PROBLEM TO BE SOLVED: To solve the problems that a deterioration in the accuracy of three-dimensional measurement by occlusion occurs and that the dimensions of an optical system are increased in an endoscope for performing three-dimensional measurement and stereoscopic vision due to pattern projection.SOLUTION: In the endoscope including at least two independent optical systems, at least one imaging element connected to the respective optical systems, and at least one modulatable light source, and having a plurality of optical systems in which a second optical system between the optical systems performs illumination when an imaging element connected to the first optical system between the optical systems performs imaging, and the first optical system performs illumination when an imaging element connected to the second optical system performs imaging, the illumination by the first and second optical systems is pattern illumination for projecting a pattern including a plurality of measurement points in an object surface.COPYRIGHT: (C)2016,JPO&INPIT【課題】パターン投影による3次元計測と立体視を行う内視鏡では、オクルージョンによる3次元計測の精度低下が生じ、かつ光学系が大型化する。【解決手段】独立した少なくとも2つの光学系と、前記光学系それぞれに接続された少なくとも1つの撮像素子と、変調可能な少なくとも1つの光源とを有し、前記光学系のうち第一の光学系に接続された撮像素子が撮像を行う際に、前記光学系のうち第二の光学系が照明を行い、前記第二の光学系に接続された撮像素子が撮像を行う際に、前記第一の光学系が照明を行う複数の光学系を有する内視鏡において、前記第一と第二の光学系による照明は対象物表面に複数の計測点を含むパターンを投影するパターン照明である。【選択図】図5
