RANGE IMAGE ACQUISITION APPARATUS AND RANGE IMAGE ACQUISITION METHOD

摘要

The present invention provides a range image acquisition apparatus and a range image acquisition method which enable acquisition of a range image having a high accuracy even when structured light patterns having an identical configuration are projected from the apparatus and another apparatus. The range image acquisition apparatus (10) is provided with: a projection unit (12) that projects a structured light pattern; a light modulation unit (22) that modulates, using codes, a timing of switching between projection and non-projection of the pattern; an image capture unit (14) which is disposed so as to be parallel to and to be spaced apart from the projection unit (12) by a baseline length, which captures images in synchronization with a period of the projection of the pattern and a period of the non-projection of the pattern, and which generates a first captured image that is captured in the period of the projection of the pattern and a second captured image that is captured in the period of the non-projection of the pattern; a differential image generation unit (20D) that generates a differential image between the first captured image and the second captured image; a pattern extraction unit (20A) that extracts a pattern from the differential image; and a range image acquisition unit (20B) that acquires a range image indicating a distance of an object within a distance measurement region on the basis of the pattern extracted by the pattern extraction unit (20A).