PROBLEM TO BE SOLVED: To provide a three-dimensional acquisition device which can acquire a three-dimensional shape for an image photographed by a stereoscopic endoscope with accuracy when a subject to be examined is concavo-convex and makes large movements such as a rhinopharynx.SOLUTION: An insertion portion 1 includes an image acquisition part 10 having a camera where a pair of image pickup devices are disposed on a distal end side and a pattern projection part 20 having a projector lens on a distal end side and is connected to a control processing part 40. The pattern projection part 20 has a projection pattern housing part 20A where a light source for projection and a projection pattern are housed, image light from the projection pattern irradiated with the light source is transmitted to a distal end side by an image fiber and is focused onto a position of a subject to be examined by the projector lens, and a three-dimensional image is acquired by performing stereo-matching processing on an image obtained by photographing the subject to be examined on which the projection pattern is projected by the right and left image pickup devices. The projector lens has an imaging depth of 15 mm or more and projects a pattern image having a size of 20 mm or more on a surface of the subject to be examined.COPYRIGHT: (C)2014,JPO&INPIT【課題】鼻咽腔のような凹凸があり動きが大きい被検査体の場合にも立体内視鏡により撮影された画像について3次元形状を精度よく取得できる3次元形状取得装置を提供する。【解決手段】挿入部1は先端側に1対の撮像素子を配設したカメラを有する画像取得部10、先端側に投影レンズを有するパターン投影部20を備え、制御処理部40に接続されている。パターン投影部20は投影パターン収容部20Aにおいて投影用の光源と投影パターンが収容され、光源に照射された投影パターンからの像光はイメージファイバで先端側に伝送され、投影レンズにより被検査体の位置に結像し、投影パターンが投影された被検査体が左右の撮像素子で撮影された画像についてステレオマッチング処理により3次元形状が取得される。投影レンズは15mm以上の結像深度を有し、また、被検査体面において20mm以上の大きさのパターン像を投影する。【選択図】図1
