XBR, YBR). It is also assumed that the translation amount of each of the left and right images at this time is ΔSB.

When the two points A and B are designated as described above, the distance calculation unit calculates the three-dimensional coordinates of the two points A and B and the distance between the points AB, for example, using the following formula. Regarding point A:

[0035]

(Equation 4)

[0036]

(Equation 5)

[0037]

(Equation 6)

Here,

[0039]

(Equation 7)

[0040]

(Equation 8)

[0041]

(Equation 9)

[0042]

(Equation 10)

Is as follows. Also regarding point B:

[0044]

[Equation 11]

[0045]

(Equation 12)

[0046]

(Equation 13)

Here,

[0048]

[Equation 14]

[0049]

(Equation 15)

[0050]

(Equation 16)

[0051]

[Equation 17]

Is as follows. The distance between AB is as follows.

[0053]

(Equation 18)

Here, in an ideal case where the positions of the optical axes of the cameras 1 and 2 are not shifted in the vertical direction, ΔYA = ΔYB = 0.
It is. Wc is the distance between the two cameras, f is the focal length of the lens, and M is the magnification from the imaging surface to the display surface.

However, this calculation is an equation when the cameras are configured in parallel. If the camera is congested,
The formulas are different, but can be calculated geometrically as well. The coordinates of the points A and B and the distance of the straight line AB calculated in this way are displayed on the 3D display 6 through the graphic generation unit 7 and the superimposer. Alternatively, output is made to another output device (display, printer, etc.).

As described above, according to the present embodiment, the points A and B located at a distance that cannot be observed at a time in the stereoscopic image due to the restriction of the binocular fusion range of the observer are roughly pointed by the pointer sequentially while performing parallax control. By simply specifying the position of, the parallax can be detected without making the search range of the image matching at the time of the parallax detection too large, and accurate points A and B can be detected.
It is possible to measure the dimensional position and AB distance.

(Second Embodiment) FIG. 4 shows a configuration diagram of a distance measuring apparatus according to a second embodiment of the present invention. In FIG. 4, reference numerals 1 and 2 denote cameras, 3 denotes a parallax detection unit, 4 denotes a parallax control unit, 5 denotes a superimposer, 6 denotes a 3D display, 7 denotes a graphic generation unit, 8 denotes pointer operation means, 9 denotes a controller, 10 Are distance calculation units, which are almost the same as those in the first embodiment. The present embodiment is different from the first embodiment in that a camera operation unit 15 is newly added to a camera parameter calculation unit 11, a position encoder 12, a camera moving unit 13, and a movement controller 14, so that a target object can be simultaneously displayed. If the camera is introduced into the visual field by changing the direction of the camera even if it is not within one visual field, its three-dimensional position and distance can be measured.

The operation of the distance measuring apparatus according to the present embodiment configured as described above will be described. First, similarly to the first embodiment, the cameras 1 and 2 capture images at different viewpoints of the subject to be measured. However, the direction of the camera is controlled by the camera operating means 15 while the observer looks at the 3D display 6.
To introduce the target object into the field of view. In the same manner as in the first embodiment, the captured image is translated by moving the left and right images in the horizontal direction so that the subject at the position of the pointer enters the binocular fusion area of the observer, as in the first embodiment. The parallax is controlled and the Super Imposer 5
Thus, the pointer graphic (stereoscopic image) generated by the graphic generator 7 is superimposed on the left and right images, respectively, and the observer observes the captured stereoscopic image and the (stereoscopic) pointer graphic simultaneously.

In FIG. 5, the subject M that is currently in the field of view is shown.
Suppose that it is desired to measure the three-dimensional positions of a point A in 1 and a point B in the subject M2 not currently in the field of view, and their distances.

Assume that the camera is oriented in the direction of I in FIG. The observer moves the pointer in the direction of the point A displayed on the 3D display 6 by the pointer operation means 8.

