JP4576994B2 - Imaging apparatus and three-dimensional object recognition apparatus - Google Patents

Description

  The present invention relates to a three-dimensional object recognition apparatus that recognizes an object and measures a distance to the object, for example, and an imaging apparatus used therefor.

  2. Description of the Related Art Conventionally, there is a stereo camera apparatus that measures the distance to an object by capturing images with two cameras arranged in a specific area and applying image processing technology based on the triangulation principle to the two captured images obtained. Proposed.

  In such a stereo camera device, measurement is performed using posture information such as the interval and direction of each camera. For this reason, if the interval and direction of the camera are out of order, the measurement result is affected and the distance measurement accuracy is lowered.

As a method for solving this problem, a method has been proposed in which a rib is provided on a side portion of a T-shaped camera stay to which a camera is attached (see Patent Document 1).
This method is described in that a rib is provided to prevent deformation due to tightening during the process of attaching the camera to the external housing, thereby preventing a decrease in distance measurement accuracy. Further, it is described that by increasing the rigidity of the camera stay, the occurrence of an error due to the deformation of the camera stay due to thermal expansion is prevented.

In addition, a large stereo camera mounting structure has been proposed in which the base plate to which the camera is mounted is not distorted when being fixed to a fixing member (see Patent Document 2).
This mounting structure prevents the base plate from being distorted by using a plastically deformed bracket.

  However, these methods and structures are insufficient as countermeasures against thermal deformation due to temperature fluctuations.

Japanese Patent Laid-Open No. 11-301365 JP 2003-84357 A

  In view of the above-described problems, an object of the present invention is to provide an imaging apparatus and a three-dimensional object recognition apparatus that can remarkably suppress the occurrence of errors due to thermal deformation, and to improve user satisfaction.

The present invention is an imaging apparatus including two or more imaging units that capture an image of substantially the same range, wherein the two or more imaging units are attached to a single support, and the support is entirely formed in a longitudinal shape. The imaging unit is formed of a lens, an imaging device, and a fixing unit that fixes the positional relationship between the lens and the imaging device, and the fixing unit. Among these, the imaging device is characterized in that the surface on which the lens is fixed is directly attached and fixed to the support .

  The support is formed in a simple shape such as a polygonal cylinder such as a hollow quadrangular column, or a cylinder, or is formed in an appropriate shape such as a protrusion side or an imaging unit mounting hole in the simple shape. Including that.

  In addition, the support includes integrally forming by extrusion molding, fixing the plate-like member by screws or bolts and nuts, or welding the plate-like member.

  With this configuration, the strength of the support can be increased, and deformation such as bending and twisting can be prevented. Therefore, it is possible to prevent deformation when the support is attached to the external housing or due to temperature fluctuations.

As aspect of the invention, the pre-Symbol fixing portion, the support and the thermal expansion coefficient can be shape formed in the same member.

  The direct mounting and fixing includes fixing by screwing, fixing by fitting such as fitting between a convex portion and a concave portion, or fixing by welding, or the like.

  With the above configuration, it is possible to prevent stress from being generated between the support and the fixing portion when there is a temperature change. Therefore, the direction of the fixed part does not change even if there is a temperature change, the direction of the lens and the image sensor does not change, and a decrease in accuracy due to temperature change can be prevented.

  Further, as an aspect of the present invention, an external housing and a support fixture that attaches the support to the external housing are provided, and the support fixture is a member that is more flexible than the support and the external housing. Can be formed.

The flexible member is formed of a member that is more easily deformed than the support and the external housing with respect to an external force applied from the outside, and is formed with a thickness thinner than the support and the external housing, or both Forming.
The attachment by the support attachment includes performing appropriate attachment such as screwing, bolt and nut attachment, or fitting through the support attachment.

By the arrangement, the even if the support the Tsu written stress when mounting the outer housing, to absorb the stress in the support fixture, the support can be prevented from being deformed.
Further, since the influence of stress when the support is attached to the external housing is reduced, the degree of freedom of the shape of the external housing is increased. Therefore, it is easy to manufacture an external housing having a small opening and to achieve waterproof and dustproof.

