Patent Description:
In the past, the technology called optical character recognition (OCR) has been used in order to take in characters described on a printed matter with use of an information processing apparatus and perform processing thereon. For example, a system in which a sign on a road is imaged with a vehicle-mounted camera, and characters described in the sign are read by OCR for translation is proposed (see, e.g., Patent Literature <NUM>). Patent Literature <NUM> discloses an information terminal apparatus comprising a main display, a sub-display, a goods reader, a housing, a goods reading surface and a light source. The goods reader comprises a three-dimensional camera which comprises a two-dimensional camera and a distance sensor (Time of Flight system). Literature <NUM> discloses a next - generation document imaging device (Eye Scanner) which can image characters or photographs on a curved sheet from an arbitrary viewpoint, without contact and without distortion, by utilizing shape information. Patent Literature <NUM> discloses a method for obtaining positional information about an object within a region of interest. The method comprises activating sources directed to portions of the region of interest according to an ordering of points, such that each point in the ordering directs electromagnetic radiation of at least one source to one of the portions of the region of interest; capturing a portion of the electromagnetic radiation reflected by an object; forming a signal over time of at least one property of the captured electromagnetic radiation; determining from the signal, at least one point in the ordering in which a dominant contributor to the captured electromagnetic radiation was activated; determining an identity for the dominant contributor from the point in the ordering; determining from the identity of the dominant contributor, a portion of the region of interest to which the electromagnetic radiation from the dominant contributor was directed; and determining positional information for the object based at least in part upon the portion of the region of interest. Patent Literature <NUM> discloses a three-dimensional shape measuring. The system includes a light projecting/receiving apparatus which causes a light receiver to receive light reflected on a surface of a measurement object onto a light receiving surface thereof at a predetermined cycle multiple times, while changing a projecting direction of the light; and a measuring apparatus for measuring a three-dimensional shape of the measurement object, utilizing light receiving data.

In the conventional technology described above, the meanings of the characters described in the sign are recognized by optical character recognition. However, in the conventional technology described above, there is a problem that in a case where the characters are described on a curved surface or a surface inclined when viewed from a vehicle-mounted camera, the shapes of the characters are distorted and the optical character recognition cannot be accurately performed.

The present technology has been made in view of the circumstances as described above, and it is an object of the present technology to accurately recognize characters in an image in an electronic apparatus that captures images.

The present technology has been made so as to eliminate the problem described above. In a first aspect of the present technology, there is provided an electronic apparatus as defined in appended claim <NUM>. In a second aspect of the present technology, there is provided a method of controlling an electronic apparatus as defined in appended claim <NUM>. In a third aspect of the present technology, there is provided a program for causing a computer to execute a method as defined in appended claim <NUM>.

Further, in the first aspect, the electronic apparatus may further include a character recognition section that recognizes a character on the surface of the object in the image data that has been subjected to the coordinate conversion. This produces an effect that the character is recognized.

Further, in the first aspect, the electronic apparatus includes an irradiation section that performs irradiation with irradiation light, in which the distance measurement section measures the distances from a phase difference between reflected light of the irradiation light and the irradiation light. This produces an effect that the distances are measured from the phase difference between the reflected light and the irradiation light.

Further, in the first aspect, the imaging section may perform processing of capturing the image data and processing of receiving the irradiation light. This produces an effect that the image data is captured and the irradiation light is received in the identical imaging section.

Further, in the first aspect, the irradiation section may perform irradiation with pulsed light as the irradiation light, the pulsed light being in synchronization with a predetermined cycle signal. This produces an effect that irradiation with the pulsed light is performed.

Further, in the first aspect, the irradiation section selects spotlight or diffused light according to a predetermined operation and performs irradiation with the light as the irradiation light, and the distance measurement section measures the distances when irradiation is performed with the diffused light. This produces an effect that irradiation with the spotlight or diffused light is performed.

Further, in the first aspect, the irradiation section may start irradiation with the irradiation light in a case where a predetermined button is pressed halfway down, and the imaging section may capture the image data in a case where the predetermined button is pressed all the way down. This produces an effect that irradiation with the irradiation light and imaging are performed according to an operation of the button.

Further, in the first aspect, the electronic apparatus may be a camera unit that is attached to a wearable terminal. This produces an effect that the three-dimensional coordinates on the surface of the object are converted into the plane coordinates on the reference plane in a camera unit.

Further, in the first aspect, the shape estimation section may estimate any one of a plurality of candidate shapes as the shape of the object on the basis of the distances. This produces an effect that any one of the plurality of candidate shapes is estimated as the shape of the object.

Further, in the first aspect, the shape estimation section may include a coordinate detection section that detects coordinates of the plurality of measurement points as measured coordinates on the basis of the distances, a function acquisition section that acquires, for each of the plurality of candidate shapes, a function representing a relationship between coordinates of a candidate shape and coordinates of a predetermined reference coordinate system by using the measured coordinates, an error computation section that computes an error at a time when the shape of the object is assumed for each of the plurality of candidate shapes on the basis of the acquired function and the measured coordinates, and an estimation processing section that estimates a shape having the smallest error in the plurality of candidate shapes as the shape of the object. This produces an effect that the shape having the smallest error in the plurality of candidate shapes is estimated as the shape of the object.

Further, in the first aspect, the image data may include a plurality of pixel data, the imaging section may include phase difference detection pixels that detect a phase difference between two pupil-split images, and normal pixels that perform photoelectric conversion on light and generate any of the plurality of pixel data, and the distance measurement section may measure the distances on the basis of the phase difference detected by the phase difference detection pixels. This produces an effect that the distances are measured on the basis of the phase difference detected by the phase difference detection pixels.

