Distance image acquisition apparatus and distance image acquisition method

Abstract

Disclosed are a distance image acquisition apparatus and a distance image acquisition method capable of acquiring a distance image with satisfactory accuracy based on a first pattern projected from a host apparatus even in a case where patterns of structured light having the same shape are projected simultaneously from the host apparatus and another apparatus. A distance image acquisition apparatus () includes a projection unit () which projects a pattern of structured light, a light modulation unit () which modulates a switching timing of projection and non-projection of the pattern with a code, an imaging unit () which is provided in parallel with and apart from the projection unit () by a baseline length, performs imaging in synchronization with a projection period and a non-projection period of the pattern, and generates a first captured image captured in the projection period of the pattern and a second captured image captured in the non-projection period of the pattern, a differential image generation unit (D) which generates a differential image of the first captured image and the second captured image, a pattern extraction unit (A) which extracts the pattern from the differential image, and a distance image acquisition unit (B) which acquires a distance image indicating a distance of a subject within a distance measurement region based on the pattern extracted by the pattern extraction unit (A).