The parallax control unit determines, from the stereoscopic images captured by the cameras 1 and 2, the magnitude of the binocular parallax of the image portion indicated by the pointer calculated by the parallax detecting unit 3, and the binocular parallax of the observer. The left and right display images are translated in the horizontal direction so as to fall within the fusion range of.

The three-dimensional position of the pointer is brought closer to the three-dimensional position of the point A. (The depth position does not have to completely match, and may be a rough position. The parallax detection of the pointer in FIG. (The pointer is moved three-dimensionally so that the center of the area becomes the point A.) When the point A is designated by pressing the mouse SW or the like, the parallax detection device uses the point A in the same manner as in the first embodiment of the present invention. Is calculated. The value is ΔXAI,
ΔYAI, the coordinates of the pointer at this time are represented by the left image (XALI, YA
LI) and the right image (XAR, YAR). It is also assumed that the translation amount of each of the left and right images at this time is ΔSAI.

Similarly, the observer operates the camera operating means 1 so that another object M2 whose distance is to be measured enters the field of view.
5 is used to orient the camera as shown in II of FIG. Next, move the pointer to the vicinity of the point B, specify the reference point B,
The parallax detection unit 3 detects parallax near the point B, and calculates the value as ΔX
BII, ΔYBII, and the coordinates of the pointer at that time are shown in the left image (XBL
II, YBLII) and the right image (XBRII, YBRII). It is also assumed that the translation amount of each of the left and right images at this time is ΔSBII.

When the two points A and B are designated as described above, the distance calculation unit calculates the three-dimensional coordinates of the two points A and B and the distance between the points AB, for example, using the following formula.

The coordinate value X0I, of the coordinate system point A of the camera I in FIG.
Calculation of Y0I, Z0I:

[0066]

[Equation 19]

[0067]

(Equation 20)

[0068]

(Equation 21)

However,

[0070]

(Equation 22)

[0071]

(Equation 23)

[0072]

(Equation 24)

[0073]

(Equation 25)

Is as follows. Calculation of coordinate values X0II, Y0II, Z0II of coordinate system point A of camera II in FIG.

[0075]

(Equation 26)

[0076]

[Equation 27]

[0077]

[Equation 28]

However,

[0079]

(Equation 29)

[0080]

[Equation 30]

[0081]

(Equation 31)

[0082]

(Equation 32)

Is as follows. Here, the coordinates of points A and B (X0I, Y0
I, Z0I) and (X0II, Y0II, Z0II) are converted into coordinates (XAW, YAW, ZAW) and (XBW, YBW, ZBW) in the world coordinate system.

[0084]

[Equation 33]

[0085]

(Equation 34)

Here,

[0087]

(Equation 35)

[0088]

[Equation 36]

[0089]

(37)

[0090]

(38)

Is as follows. However, in an ideal case where the optical axes of the cameras 1 and 2 are not displaced in the vertical direction, ΔYAI =
ΔYBII = 0. Wc is the distance between the two cameras,
f is the focal length of the lens, and M is the magnification from the imaging surface to the display surface.

Further, regarding the transformation from the world coordinate system XwYwZw to the camera I coordinate system shown in FIG. 5, translation (TxI, TyI, Tz
I) and rotational movement (αI around x axis, βI around y axis, γ around z axis)
I), translation of camera II coordinate system
xII, TyII, TzII) and rotational movement (αII around x axis, βI around y axis)
I and y around the z-axis).

This value is supplied by the position encoder 12. Based on the coordinate values in these world coordinate systems,
The distance between points A and B is calculated by the following equation.

[0094]

[Equation 39]

However, this calculation is an expression when the cameras are configured in parallel. If the camera is congested,
The formulas are different, but can be calculated geometrically as well.

The coordinates of the points A and B and the distance of the straight line AB calculated in this way are displayed on the 3D display 6 through the graphic generation unit 7 and the super imposer 5. Alternatively, output is made to another output device (display, printer, etc.).