  Further, even if an external force is applied to the external housing after the support is attached to the external housing, the external force can be absorbed by the support fixture, and the support is prevented from being deformed to prevent a decrease in accuracy. it can.

As an aspect of the present invention, the support can be formed by extrusion.
Thereby, a support having a constant thickness in the extrusion direction can be easily manufactured. Moreover, since it becomes possible to manufacture a support body without welding and screwing, when a support body receives heat from the outside, the heat can be conducted naturally to the whole support body.

  Further, the present invention provides a tertiary including the imaging apparatus, a measurement target recognition unit that recognizes a three-dimensional object that is a measurement target from an image captured by each imaging unit, and an output unit that outputs a measurement result based on the recognition. The original object recognition device can be obtained.

The measurement target recognizing unit includes an arithmetic processing unit that recognizes a measurement target by associating a captured image of each imaging unit.
The measurement result includes the presence or absence of a measurement target, the number of measurement targets, the distance to the measurement target, the moving speed of the measurement target, the height of the measurement target, or a plurality of these results obtained by measurement. .

  The output means includes a transmission unit for transmitting and outputting the measurement result, a display unit for displaying the measurement result (liquid crystal, CRT, digital display unit, etc.), a sound generation unit such as a speaker that produces sound based on the measurement result, This includes a lighting unit such as an LED that blinks or the like, or a combination thereof.

With the above configuration, it is possible to measure a measurement target without misidentifying an environment such as a shadow.
In addition, it is possible to provide a three-dimensional object recognition device that prevents deformation during assembly, and deterioration in accuracy due to temperature change and vibration after assembly.

  According to the present invention, it is possible to prevent a decrease in accuracy of the imaging apparatus due to stress at the time of attaching the support body to the external housing or a temperature change after the attachment.

An embodiment of the present invention will be described below with reference to the drawings.
First, the overall configuration of the three-dimensional object recognition apparatus 1 will be described with reference to the perspective view shown in FIG.

  The three-dimensional object recognition device 1 includes a stereo imaging device 10 and a processing device 70, and the stereo imaging device 10 is attached to the top of the pole 2.

  The mounting height of the stereo imaging device 10 is set sufficiently higher than the height of the automobile 4 that is a measurement object. Although there are various types of automobiles 4 such as passenger cars, trucks, and two-story buses, the mounting height of the stereo imaging device 10 is set higher than that of the highest automobile 4.

  The stereo imaging device 10 sets an imaging range so as to capture the road 6 so that the entire width of the road 6 can be captured. In addition, it is good also considering only the lane side where the motor vehicle 4 comes to the stereo imaging device 10 among the lanes of the road 6 as an imaging range. In this case, another three-dimensional object recognition device 1 may be provided in the opposite lane with the imaging direction reversed. If comprised in this way, the vehicle to measure can be imaged from the front side, and a license plate or a driver | operator's photograph or video can also be acquired.

  With the above configuration, the three-dimensional object recognition device 1 can capture an image of the road 6 from above with the stereo imaging device 10. If there is a person 5 on the road 6, not only the automobile 4 but also the person 5 can be imaged.

Next, the configuration of the stereo imaging device 10 will be described together with the perspective view in the tilted state shown in FIG. 2 and the exploded perspective view in the tilted state shown in FIG.
The stereo imaging device 10 forms an exterior with a cylindrical outer casing 13 (FIG. 3) having a rectangular cross section and rectangular plate-shaped lids 11 and 11 that close both ends thereof.

On the upper surface of the external housing 13, two rectangular window glasses 12 are arranged for the front and rear objects in the longitudinal direction of the figure, which is the longitudinal direction.
The external housing 13 is configured to be sealed with the lid 11, and the periphery of the window glass 12 is also sealed so that there is no gap. This is waterproof and dust-proof so that water and dust do not enter inside.

  As shown in the exploded view of FIG. 3, the support body 20 is accommodated in the stereo imaging device 10. This support 20 is extruded in the longitudinal direction using a highly rigid metal member, and is formed into a cylindrical shape with a square cross section (more precisely, the cross section is II-shaped like Roman numeral II). ing. Thereby, it forms in the hollow shape which has the through-hole 24. FIG.