According to the present technology, it is possible to produce an optimal effect that characters in an image can be accurately recognized in an electronic apparatus that captures images. It should be noted that the effects described herein are not necessarily limited and any one of the effects described herein may be produced.

Hereinafter, modes for carrying out the present technology (hereinafter referred to as embodiments) will be described. The description will be given in the following order.

<FIG> is a block diagram showing a configuration example of an electronic apparatus <NUM> in a first embodiment. The electronic apparatus <NUM> includes an operation section <NUM>, a control section <NUM>, a laser light irradiation section <NUM>, an insertion and removal section <NUM>, a diffuser plate <NUM>, a three-dimensional shape estimation section <NUM>, a distance measurement section <NUM>, a switch <NUM>, and an imaging device <NUM>. Further, the electronic apparatus <NUM> includes an imaging lens <NUM>, a coordinate conversion section <NUM>, an optical character recognition section <NUM>, a translation processing section <NUM>, and a sound output section <NUM>.

The operation section <NUM> generates an operation signal according to a user operation on a button or a switch. The electronic apparatus <NUM> is provided with, for example, a button capable of being pressed down in two stages. The operation section <NUM> generates an operation signal indicating any one of a state where that button is not pressed down, a state where that button is pressed halfway down, and a state where that button is pressed all the way down, and supplies the operation signal to the control section <NUM>.

The laser light irradiation section <NUM> performs irradiation with visible light (red light and the like) having directivity, as laser light, in a predetermined direction under the control of the control section <NUM>. The laser light is applied in, for example, a direction substantially parallel to an optical axis direction of the imaging lens <NUM>. It should be noted that the laser light irradiation section <NUM> is an example of an irradiation section described in the Claims.

The insertion and removal section <NUM> performs processing of inserting the diffuser plate <NUM> into an optical path of the laser light or processing of removing the diffuser plate <NUM> from the optical path under the control of the control section <NUM>. The insertion and removal section <NUM> is achieved by an actuator such as a motor.

The diffuser plate <NUM> diffuses the laser light. Before insertion of the diffuser plate <NUM>, the shape of the laser light is spot-like. Meanwhile, after insertion of the diffuser plate <NUM>, the laser light is diffused and becomes circular, for example. It should be noted that the shape of the diffused laser light is not limited to be circular and may be linear or triangular.

Further, switching of the shape of the laser light can be achieved by using, for example, one similar to a laser pointer LP-RD312BKN manufactured by SANWA SUPPLY INC. or a laser pointer ELP-G20 manufactured by KOKUYO Co. , as the laser light irradiation section <NUM>.

The imaging lens <NUM> condenses the light and guides the light to the imaging device <NUM>. The imaging device <NUM> images an object and generates image data under the control of the control section <NUM>. In the imaging device <NUM>, a plurality of pixels arrayed in a two-dimensional lattice manner are disposed. Each of the pixels generates pixel data having a level corresponding to the amount of light received. The imaging device <NUM> supplies image data including those pieces of pixel data to the switch <NUM>. It should be noted that the imaging lens <NUM> and the imaging device <NUM> are an example of an imaging section described in the Claims.

The switch <NUM> switches an output destination of the image data from the imaging device <NUM> under the control of the control section <NUM>. The switch <NUM> outputs the image data to any of the distance measurement section <NUM> and the coordinate conversion section <NUM>.

The distance measurement section <NUM> measures distances from the imaging device <NUM> to a plurality of measurement points on the object under the control of the control section <NUM>. Here, the measurement point is a point irradiated with the diffused laser light. The distance measurement section <NUM> measures a distance on the basis of a phase difference between the applied laser light and reflected light to that laser light. This distance measurement method is called a ToF (Time of Flight) method. The distance measurement section <NUM> supplies distance information to the three-dimensional shape estimation section <NUM>, the distance information indicating a distance of each of the measurement points.

The three-dimensional shape estimation section <NUM> estimates the shape of the object on the basis of the distance information. The three-dimensional shape estimation section <NUM> supplies parameters associated with the estimated shape of the object to the coordinate conversion section <NUM>. Details of the parameters will be described later. It should be noted that the three-dimensional shape estimation section <NUM> is an example of a shape estimation section described in the Claims.

The coordinate conversion section <NUM> performs predetermined coordinate conversion on the image data by using the parameters from the three-dimensional shape estimation section <NUM>. The coordinate conversion is processing of converting coordinates on a surface of the object irradiated with the laser light into coordinates on a predetermined reference plane. For example, a plane parallel to (i.e., facing) an image plane of the imaging device <NUM> is used as a reference plane. The coordinate conversion section <NUM> supplies the image data, which has been subjected to the coordinate conversion, to the optical character recognition section <NUM>.

The control section <NUM> controls the entire electronic apparatus <NUM>. When a predetermined button is pressed halfway down, the control section <NUM> controls the laser light irradiation section <NUM> to start consecutive irradiation with the laser light. Further, the control section <NUM> causes the insertion and removal section <NUM> to remove the diffuser plate <NUM>.

When the button is then pressed all the way down, the control section <NUM> controls the laser light irradiation section <NUM> to start intermittent irradiation with the laser light. For example, the control section <NUM> supplies a light emission control signal CLKp of a square wave or a sine wave to the laser light irradiation section <NUM>, and the laser light irradiation section <NUM> emits light in synchronization with that signal. With this control, pulsed light with the frequency of, for example, <NUM> megahertz (MHz) is applied.

Further, when the button is pressed all the way down, the control section <NUM> causes the insertion and removal section <NUM> to insert the diffuser plate <NUM>. Furthermore, the control section <NUM> controls the imaging device <NUM> to capture image data. The control section <NUM> then controls the switch <NUM> to supply the image data to the distance measurement section <NUM> and causes the distance measurement section <NUM> to measure a distance over a fixed distance measurement period.

