| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-dimensional distance measuring sensor and a three-dimensional distance measuring method, capable of speedily and more accurately measuring a three-dimensional distance of a measurement point in a wider area. SOLUTION: In the three-dimensional distance measuring sensor 100, the measurement point P is photographed through first to third view points V1-V3 by first to third camera sections 11l, 11r and 11d each having a fish-eye lens property, and then first to third spherical surface images 3l, 3r and 3d are formed from the first to third plane images acquired by respective camera sections, and a first parallax is calculated from the first and second spherical surface images, and a second parallax is calculated from the first and third spherical surface images, and the three-dimensional distance from the first view point to the measurement point is calculated by integrating first and second distance parameters based on each parallax. Since a straight line Rr passing through the first and second view points intersects with a straight line Rd passing through the first and third view points, the first or second parallax can be obtained more surely and accurately, whereby the three-dimensional distance measurement can be carried out for the measurement point in the wide area. COPYRIGHT: (C)2008,JPO&INPIT
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