  Further, by extrusion molding, the support 20 is formed with a constant thickness so as to have a uniform thickness in the longitudinal direction. Thereby, the bending of the longitudinal direction by the temperature change is prevented.

  In addition to the longitudinal direction, the upper, lower, left, and right surfaces of the through hole 24 are formed to have a constant thickness so as to have the same thickness. Thereby, the thermal expansion coefficient of the support 20 is made constant, and deformations such as bending and twisting are effectively prevented in addition to the longitudinal direction.

As will be described later, two cameras are symmetrically arranged in the longitudinal direction (front-rear direction in the figure) inside the support 20, and the lenses 31, 31 of the camera are formed on the upper surface of the support 20. The holes 21 and 21 are configured to be fitted.

  Fixing plates 50 and 50 are attached to the openings at both ends of the support 20, which are softer than both the support 20 and the external housing 13, and have a thickness that is at least thinner than the thickness of each surface of the support 20. The fixing plates 50 can be fixed to the external housing 13. With this fixing, the lens hole 21 and the window glass 12 are configured to face each other when the support 20 is fixed to the external housing 13.

  With the above configuration, the support body 20 on which the two cameras are arranged can be housed in the external housing 13. Since the lenses 31 and 31 of the camera are fixed at positions corresponding to the window glass 12, the outside world can be imaged in a waterproof and dustproof state.

Next, the shapes of the support 20 and the camera 30 will be described together with a partially enlarged perspective view shown in FIG. 4, a perspective view shown in FIG. 5, and a partial sectional view shown in FIG.
As shown in the partial enlarged perspective view of FIG. 4, a circular lens hole 21 is formed at the center in the width direction of the top plate portion 20a on the upper surface at positions near the openings at the front and rear ends of the support 20. Yes. Four screw holes 22 are formed around the lens hole 21.

  Both end portions in the width direction of the top plate portion 20a protrude outward from the square-shaped portion forming the through hole 24 to form left and right attachment pieces 27, 27. The attachment piece 27 is formed by rounding the side portion of the side end.

  A square camera hole 25 is formed at the center in the width direction on the bottom plate portion 20b of the bottom surface of the support 20 so as to face the lens hole 21. The camera hole 25 is formed smaller than the bottom width of the through hole 24.

  Further, both end portions in the width direction of the bottom plate portion 20 b are provided with protruding pieces 29 that protrude outward from the square-shaped portion that forms the through hole 24. The projecting pieces 29 and 29 are formed symmetrically and have a projecting width larger than that of the mounting piece 27.

  At the positions of the left and right corners above the through hole 24, screw grooves 28, 28 are provided symmetrically on the inwardly protruding portion. Since the screw grooves 28 are formed in a straight line in the longitudinal direction of the support 20, the fixing plate 50 (FIG. 3) can be screwed to both sides of the opening of the support 20.

  As shown in FIG. 5, the camera 30 includes a lens 31 on the top surface of a main body 33 formed in a hollow box shape (cuboid shape) with an open bottom surface, and a substrate 38 on the bottom surface. Here, the main body portion 33 is formed of the same material as the support 20 and functions as a lens holding portion that fixes the positional relationship between the lens 31 and the imaging element 34.

  Four screw holes 32 are formed around the lens 31 on the upper surface of the main body 33 so as to correspond to the screw holes 22 of the support 20. The lens 31 is fixed in the lens hole 21 by screwing a screw 41 into the screw hole 32 from the screw hole 22 as shown in FIG.

  By this fixing, the upper surface of the main body 33 formed of the same material as that of the support 20 is brought into close contact with the inner surface of the support 20 and directly fixed firmly. As a result, the support 20 and the main body 33 both undergo the same thermal expansion with respect to the temperature change, no stress is generated between the support 20 and the main body 33, and the influence of the temperature change is absorbed. it can.