After the elapse of the distance measurement period, the control section <NUM> controls the imaging device <NUM> to capture image data again. Further, the control section <NUM> controls the switch <NUM> to supply the image data to the coordinate conversion section <NUM>.

The optical character recognition section <NUM> performs OCR on the image data. The optical character recognition section <NUM> supplies a result of the OCR to the translation processing section <NUM>.

The translation processing section <NUM> performs translation processing of replacing a language (Japanese etc.) of a text including characters recognized by the OCR with another predetermined language (English etc.). The translation processing section <NUM> supplies a result of the translation processing to the sound output section <NUM>. The sound output section <NUM> outputs the result of the translation of the translation processing section <NUM> with use of sound.

Further, the optical character recognition section <NUM> and the translation processing section <NUM> may be provided to an information processing apparatus outside the electronic apparatus <NUM>. In this case, the electronic apparatus <NUM> only needs to send image data and character information to that information processing apparatus and receive a result of OCR or translation.

Further, although the electronic apparatus <NUM> performs OCR, the electronic apparatus <NUM> may perform processing other than the OCR on the image data. For example, the electronic apparatus <NUM> may perform processing of recognizing a particular object (face etc.) or a two-dimensional bar code, instead of the OCR. Further, although the electronic apparatus <NUM> outputs a result of the translation with use of sound, the result of the translation may be displayed on a display section such as a liquid crystal monitor.

<FIG> is a block diagram showing a configuration example of the three-dimensional shape estimation section <NUM> in the first embodiment. The three-dimensional shape estimation section <NUM> includes a measured coordinate retaining section <NUM>, a measured coordinate detection section <NUM>, a distance information retaining section <NUM>, a least-squares method computation section <NUM>, a parameter retaining section <NUM>, an error computation section <NUM>, and a parameter supply section <NUM>.

The distance information retaining section <NUM> retains the distance information indicating a distance of each of the measurement points, which is measured by the distance measurement section <NUM>.

The measured coordinate detection section <NUM> detects three-dimensional coordinates in a predetermined reference coordinate system for each of the measurement points, as measured coordinates, on the basis of the distance information. For the reference coordinate system, for example, a coordinate system including an X<NUM> axis and a Y<NUM> axis that are parallel to the image plane of the imaging device <NUM> and a Z<NUM> axis perpendicular to the image plane is used. The measured coordinate detection section <NUM> acquires in advance an angle defined by the direction of the diffused laser light and the predetermined reference axis (such as X<NUM>, Y<NUM>, and Z<NUM> axes) and, using a trigonometric function based on the angle and the measured distance, computes the measured coordinates for each of the measurement points. The measured coordinate detection section <NUM> causes the measured coordinate retaining section <NUM> to retain the measured coordinates for each of the measurement points. Hereinafter, the number of measurement points is represented by N (N is an integer of <NUM> or more), and measured coordinates of the i-th (i is an integer from <NUM> to N-<NUM>) measurement point are represented by (x0i, y0i, z0i).

The least-squares method computation section <NUM> computes a function that most fits a measured coordinate group for each of candidate shapes by using the least-squares method. The plurality of candidate shapes include, for example, a planar shape inclined to the reference plane and a columnar shape. Further, here, the function obtained by the computation is a function indicating a relationship between coordinates in the coordinate system of the candidate shape and coordinates in the reference coordinate system.

Here, assuming that a coordinate system including an Xp axis, a Yp axis, and a Zp axis orthogonal to one another is a planar coordinate system on an inclined plane, a relationship between coordinates in the planar coordinate system and coordinates in the reference coordinate system is expressed by, for example, the following expression.

In the above expression, (xpi, ypi, zpi) represent the coordinates in the planar coordinate system. Further, Rp represents a rotation matrix and is expressed by the following expression.

In the above expression, Rxp represents a rotation matrix in the rotation about the x<NUM> axis by an angle trxp. Further, Ryp represents a rotation matrix in the rotation about the y<NUM> axis by an angle tryp, and Rzp is a rotation matrix in the rotation about the z<NUM> axis by an angle trzp.

Further, Tp represents a translational vector including an x<NUM> component, a yo component, and a z<NUM> component. The values of those x<NUM> component, yo component, and z<NUM> component are represented by A, B, and C.

When a measurement point is positioned on an Xp-Yp plane, a Zp component of the coordinates of the measurement point should be zero. Because of this, when the Zp component is not zero, this component is treated as an error. By the following expression, Rp and Tp at the time when a sum of the squared errors Ep is the smallest are obtained.

In order to solve the above expression, for example, used is a partial differentiation method of partially differentiating both the sides of the above expression with trxp, tryp, trzp, A, B, and C.

Next, assuming that a coordinate system including an Xc axis, a Yc axis, and a Zc axis orthogonal to one another is a columnar coordinate system as a column, a relationship between coordinates in the columnar coordinate system and the coordinates in the reference coordinate system is expressed by, for example, the following expression.

In the above expression, (xci, yci, zci) represent the coordinates in the columnar coordinate system. Further, Rc represents a rotation matrix and is expressed by the following expression.

In the above expression, Rxc represents a rotation matrix in the rotation about the x<NUM> axis by an angle trxc. Further, Ryc represents a rotation matrix in the rotation about the y<NUM> axis by an angle tryc, and Rzc is a rotation matrix in the rotation about the z<NUM> axis by an angle trzc. r is a radius of the column.

Further, Tc represents a translational vector including an x<NUM> component, a yo component, and a z<NUM> component. The values of those x<NUM> component, yo component, and z<NUM> component are represented by D, E, and F.