As described above, according to the present embodiment, due to the restriction of the binocular fusion range of the observer, a stereoscopic image cannot be observed at one time, and a distance that cannot be within the field of view of the camera at one time. By simply specifying the approximate positions of points A and B sequentially with a pointer while performing parallax control,
Accurate three-dimensional positions of points A and B and distance of AB can be measured.

In the first embodiment, the magnitude of the parallax is controlled by the parallel movement of the image. However, this may not be performed when the subject is within the fusion range of the observer.

In the first and second embodiments, if the binocular parallax detection is not successful, the observer does not observe the 3D display 6 and the left and right images are displayed on one screen. The binocular parallax can also be detected by observing the image as it is as a planar image, operating the pointer operation means 8 to adjust the horizontal shift amount of the left and right images so that the left and right images coincide with each other. In this case, based on the horizontal movement amount of the left and right images manually specified by the observer,
The distance calculator 10 calculates the binocular parallax.

In this case, when the 3D display 6 is a time-division stereoscopic image display system, the observer only needs to take off the shutter glasses and observe the image. Also, in the case of the polarization type stereoscopic image display method, the observer can observe a double image in which the left and right images are combined simply by removing the polarizing glasses. In addition, in the lenticular method or the parallax barrier method, it is sufficient to add the input left and right images before displaying them and display this on one display channel or both display channels.

The state in which the binocular parallax detection is not successful may be determined by the observer looking at the calculation result, or in the image matching calculation shown in Equation 2, i, j of the correlation value E may be determined.
As shown in FIGS. 6B and 6C, the parallax detection unit 3 determines whether (2) the minimum point is not clear, (3) the average value of the whole is small, and (4) the plurality of minimum points appear. The judgment may be made and the observer may be notified using the display 6 or the warning display.

FIG. 6A shows the distribution of the correlation value E when the binocular parallax detection is successful. In the first and second embodiments, the measurement error can be reduced by the observer confirming whether or not the binocular parallax has been successfully detected.

In this case, as in the case where the above-mentioned binocular parallax detection is not successful, the observer does not observe the 3D display 6 as it is, but displays the left and right images superimposed on one screen and displays it as a planar image. Observed as an image, the controller 9 translates the left and right images using the detected binocular disparity amount so that the left and right images in the area indicated by the pointer overlap. The observer checks whether the left and right images in the area just overlap. If they overlap, distance calculation is performed using the detected binocular parallax.

Otherwise, as in the case where the binocular parallax detection is not successful, the observer moves the left and right images in parallel and overlaps each other, and obtains the corrected binocular parallax from the moving amount of the image at that time. Calculate the distance based on

In the first and second embodiments,
By changing the size of the pointer displayed on the screen by the binocular disparity, the perspective can be increased and the pointer can be more easily used. Of course, there is no problem even if the image is displayed at a fixed size because the perspective can be obtained by the binocular parallax.

Note that in the first and second embodiments,
Although the observer observes and operates the stereoscopic image displayed on the 3D display, the observer may display the stereoscopic image on a 2D display such as a normal TV monitor, and the pointer may be displayed two-dimensionally. In this case, the parallax control unit in FIGS. 1 and 4 is not required.

In the first and second embodiments,
The observer observes and operates the stereoscopic image displayed on the 3D display. The observer moves the left and right images in the horizontal direction by superimposing the left and right images on a 2D display such as a normal TV monitor. Then, the image of the target subject may be made single, and the parallax may be calculated from the displacement amount at that time. Note that, in this case, the parallax control unit in FIGS.

In the second embodiment, an example in which the camera is rotated is shown in FIG. 5, but the calculation can be performed without any problem using both rotation and translation.

[0109]

As is apparent from the above description, according to the present invention, the user can always stereoscopically view the captured image and the pointing pointer, and can measure the distance without being restricted by the binocular parallax of the observer. In addition, it is possible to reduce the search range when calculating binocular parallax and perform high-speed calculations, and it is also possible to measure the three-dimensional position of objects not existing in the same visual field and the distance between objects.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a distance measuring device according to a first embodiment of the present invention.