  The thickness of each side surface (5 surfaces excluding the bottom surface) of the main body portion 33 may be different from the thickness of the support 20 (for example, the thickness of the top plate portion 20a), but is formed to the same thickness. It is desirable.

  When configured to have the same thickness, the support body 20 and the main body portion 33 are made of the same material and have the same thickness, and the generation of stress between the support body 20 and the main body portion 33 can be more effectively prevented.

  As shown in FIG. 5, a substrate 38 having an image sensor 34 such as a CCD or a CMOS is screwed to the bottom surface of the main body 33 with four screws 42 (FIG. 6). The position of the image sensor 34 is directly fixed and fixed by image sensor fixing screws 35 and 35 that are screwed in from the front and right sides, respectively.

With the above configuration, the camera 30 can be stably fixed to the support 20.
Since the image sensor is fixed to the main body 33 with the fixing screw 35 and then mounted on the substrate, the positional relationship between the lens 31 and the image sensor 34 fixed directly to the main body 33 also does not change due to temperature changes, and the accuracy decreases. Can be prevented.

  As shown in FIG. 6, since the outer peripheral size of the main body portion 33 of the camera 30 is formed slightly smaller than the size of the camera hole 25 of the support 20, the camera 30 is inserted from the bottom surface side of the support 20, It can be attached to the inner surface of the front plate portion of the support 20.

  At this time, the upper surface of the main body 33 of the camera 30 can be brought into close contact with the inner surface of the top plate portion 20a of the support 20 and firmly fixed with the screws 41 screwed into the screw holes 22 and 32. .

  Since the support 20 has a structure having the through holes 24, the heat conduction path in the width direction is shortened, and deformation due to thermal expansion can be suppressed. That is, as shown in the explanatory view of FIG. 7, if the support body 20 is formed into a U-shape as shown in (A), the path from the point A to the point B becomes longer. Therefore, a temperature difference between point A and point B is likely to occur.

  On the other hand, in this embodiment, since it is formed in a square shape as shown in (B), two paths from the point A to the point B are made and become shorter. Therefore, heat is easily transmitted from point A to point B, and a temperature difference between point A and point B is less likely to occur. Therefore, changes due to non-uniform thermal expansion are reduced.

The cameras 30 are arranged one by one symmetrically in parallel in the lens holes 21 and 21 provided in the support 20 shown in FIG. 3 so that the imaging directions of the cameras 30 are parallel to each other. Arranged so as to face inward and intersect in a predetermined imaging target region. Thereby, the same imaging target is imaged with a plurality of cameras 30 with slightly different imaging angles.

  Next, the fixing of the external housing 13 and the camera 30 by the fixing plate 50 will be described with the perspective views seen from the front shown in FIGS.

A total of four screw grooves 15 for attaching the lid 11 (FIG. 2) are provided at both end portions (open end portions on the front and rear sides) of the external housing 13, one on each of the four corners.
Inside the upper part of the external housing 13, U-shaped mounting grooves 17, 17 that are mounted by inserting the mounting pieces 27 of the support body 20 are provided symmetrically so that the groove portions face inward.

The mounting groove 17 is formed in a straight line in the front-rear direction from the end of the external housing 13 to the end.
Between the mounting groove 17 and the upper screw groove 15, screw grooves 16 and 16 for mounting the fixing plate 50 are provided symmetrically.

  As shown in the front view of FIG. 9, when the support body 20 is attached to the external housing 13, the attachment pieces 27 and 27 of the support body 20 are inserted and fitted into the attachment grooves 17 and 17. In FIG. 9, the display of the camera 30 is omitted for easy viewing.

Here, since the length of the support body 20 in the longitudinal direction and the length of the support body 20 in the longitudinal direction are the same, both ends of the mounting piece 27 and both ends of the mounting groove 17 are exactly the same length. It fits perfectly.
Accordingly, at this time, the screw grooves 16, 16 and the screw grooves 28, 28 are arranged on the same plane.

  As shown in the front view of FIG. 10, the fixing plate 50 is screwed in a state where the support 20 is inserted into the external housing 13. At this time, the holes formed in the fixing plate 50 are made to correspond to the screw grooves 16 and 16 and the screw grooves 28 and 28, the screws 51 and 51 are provided in the screw grooves 16 and 16, and the screw 52 is provided in the screw grooves 28 and 28, respectively. , 52 are fixed by screwing.