Assuming that r is a radius of the column, when a measurement point is positioned on a surface of the column, a sum of squares of Xc and Zc coordinates of the measurement point should be equal to the square of r. Because of this, when a difference therebetween is not zero, this difference is treated as an error. By the following expression, Rc, Tc, and r at the time when a sum of the squared errors Ec is the smallest are obtained.

In order to solve the above expression, for example, used is a partial differentiation method of partially differentiating both the sides of the above expression with trxc, tryc, trzc, D, E, and F.

The least-squares method computation section <NUM> causes the parameter retaining section <NUM> to retain the obtained parameter group of Rp and Tp and parameter group of Rc, Tc, and r.

The error computation section <NUM> computes, by using the parameters corresponding to a candidate shape for each of the candidate shapes, the error at the time when that shape is assumed. The error computation section <NUM> computes the sum of the squared errors Ep corresponding to the inclined planar shape and the sum of the squared errors Ec corresponding to the columnar shape by using, for example, Expressions <NUM> and <NUM>, and supplies the sums Ep and Ec to the parameter supply section <NUM>.

The parameter supply section <NUM> estimates any one of the plurality of candidate shapes, as the shape of an actual object, on the basis of the errors. The parameter supply section <NUM> compares the sum of the squared errors Ep and the sum of the squared errors Ec with each other and estimates a candidate shape corresponding to one having a smaller value as the shape of the object. The parameter supply section <NUM> then reads a parameter group corresponding to that shape from the parameter retaining section <NUM> and supplies the parameter group to the coordinate conversion section <NUM>, together with identification information of the estimated shape. It should be noted that the parameter supply section <NUM> is an example of an estimation processing section described in the Claims.

It should be noted that the three-dimensional shape estimation section <NUM> assumes the two candidate shapes, i.e., a planar shape and a columnar shape to estimate the shape, but the types of the candidate shapes are not limited thereto. The candidate shapes may be, for example, a sphere or a cube. Further, the number of candidate shapes is not limited to two and may be three or more. In a case where the number of candidate shapes is three or more, the parameter supply section <NUM> estimates a candidate shape having the smallest errors as the shape of the object.

<FIG> is a diagram showing an example of the distance information in the first embodiment. The distance information includes a distance from the imaging lens <NUM> to the measurement point for each of the measurement points. For example, in a case where a distance to a measurement point P1 is <NUM> meters and a distance to a measurement point P2 is <NUM> meters, the three-dimensional shape estimation section <NUM> retains "<NUM>" corresponding to P1 and "<NUM>" corresponding to P2 in the distance information retaining section <NUM>.

<FIG> is a diagram showing an example of the measured coordinates in the first embodiment. The measured coordinates on the X<NUM>, Y<NUM>, and Z<NUM> axes are calculated for each of the measurement points on the basis of the distances to the measurement points and the angle of irradiation with laser light. It is assumed that <NUM>, <NUM>, and <NUM> are respectively calculated as an X<NUM> coordinate, a Y<NUM> coordinate, and a Z<NUM> coordinate at the measurement point P1, and <NUM>, <NUM>, and <NUM> are respectively calculated as an X<NUM> coordinate, a Y<NUM> coordinate, and a Z<NUM> coordinate at the measurement point P2. In this case, the three-dimensional shape estimation section <NUM> retains the measured coordinates (<NUM>, <NUM>, <NUM>) corresponding to the measurement point P1 and the measured coordinates (<NUM>, <NUM>, <NUM>) corresponding to the measurement point P2 in the measured coordinate retaining section <NUM>.

<FIG> is a diagram showing an example of the parameters in the first embodiment. The function of Expression <NUM> corresponding to the planar shape includes the parameters of the rotation matrix Rp and the translational vector Tp. The function of Expression <NUM> corresponding to the columnar shape includes the parameters of the rotation matrix Rc, the translational vector Tc, and the radius r. The three-dimensional shape estimation section <NUM> calculates those parameters by the least-squares method and retains those parameters in the parameter retaining section <NUM>.

<FIG> is a block diagram showing a configuration example of the imaging device <NUM> in the first embodiment. The imaging device <NUM> includes a row scanning circuit <NUM>, a pixel array section <NUM>, a timing control section <NUM>, a plurality of AD (Analog to Digital) conversion sections <NUM>, a column scanning circuit <NUM>, and a signal processing section <NUM>. The pixel array section <NUM> includes a plurality of pixel circuits <NUM> disposed in a two-dimensional lattice manner. Hereinafter, an aggregation of the pixel circuits <NUM> arrayed in a predetermined direction is referred to as a "row", and an aggregation of the pixel circuits <NUM> arrayed in a direction perpendicular to the row is referred to as a "column". The AD conversion sections <NUM> described above are provided for each of the columns.

The timing control section <NUM> controls the row scanning circuit <NUM>, the AD conversion sections <NUM>, and the column scanning circuit <NUM> in synchronization with a vertical synchronization signal.

The row scanning circuit <NUM> causes all the rows to be exposed simultaneously, and after the end of exposure, selects the rows in sequence so as to cause the rows to output pixel signals. The pixel circuits <NUM> output pixel signals each having a level corresponding to the amount of light received, under the control of the row scanning circuit <NUM>.

The AD conversion sections <NUM> each AD-convert the pixel signals from the column corresponding thereto. The AD conversion sections <NUM> output the AD-converted pixel signals as pixel data to the signal processing section <NUM> under the control of the column scanning circuit <NUM>. The column scanning circuit <NUM> selects the AD conversion sections <NUM> in sequence and causes the AD conversion sections <NUM> to output the pixel data.

