DISTANCE IMAGE ACQUISITION DEVICE AND DISTANCE IMAGE ACQUISITION METHOD

摘要

Provided are a distance image acquisition device and a distance image acquisition method that, even when structured light patterns (a first dot pattern DP1 and a second dot pattern DP2) with the same shape are projected simultaneously from an own apparatus and another apparatus, can acquire a distance image on the basis of the pattern (DP1) projected from the own apparatus. The present invention projects from a projection unit (12) the first pattern (DP1) of structured light onto a subject within a distance measurement area by performing a plurality of light emissions at a plurality of light emission intensities; captures an image of the subject in synchronization with each of the plurality of light emissions by an imaging unit (14) arranged side by side with the projection unit (12) separated by a baseline length therefrom; normalizes with a normalizing unit (20D) each of the captured images on the basis of a coefficient corresponding to each of the plurality of light emission intensities; determines the first pattern projected from the projection unit (12) by comparing with a comparing unit (20F) the plurality of normalized images (dV1, dV2); and acquires a distance image that indicates the distance of the subject on the basis of that determination result.