  Finally, the lids 11 and 11 (FIG. 3) are screwed into the four screw grooves 15 in the opening portions at both ends of the external housing 13 to complete the stereo imaging device 10.

With the above configuration, the support 20 can be fixed to the external housing 13 with the fixing plate 50.
Since the fixing plate 50 is softer than either the outer casing 13 or the support body 20, even if stress is generated when screwing due to the influence of manufacturing errors of the outer casing 13, the generated stress is absorbed. Can do. That is, the fixing plate 50 is deformed before the external casing 13 and the support 20, and the stress that distorts the support 20 can be absorbed by the fixing plate 50.

  Further, the substrate 38 is positioned between the support 20 and the external housing 13, and in addition to the improvement of the distance measurement accuracy due to the assembly, the distance measurement accuracy reduction due to the temperature change can be improved.

  Moreover, the structure which inserts and fixes the support body 20 in the longitudinal direction of the external housing | casing 13 can comprise the opening part of the external housing | casing 13 small, and it can waterproof and dust-proof easily.

Next, the configuration of the three-dimensional object recognition device 1 will be described with reference to the block diagram shown in FIG.
The three-dimensional object recognition device 1 includes a stereo imaging device 10 and a processing device 70.

  First, the stereo imaging device 10 will be described. The stereo imaging device 10 includes cameras 30 and 30, a control unit 48, and analog signal conversion units 49 and 49.

  The control unit 48 controls the imaging timing of the two cameras 30. This imaging timing is set according to appropriate conditions such as imaging at regular time intervals, or imaging at a predetermined time, and the two cameras 30 are synchronized and imaged simultaneously. Yes.

  The camera 30 captures an image according to the control of the control unit 48 and transmits the captured image (digital still image data) to the subsequent analog signal conversion unit 49.

  Two analog signal converters 49 are provided corresponding to the two cameras 30, and convert the digital signals of the captured images received from the corresponding cameras 30 into analog signals. As this analog signal, an appropriate signal system such as NTSC is used. The converted analog signals are individually and simultaneously transmitted to the respective AD conversion units 71 and 71 provided in the processing device 70.

Now be explained processor 70, the processor 70 is constituted by the image processing unit 78 and the transmission converter unit 79. Further, the image processing unit 78 includes AD conversion units 71 and 71, image memories 72 and 72, an association processing unit 73, a three-dimensional coordinate calculation unit 74, a measurement target detection unit 75, a tracking processing unit 76, and a result output unit 77. It is composed.

  Two AD converters 71 are provided corresponding to the two cameras 30 of the stereo imaging device 10, and convert the analog signals received from the corresponding analog signal converters 49 into digital signals.

  Two image memories 72 are provided corresponding to the two cameras 30 of the stereo imaging device 10, and temporarily store image data (captured images) received as digital signals from the corresponding AD conversion units 71.

  The association processing unit 73 captures each image data temporarily captured in the two image memories 72 to obtain a stereo image. Furthermore, features such as edges are extracted from the stereo image, and the parallax at the same point is obtained using correlation for each feature point.

The three-dimensional coordinate calculation unit 74 calculates the three-dimensional coordinates of each feature point from the parallax obtained by the association processing unit 73 based on the principle of triangulation.
Here, a method for calculating a distance using the principle of triangulation will be described with reference to an explanatory diagram shown in FIG.

A point A that exists in the actual space includes a point U _{A of} the captured image of the upper camera 30 and a point of the captured image of the lower camera 30 on the captured images captured by the two cameras 30 as illustrated. It is projected as L _a.

By applying the position information (x _u , y _u ) and (x _l , y _l ) of these points U _A and L _{A to} the following Equation 1, the distance to the point A can be calculated. .