The signal processing section <NUM> performs signal processing such as CDS (Correlated Double Sampling) processing on image data including the pixel data. The signal processing section <NUM> supplies the image data after having been subjected to the signal processing to the switch <NUM>.

<FIG> is a block diagram showing a configuration example of the pixel circuit <NUM> in the first embodiment. The pixel circuit <NUM> includes a light-receiving element <NUM>, a transfer switch <NUM>, charge storage sections <NUM> and <NUM>, and selector switches <NUM> and <NUM>.

The light-receiving element <NUM> performs photoelectric conversion on light and generates charge. For the light-receiving element <NUM>, for example, a photodiode is used.

The transfer switch <NUM> connects the light-receiving element <NUM> to any one of the charge storage section <NUM>, the charge storage section <NUM>, and a reset power supply Vrst under the control of the row scanning circuit <NUM>. The transfer switch <NUM> is achieved by, for example, a plurality of MOS (Metal-Oxide-Semiconductor) transistors. When the light-receiving element <NUM> is connected to the reset power supply Vrst, charge output from the drains of the MOS transistors is cancelled, and the charge of the light-receiving element <NUM> is initialized.

The charge storage sections <NUM> and <NUM> store charge and generates a voltage corresponding to the amount of stored charge. For those charge storage sections <NUM> and <NUM>, for example, a floating diffusion layer is used.

The selector switch <NUM> opens and closes a pathway between the charge storage section <NUM> and the AD conversion section <NUM> under the control of the row scanning circuit <NUM>. The selector switch <NUM> opens and closes a pathway between the charge storage section <NUM> and the AD conversion section <NUM> under the control of the row scanning circuit <NUM>. For example, when an FD read signal RD_FD1 is supplied by the row scanning circuit <NUM>, the selector switch <NUM> is changed into the closed state, and when an FD read signal RD_FD2 is supplied by the row scanning circuit <NUM>, the selector switch <NUM> is changed into the closed state. Each of those selector switches <NUM> and <NUM> is achieved by, for example, the MOS transistor.

<FIG> is a block diagram showing a configuration example of the coordinate conversion section <NUM> in the first embodiment. The coordinate conversion section <NUM> includes a cutout processing section <NUM>, a frame memory <NUM>, and an address conversion section <NUM>.

The cutout processing section <NUM> cuts out a region having a predetermined shape (e.g., rectangle) including a part surrounded by the circular laser light in the image data. The cutout processing section <NUM> causes the frame memory <NUM> to retain the region cut out as a cutout region. The frame memory <NUM> retains the cutout region.

The address conversion section <NUM> converts, for each of the pixels within the cutout region, the coordinates thereof into coordinates in the reference plane. The coordinate conversion section <NUM> receives identification information of the shape estimated by the three-dimensional shape estimation section <NUM>, and the parameter group of the shape. When the shape is estimated as a planar shape, the rotation matrix Rp and the translational vector Tp of Expression <NUM> are supplied as parameters to the coordinate conversion section <NUM>. Meanwhile, when the shape is estimated as a three-dimensional shape, the rotation matrix Rc, the translational vector Tc, and the radius r of Expression <NUM> are supplied as parameters to the coordinate conversion section <NUM>.

When the shape is estimated as a planar shape, a positional relationship between coordinates (ui, vi) on the imaging device <NUM> and coordinates (xei, yei) on the inclined plane is expressed by the following expression using the parameters Rp and Tp.

In the above expression, f represents a focal length. The address conversion section <NUM> outputs a pixel value of the coordinates (ui, vi) in the image (cutout region) retained in the frame memory <NUM> by using the above expression, as a pixel value of the coordinates (xei, yei) on the reference plane. As a result, the address conversion section <NUM> can generate an image facing the image plane.

Meanwhile, when the shape is estimated as a columnar shape, a positional relationship between coordinates (ui, vi) on the imaging device <NUM> and coordinates (xei, yei) on the column is expressed by the following expression using the parameters Rp, Tp, and r.

The address conversion section <NUM> outputs a pixel value of the coordinates (ui, vi) in the image retained in the frame memory <NUM> by using the above expression, as a pixel value of the coordinates (xei, yei) on the reference plane. As a result, the address conversion section <NUM> can generate an image facing the image plane.

It should be noted that the coordinate conversion section <NUM> cuts out only the periphery of the part surrounded by the laser light and performs coordinate conversion thereon, but may perform coordinate conversion on the entire image without performing cutout.

<FIG> is a diagram showing an example of the shape of the laser light in the first embodiment. Part a of the figure is a diagram showing an example of the shape of the laser light when the button is pressed halfway down. As exemplified in part a of the figure, when the button is pressed halfway down, spot-like laser light <NUM> is applied with the diffuser plate <NUM> being removed.

Further, part b of <FIG> is a diagram showing an example of the shape of the laser light when the button is pressed all the way down. As exemplified in part b of the figure, when the button is pressed all the way down, the diffuser plate <NUM> is inserted and circular laser light <NUM> is applied. A user adjusts a position irradiated with the laser light such that characters to be subjected to OCR (characters etc. on a price tag) fall within the circle of the laser light.

It should be noted that, in the ToF method, surface irradiation in which the entire surface to be subjected to distance measurement is irradiated with laser light is generally performed. However, if distance measurement is performed on only a part to be subjected to OCR, the electronic apparatus <NUM> does not need to irradiate the entire surface with the laser light, and it suffices that only such a part is irradiated with the laser light. When a range of irradiation with the laser light is narrowed, power consumption of the electronic apparatus <NUM> can be suppressed more than when the entire surface is irradiated with the laser light.