FIGS. 2A and 2B are measurement principle diagrams of a distance measuring device according to a first embodiment of the present invention.

FIG. 3 is a diagram showing an image matching operation of the distance measuring device according to the first and second embodiments.

FIG. 4 is a configuration diagram of a distance measuring device according to a second embodiment of the present invention.

FIG. 5 is a view showing movement of a distance measuring device in a camera direction according to a second embodiment of the present invention.

FIGS. 6A to 6C are diagrams showing an image matching operation of the distance measuring device according to the first and second embodiments.

FIG. 7 is a principle diagram of a conventional distance measuring device.

[Explanation of symbols]

 Reference Signs List 1 camera 2 camera 3 parallax detection unit 4 parallax control unit 5 superimposer 6 3D display 7 graphic generation unit 8 pointer operation unit 9 controller 10 distance calculation unit 11 camera parameter calculation unit 12 position encoder 13 camera movement unit 14 movement controller 101 lens 102 lens 103 camera imaging surface 104 camera imaging surface

Claims (15)

[Claims] A plurality of cameras; a parallax control unit configured to control binocular parallax so that a stereoscopic image captured thereby moves horizontally between left and right images so as to fall within a binocular fusion range of an observer; A 3D display for displaying the output of the parallax control unit via a superimposer, a superimposer for displaying a pointer for roughly designating the position of the subject in the virtual space of the 3D display, and a pointer for moving the position of the pointer An operation unit, a parallax detection unit that calculates a binocular parallax of a parallax detection area determined by an approximate position specified by the pointer operation unit, and an accurate camera and the subject based on an output of the parallax detection unit. A distance measuring device comprising a distance calculating unit for calculating a positional relationship and a distance between a plurality of subjects. 2. A plurality of cameras provided with a camera moving means capable of moving a position and a direction to be imaged, and a stereoscopic image picked up by the camera moving means moves horizontally between left and right images to enter a binocular fusion area of an observer. Control unit for controlling the binocular parallax, a 3D display for displaying the output of the parallax control unit via a superimposer, and moving the camera to an arbitrary position and direction by the camera moving means.
A superimposer that displays a pointer that roughly specifies the position of the subject displayed in the virtual space of the display, pointer operation means that moves the position of the pointer, and a plurality of general positions specified by the pointer operation means A parallax detection unit that calculates binocular parallax of the determined plurality of parallax detection regions, and calculates the positions of a plurality of designated objects and an accurate positional relationship between them based on an output of the parallax detection unit. A distance measurement device having a distance calculation unit different from the above. 3. The pointer is displayed three-dimensionally at the same time as the three-dimensional images picked up by the plurality of cameras via the superimposer, and the observer wants to operate the three-dimensional position by the pointer operation means to perform measurement. A pointer is moved to the vicinity of the subject, and the parallax detection unit determines a range of a corresponding point search for parallax detection based on a position of the pointer on the screen and an amount of displacement of the pointer between the left and right images. Item 3. The distance measuring device according to Item 1 or 2. 4. The parallax detection unit displays the left and right images simultaneously at the same position when it is determined that the image state is bad and cannot be calculated, and the observer manually moves the left and right images in the horizontal direction to change the left and right images. 3. The distance measuring apparatus according to claim 1, wherein the parallax is calculated by adjusting a shift of the image. 5. The image processing apparatus according to claim 1, wherein the left and right images are horizontally translated using the result calculated by the parallax detection unit so that the parallax of the image of the subject of interest becomes zero, and the left and right images are simultaneously displayed at the same position. 3. The distance measuring apparatus according to claim 1, wherein it is checked whether parallax calculation is correct. 6. A plurality of cameras, a 3D display for displaying the output of the cameras via a super-imposer,
A superimposer for displaying a pointer for roughly designating the position of the subject in the virtual space of the 3D display;
Pointer operation means for moving the position of the pointer,
A parallax detection unit that calculates binocular parallax in a parallax detection area determined by the approximate position specified by the pointer operation unit, and a precise positional relationship between the camera and the subject based on an output of the parallax detection unit and a plurality of A distance calculating unit for calculating a distance between the subjects. 7. A plurality of cameras provided with a camera moving means capable of moving a position and a direction to be imaged, a 3D display for displaying a stereoscopic image picked up by the camera moving means via a superimposer, and an optional camera moving means. Position of·