この数式１では、Ｚは計測点までの距離を示し、Ｂは基線長（２つのカメラ３０の間の距離）を示す。また、ｆは各カメラ３０で用いるレンズの焦点距離を示す。また、ｄは視差（空間における点を撮像した時の各カメラ３０での投影点の位置の違い、つまり点Ｕ_Ａ，点Ｌ_Ａの差）を示す。

In Equation 1, Z indicates the distance to the measurement point, and B indicates the base line length (the distance between the two cameras 30). F indicates the focal length of the lens used in each camera 30. Further, d denotes the disparity (differences in position of the projection point in each camera 30 at the time of imaging the point in space, i.e. point U _A, the difference between the point L _A).

  The measurement target detection unit 75 recognizes a three-dimensional object from each feature point in the three-dimensional space calculated by the three-dimensional coordinate calculation unit 74 by a pattern matching method. The method for recognizing the three-dimensional object is not limited to pattern matching, and may be performed by another appropriate method.

  The tracking processor 76 temporally tracks the three-dimensional object recognized by the measurement target detector 75. That is, a series of processes from imaging by the camera 30 to recognition of the three-dimensional object by the measurement target detection unit 75 are repeatedly performed at predetermined time intervals, and each recognized three-dimensional object is Track to series.

  The result output unit 77 determines the number of passing vehicles and the vehicle type for each lane of the road, measures the passing speed, grasps the traffic congestion status, recognizes the vehicle in illegal parking, Appropriate recognition processing such as presence / absence of people and counting of the number of people is performed, and the result of each recognition processing is output.

  The transmission conversion unit 79 receives the result of the recognition process by the result output unit 77 and transmits it to the host device. This higher-level device is composed of an appropriate device suitable for the application, such as a monitoring server connected through a communication line.

  With the above configuration, it is possible to recognize a three-dimensional object from captured images captured by the two cameras 30, track the position of the three-dimensional object after the elapse of time, and acquire and output information regarding the three-dimensional object.

  Thereby, for example, when counting the number of traveling vehicles, it is possible to prevent the shadow of a two-dimensional vehicle from being mistaken for a three-dimensional vehicle, and to acquire accurate information within the imaging range. be able to.

  Since the two cameras 30 can prevent a decrease in accuracy due to the configuration such as being attached to the support 20 described above, accurate information can be acquired continuously for a long period of time.

More specifically, if the camera 30 is misaligned due to stress or temperature deformation during assembly, the positions of the points U _A and L _A (FIG. 12) on the captured image are shifted from the original positions. Will appear. In this case, the value of the parallax d in Formula 1 changes, and the value of the distance Z to the measurement point, which is the calculation result, is deviated, resulting in a decrease in distance accuracy.

  However, in this embodiment, since the position and angle of the two cameras 30 are prevented from shifting, such a decrease in accuracy can be prevented.

  In this way, by preventing the deterioration in accuracy due to environmental changes and assembly and maintaining high accuracy, the distance between the cameras 30 can be shortened to form the stereo imaging device 10 in a compact and compact manner. It is possible to make the stereo imaging device 10 larger by increasing the distance between them.

  That is, when the distance between the cameras 30 is short, a minute change in the imaging direction of the camera 30 greatly influences, but this influence can be absorbed within a practical range by improving accuracy by preventing deformation.

  Further, when the distance between the cameras 30 is long, the entire length of the support 20 becomes long, so the amount of deformation of the support 20 becomes larger than when the support 20 is formed short. The effect of this deformation can be absorbed within a practical range.

  In addition, a plurality of holes may be formed in the peripheral surface portion of the through hole 24 of the support body 20, and the support body 20 may be thinned. Thereby, it is possible to reduce the weight while maintaining the strength of the support 20 having a square shape.

  Further, rubber packing may be interposed between the contact surface of the external housing 13 and the lid 11 and the mounting surface of the window glass 12. Thereby, airtightness can be improved more and more effective waterproofing and dustproofing can be performed.

  Further, the mounting grooves 17 and 17 may be formed with a margin so that a gap is formed when the mounting pieces 27 and 27 are inserted. The mounting grooves 17 and 17 may be configured to include the mounting grooves 17 and 17 only at both ends of the opening. Alternatively, the mounting grooves 17 and 17 or the mounting pieces 27 and 27 may be omitted.