Further, in the ToF method, it is general to perform irradiation with light that is not visible light, such as infrared light. However, in assumed usage scenes of the electronic apparatus <NUM>, the user needs to visually recognize a position irradiated with laser light. Thus, the electronic apparatus <NUM> performs irradiation with visible light such as red light. Also in a case where the visible light is used, the principle of the distance measurement by the ToF is similar to that in the case of infrared light.

<FIG> is a timing chart showing an example of exposure control of the pixel circuit within a Q1Q2 detection period in the first embodiment. When the button is pressed all the way down, the pixel circuit <NUM> alternately repeats detection of the amounts of light received Q1 and Q2 and detection of the amounts of light received Q3 and Q4. Hereinafter, a detection period of the amounts of light received Q1 and Q2 is referred to as a "Q1Q2 detection period", and a detection period of the amounts of light received Q3 and Q4 is referred to as a "Q3Q4 detection period". The length of each of the Q1Q2 detection period and the Q3Q4 detection period is a cycle of a vertical synchronization signal VSYNC (e.g., <NUM>/<NUM> sec).

Here, the amount of light received Q1 is accumulation of the amounts of light received q1 from <NUM> degrees to <NUM> degrees over the Q1Q2 detection period, when a particular phase (e.g., rising) of a light emission control signal CLKp of the laser light is set to <NUM> degrees. The frequency of the light emission control signal CLKp is as high as <NUM> megahertz (MHz), and thus the amount of light received q1 per cycle (<NUM>/<NUM> microsec) is very small and difficult to detect. Because of this, the pixel circuit <NUM> accumulates each q1 over the Q1Q2 detection period such as <NUM>/<NUM> sec, which is longer than the cycle of the light emission control signal CLKp (<NUM>/<NUM> microsec), and detects the total amounts thereof as the amount of light received Q1. Further, the amount of light received Q2 is accumulation of the amounts of reflected light received q2 from <NUM> degrees to <NUM> degrees over the Q1Q2 detection period.

Further, the amount of light received Q3 is accumulation of the amounts of reflected light received q3 from <NUM> degrees to <NUM> degrees over the Q3Q4 detection period. Further, the amount of light received Q4 is accumulation of the amounts of reflected light received q4 from <NUM> degrees to <NUM> degrees over the Q3Q4 detection period.

Those amounts of light received Q1, Q2, Q3, and Q4 are substituted into the following expression, and thus the distance measurement section <NUM> can calculate a distance d to the measurement point. A method of deriving the expression is described in, for example, <NPL>.

In the above expression, d represents a distance, and its unit is meter (m), for example, c represents a light speed, and its unit is meter per second (m/s), for example. tan-<NUM>() represents an inverse function of a tangent function.

For example, in the Q1Q2 detection period from a timing T1 to a timing T2, the amounts of light received Q1 and Q2 in that period are detected. First, the row scanning circuit <NUM> supplies a reset signal RST to all the rows over a predetermined pulse period from the timing T1. By the reset signal RST, the amounts of charge stored in the charge storage sections <NUM> and <NUM> in all the rows are initialized. Further, the row scanning circuit <NUM> initializes the charge of the light-receiving elements <NUM> in all the rows with use of an FD selection signal SEL_FD.

The row scanning circuit <NUM> then causes charge generated by the light-receiving element <NUM> with use of the FD selection signal SEL_FD to be transferred to the charge storage section <NUM> for all the rows from <NUM> degrees to <NUM> degrees within the cycle of the light emission control signal CLKp in the Q1Q2 detection period. With this control, the amount of light received q1 is stored in the charge storage sections <NUM>.

Further, the row scanning circuit <NUM> causes charge generated by the light-receiving element <NUM> with use of the FD selection signal SEL_FD to be transferred to the charge storage section <NUM> for all the rows from <NUM> degrees to <NUM> degrees within the cycle of the light emission control signal CLKp in the Q1Q2 detection period. With this control, the amount of light received q2 is stored in the charge storage section <NUM>.

At a timing T11 immediately before the timing T2, the row scanning circuit <NUM> supplies in sequence the FD read signals RD_FD1 and RD_FD2 to the first row. With this control, a pixel signal corresponding to the amounts of light received Q1 and Q2 of the first row is read. Next, the row scanning circuit <NUM> supplies in sequence the FD read signals RD_FD1 and RD_FD2 to the second row and reads a pixel signal. Hereinafter, similarly, the row scanning circuit <NUM> selects the rows in sequence and reads pixel signals.

In such a manner, in the Q1Q2 detection period, each of the pixel circuits <NUM> detects the amount of light received Q1 from <NUM> degrees to <NUM> degrees and the amount of light received Q2 from <NUM> degrees to <NUM> degrees.

<FIG> is a timing chart showing an example of exposure control of the pixel circuits <NUM> within the Q3Q4 detection period in the first embodiment. For example, in the Q3Q4 detection period from the timing T2 to a timing T3, the amounts of light received Q3 and Q4 of that period are detected. First, the row scanning circuit <NUM> supplies the reset signal RST to all the rows over a predetermined pulse period from the timing T2 and initializes the amounts of charge stored in the charge storage sections <NUM> and <NUM> in all the rows. Further, the row scanning circuit <NUM> initializes the charge of the light-receiving elements <NUM> in all the rows with use of the FD selection signal SEL_FD.

The row scanning circuit <NUM> then causes charge generated by the light-receiving element <NUM> with use of the FD selection signal SEL_FD to be transferred to the charge storage section <NUM> for all the rows from the initial <NUM> degrees to <NUM> degrees. With this control, the amount of light received q4 is stored in the charge storage section <NUM>. Hereinafter, the row scanning circuit <NUM> causes charge generated by the light-receiving element <NUM> with use of the FD selection signal SEL_FD to be transferred to the charge storage section <NUM> for all the rows from <NUM> degrees to <NUM> degrees within the cycle of the light emission control signal CLKp. With this control, the amount of light received q3 is stored in the charge storage section <NUM>.