A superimposer that moves the camera in a direction to display a pointer that roughly specifies the position of a subject displayed in the virtual space of the 3D display; pointer operating means that moves the position of the pointer; A parallax detection unit that calculates binocular parallax of a plurality of parallax detection areas determined by a plurality of approximate positions specified by the means, and a plurality of subject positions specified based on the output of the parallax detection unit and these A distance calculating unit for calculating an accurate positional relationship between the distance measuring device and the distance measuring device. 8. The pointer is three-dimensionally displayed simultaneously with the three-dimensional images picked up by the plurality of cameras via the superimposer, and the observer wants to operate the three-dimensional position by the pointer operation means to perform measurement. A pointer is moved to the vicinity of the subject, and the parallax detection unit determines a range of a corresponding point search for parallax detection based on a position of the pointer on the screen and an amount of displacement of the pointer between the left and right images. Item 8. The distance measuring device according to item 6 or 7. 9. The parallax detection unit displays the left and right images at the same position at the same time when it is determined that the image state is bad and calculation is not possible, and the observer manually moves the left and right images in the horizontal direction so that the left and right images are left and right. 8. The distance measuring apparatus according to claim 6, wherein the parallax is calculated by adjusting a shift of the image. 10. The image processing apparatus according to claim 1, wherein the left and right images are horizontally translated using the result calculated by the parallax detection unit so that the parallax of the image of the subject of interest becomes zero, and the left and right images are simultaneously displayed at the same position. 8. The distance measuring apparatus according to claim 6, wherein it is checked whether parallax calculation is correct. 11. A plurality of cameras, a display for displaying one of the three-dimensional images captured by the camera via a superimposer, and a super-instruction for displaying a pointer for roughly specifying a position of a subject in the display. A poser, pointer operation means for moving the position of the pointer, a parallax detection unit for calculating binocular parallax of a parallax detection area determined by the approximate position specified by the pointer operation means, and an output of the parallax detection unit A distance calculating unit for calculating an accurate positional relationship between a camera and the subject and a distance between a plurality of subjects based on the distance. 12. A plurality of cameras provided with a camera moving means capable of moving the position and direction of image pickup, a display for displaying one of three-dimensional images picked up by the camera mover through a superimposer, and a camera mover. A superimposer for moving a camera to an arbitrary position and direction by means and displaying a pointer for roughly specifying the position of a subject displayed on the display; a pointer operating means for moving the position of the pointer; and the pointer operation A parallax detection unit that calculates binocular parallax of a plurality of parallax detection regions determined by a plurality of approximate positions specified by the means, and a plurality of subject positions specified based on the output of the parallax detection unit and A distance measuring device having a different distance calculating unit for calculating an accurate positional relationship between the two. 13. A display device comprising: two displays; displaying left and right images independently on each of the displays; and an observer moving a superimposed pointer up, down, left, and right on each display independently. The parallax detection unit determines a range of a corresponding point search for parallax detection based on the position of each pointer on the screen.
Or the distance measuring device according to 12. 14. The parallax detection unit displays the left and right images at the same position at the same time when it is determined that the image state is bad and the calculation cannot be performed, and the observer manually moves the left and right images in the horizontal direction so that the left and right images are left and right. 13. The distance measuring apparatus according to claim 11, wherein the parallax is calculated by adjusting a shift of the image. 15. The image processing apparatus according to claim 1, wherein the left and right images are horizontally translated so that the parallax of the image of the subject of interest becomes zero using the result calculated by the parallax detection unit, and the left and right images are simultaneously displayed at the same position. 13. The distance measuring apparatus according to claim 11, wherein it is checked whether parallax calculation is correct.