  In these cases, the fixing of the support body 20 to the external housing 13 is practically closer to the fixing by the fixing plate 50 and the screws 51 and 52, so that the deformation of the external housing 13 due to a temperature change or the like is applied to the support body 20. It is possible to prevent the influence more.

  Further, the through hole 24 of the support 20 is not limited to the square shape, and may be formed in an appropriate shape such as a circle, an ellipse, an inverted triangle, or a hexagon. Even in this case, by having the through hole 24, deformation such as twisting and bending can be prevented.

  In addition, the fixing plate 50 may be configured to be soft by forming a thinner wall than the support 20 or the external housing 13 instead of using a soft material.

  Further, the shape of the support 20 may be formed in a simple B-shaped pipe shape as shown in the perspective view of FIG. Further, the fixing plate 50 is formed in an L shape, and is attached to both side surfaces in the width direction of the support body 20 symmetrically so that the support body 20 floats from the bottom surface of the external housing 13 as shown in FIG. It is good also as a structure attached so that it may space apart.

  Even in this case, the same effect as the above-described embodiment can be obtained. For example, when there is a manufacturing error in the external housing 13, as shown in (C), the fixing plate 50 is deformed to absorb the stress due to tightening.

In correspondence between the configuration of the present invention and the above-described embodiment,
The imaging device of the present invention corresponds to the stereo imaging device 10 of the embodiment,
Similarly,
The imaging unit corresponds to the camera 30,
The fixing portion corresponds to the main body portion 33,
The support fixture corresponds to the fixed plate 50,
The measurement object recognition unit corresponds to the image processing unit 78, and
The output means corresponds to the transmission conversion unit 79,
The present invention is not limited only to the configuration of the above-described embodiment, and many embodiments can be obtained.

The perspective view which shows the whole structure of a three-dimensional object recognition apparatus. The perspective view of the stereo imaging device of the state which fell. The exploded perspective view of the stereo imaging device of the state which fell. The partial expansion perspective view of a support body. The perspective view of a camera. FIG. Explanatory drawing of the difference in how temperature difference is transmitted. The perspective view which looked at the external housing | casing in the fall state from the front. The perspective view which inserted the support body in the external housing | casing in the state of falling, and was seen from the front. The perspective view which fixed the support body to the external housing | casing in the fall state with the fixing plate, and was seen from the front. The block diagram which shows the structure of a three-dimensional object recognition apparatus. Explanatory drawing explaining the calculation method of the distance using the principle of triangulation. Explanatory drawing explaining other embodiment.

DESCRIPTION OF SYMBOLS 1 ... Three-dimensional object recognition apparatus 10 ... Stereo imaging device 13 ... External housing 20 ... Support body 24 ... Through-hole 30 ... Camera 31 ... Lens 33 ... Main-body part 34 ... Imaging element 50 ... Fixed plate 78 ... Image processing part 79 ... Transmission converter

Claims (5)

An image pickup apparatus including two or more image pickup units that pick up images of substantially the same range,
The two or more imaging units are configured to be attached to a single support,
The support is formed into a shape having a longitudinal shape as a whole and a hollow through hole in the longitudinal direction ,
The imaging unit includes a lens, an imaging element, and a fixing unit that fixes a positional relationship between the lens and the imaging element.
The imaging apparatus , wherein a surface of the fixing portion on which the lens is fixed is directly attached and fixed to the support . The fixed part, the support and the thermal expansion coefficient imaging apparatus of the formed <br/> claim 1, wherein the same member. An external housing and a support fixture for attaching the support to the external housing;
The imaging apparatus according to claim 1, wherein the support fixture is formed of a member that is more flexible than the support and the external housing. The imaging device according to claim 1, wherein the support is formed by extrusion. An imaging apparatus according to any one of claims 1 to 4,
A measurement object recognition means for recognizing a three-dimensional object as a measurement object from an image captured by each imaging unit;
A three-dimensional object recognition device comprising output means for outputting a measurement result based on the recognition.

Images