Further, the row scanning circuit <NUM> causes charge generated by the light-receiving element <NUM> with use of the FD selection signal SEL_FD to be transferred to the charge storage section <NUM> for all the rows from <NUM> degrees to <NUM> degrees within the cycle of the light emission control signal CLKp in the Q3Q4 detection period. With this control, the amount of light received q4 is stored in the charge storage section <NUM>.

At a timing T21 immediately before the timing T3, the row scanning circuit <NUM> supplies in sequence the FD read signals RD_FD1 and RD_FD2 to the first row. With this control, a pixel signal corresponding to the amounts of light received Q3 and Q4 of the first row is read. Hereinafter, similarly, the row scanning circuit <NUM> selects the rows in sequence and reads pixel signals.

In such a manner, in the Q3Q4 detection period, each of the pixel circuits <NUM> detects the amount of light received Q3 from <NUM> degrees to <NUM> degrees and the amount of light received Q4 from <NUM> degrees to <NUM> degrees.

<FIG> is a timing chart showing an example of exposure control of the pixel circuits <NUM> within an imaging period in the first embodiment. First, the row scanning circuit <NUM> supplies the reset signal RST to all the rows over a predetermined pulse period from the timing T3 and initializes the amount of charge stored in all the rows. Further, the row scanning circuit <NUM> initializes the charge of the light-receiving elements <NUM> in all the rows with use of the FD selection signal SEL_FD.

The row scanning circuit <NUM> then causes charge generated by the light-receiving element <NUM> with use of the FD selection signal SEL_FD to be transferred to the charge storage section <NUM> for all the rows. Subsequently, at a timing T31 immediately before a timing T4, the row scanning circuit <NUM> supplies the FD read signal RD_FD1 to the first row and reads a pixel signal. Next, the row scanning circuit <NUM> supplies the FD read signal RD_FD1 to the second row and reads a pixel signal. Hereinafter, similarly, the row scanning circuit <NUM> selects the rows in sequence and reads pixel signals. As a result, image data is captured.

<FIG> is a diagram showing an example of the relationship between the reference coordinate system and the planar coordinate system in the first embodiment. As described above, it is assumed that the reference coordinate system including the X<NUM> axis, the Y<NUM> axis, and the Z<NUM> axis is rotated and shifted in parallel by Rp and Tp, and the planar coordinate system including the Xp axis, the Yp axis, and the Zp axis is obtained. On the basis of this assumption, the electronic apparatus <NUM> calculates the sum of the squared errors Ep, assuming that N measurement points such as measurement points <NUM> and <NUM> are positioned on an Xp-Yp plane <NUM>.

<FIG> is a diagram showing an example of the relationship between the reference coordinate system and the columnar coordinate system in the first embodiment. As described above, it is assumed that the reference coordinate system including the X<NUM> axis, the Y<NUM> axis, and the Z<NUM> axis is rotated and shifted in parallel by Rc and Tc, and the columnar coordinate system including the Xc axis, the Yc axis, and the Zc axis is obtained. On the basis of this assumption, the electronic apparatus <NUM> calculates the error Ec, assuming that N measurement points such as measurement points <NUM> and <NUM> are positioned on the surface of a column <NUM>.

<FIG> is a diagram showing an example of a usage scene of the electronic apparatus <NUM> when an inclined plane is imaged in the first embodiment. Part a of the figure is a diagram showing an example of the shape of the laser light when the button is pressed halfway down. As exemplified in part a of the figure, when the button is pressed halfway down, the spot-like laser light <NUM> is applied. Here, the electronic apparatus <NUM> is, for example, a stick-like apparatus. A user grasps the electronic apparatus <NUM> with the hand and can change the direction of the laser light. The user moves a point irradiated with the laser light <NUM> and presses the button all the way down at a position of characters to be subjected to OCR. For example, when a fillet of fish is provided with a planar price tag, and characters of the price tag are read by OCR, a user moves the point irradiated with the laser light <NUM> to that price tag. The plane of the price tag corresponds to the plane <NUM> of <FIG>.

Part b of <FIG> is a diagram showing an example of the shape of the laser light when the button is pressed all the way down. As exemplified in part b of the figure, when the button is pressed all the way down, the circular laser light <NUM> is applied to the price tag (plane <NUM>).

<FIG> is a diagram showing an example of a planar shape, images before and after conversion, and a result of translation in the first embodiment. Part a of the figure is a diagram showing an example of a candidate planar shape. The color gradation represents a depth. For example, a plane inclined to the image plane of the imaging device <NUM> is assumed.

Part b of <FIG> shows an example of a part irradiated with the laser light in the captured image data. Although character strings of "Salmon" and "<NUM> yen" are described in the price tag, characters are distorted because the plane of the price tag does not face the image plane. Because of this, there is a risk that the characters cannot be accurately read by OCR at this rate.

In this regard, the electronic apparatus <NUM> converts the coordinates on the inclined plane into the coordinates on the reference plane. Part c of <FIG> is an example of an image after the coordinate conversion. As exemplified in part c of the figure, the plane that does not face the image plane is converted into the reference plane facing thereto, and the distortion of the characters disappears. The electronic apparatus <NUM> reads the characters in the converted image by OCR and performs translation.

Part d of <FIG> is a diagram showing an example of a result of the translation. "Salmon" and "<NUM> yen" in Japanese are translated into "Salmon" and "One hundred yen" in English and are output by sound.

<FIG> is a diagram showing an example of a usage scene of the electronic apparatus <NUM> when an object with a columnar shape is imaged in the first embodiment. Part a in the figure is a diagram showing an example of the shape of the laser light when the button is pressed halfway down. For example, in a case where a label is attached to a columnar part of a wine bottle, and characters of the label are intended to be read by OCR, a user moves a point irradiated with the laser light <NUM> to that label. This columnar part of the wine bottle corresponds to the column <NUM> of <FIG>.

Part b of <FIG> is a diagram showing an example of the shape of the laser light when the button is pressed all the way down. As exemplified in part b of the figure, when the button is pressed all the way down, the circular laser light <NUM> is applied to the label (column <NUM>).

<FIG> is a diagram showing an example of a columnar shape, images before and after conversion, and a result of translation in the first embodiment. Parts a and b of the figure are each a diagram showing an example of a candidate columnar shape.

Part b of <FIG> shows an example of a part irradiated with the laser light in the captured image data. Although character strings of "Antioxidant free nice wine" are described in the label, characters are distorted because the surface of the label is curved. Because of this, there is a risk that the characters cannot be accurately read by OCR at this rate.

In this regard, the electronic apparatus <NUM> converts the coordinates on the column into the coordinates on the reference plane. Part c of <FIG> is an example of an image after the coordinate conversion. As exemplified in part c of the figure, the curved surface of the column is converted into the reference plane, and the distortion of the characters disappears. The electronic apparatus <NUM> reads the characters in the converted image by OCR and performs translation.

Part d of <FIG> is a diagram showing an example of a result of the translation. "Antioxidant free nice wine" in Japanese is translated into "Antioxidant free nice wine" in English and output by sound.

<FIG> is a flowchart showing an example of the operation of the electronic apparatus <NUM> in the first embodiment. This operation starts, for example, when the electronic apparatus <NUM> is powered on. The electronic apparatus <NUM> determines whether the button is pressed halfway down by the user (Step S901). When the button is pressed halfway down (Step S901: Yes), the electronic apparatus <NUM> removes the diffuser plate (Step S902) and performs irradiation with spot-like laser light (Step S903). The electronic apparatus <NUM> then determines whether the button is pressed all the way down by the user (Step S904).

When the button is not pressed halfway down (Step S901: No) or when the button is not pressed all the way down (Step S904: No), the electronic apparatus <NUM> repeats Step S901 and the subsequent steps.

When the button is pressed all the way down (Step S904: Yes), the electronic apparatus <NUM> inserts the diffuser plate (Step S905) and performs irradiation with circular laser light and reception of its reflected light (Step S906). The electronic apparatus <NUM> performs distance measurement for each of the measurement points by the ToF method (Step S907) and estimates a three-dimensional shape of the object on the basis of the measured distances (Step S908).

The electronic apparatus <NUM> then images the object (Step S909) and performs coordinate conversion on the image data (Step S910). The electronic apparatus <NUM> performs optical character recognition on the image after subjected to the coordinate conversion (Step S911) and performs translation and sound output (Step S912). After Step S912, the electronic apparatus <NUM> terminates the operation for OCR.

In such a manner, according to the first embodiment of the present technology, the electronic apparatus <NUM> estimates the shape of the object on the basis of the distances to the measurement points and performs coordinate conversion on the basis of that shape. Thus, it is possible to eliminate the distortion of the characters and increase the accuracy of the OCR.

In the first embodiment described above, the stick-like electronic apparatus <NUM> includes the operation section <NUM>, the imaging device <NUM>, and the like. However, the operation section <NUM> and the like may be provided to a camera unit mounted to a wearable terminal. An imaging system in this modified example of the first embodiment is different from the first embodiment in that the operation section <NUM> and the like are provided to a camera unit mounted to a wearable terminal.

<FIG> is a block diagram showing a configuration example of an imaging system. The imaging system includes a wearable terminal <NUM> and a camera unit <NUM>. Further, the wearable terminal <NUM> includes an operation section <NUM> and a terminal control section <NUM>. Further, a configuration of the camera unit <NUM> is similar to that of the electronic apparatus <NUM> of the first embodiment except that the camera unit <NUM> includes a camera unit control section <NUM> and a switch <NUM> instead of the control section <NUM> and the switch <NUM>. It should be noted that the camera unit <NUM> is an example of an electronic apparatus described in the Claims.

The operation section <NUM> generates an operation signal according to a user operation on a switch or a button. For example, an operation to capture image data (e.g., to press a shutter button down) is performed. The operation section <NUM> supplies the generated operation signal to the terminal control section <NUM>.

The terminal control section <NUM> controls the entire wearable terminal <NUM>. The terminal control section <NUM> supplies the operation signal to the camera unit control section <NUM> and receives image data and the like from the camera unit control section <NUM>.

The camera unit control section <NUM> controls the entire camera unit <NUM>. In a case where the camera unit <NUM> is not mounted to the wearable terminal <NUM>, the camera unit control section <NUM> performs control similar to that in the first embodiment. Meanwhile, in a case where the camera unit <NUM> is mounted to the wearable terminal <NUM>, the camera unit control section <NUM> determines whether the operation for capturing image data (e.g., for pressing a shutter button down) is performed. When the shutter button is pressed down, the camera unit control section <NUM> controls the switch <NUM> to output image data to the wearable terminal <NUM>.

The switch <NUM> switches an output destination of the image data under the control of the camera unit control section <NUM>.

<FIG> is an example of an outer appearance view of the imaging system in the modified example of the first embodiment. The wearable terminal <NUM> is an eyeglasses-type terminal. The camera unit <NUM> can be attached to the side surface of the wearable terminal <NUM> via a coupling tool <NUM>. The lens portions of this terminal are omitted in the figure. For the coupling tool <NUM>, for example, one described in <FIG> or <FIG> of <CIT> can be used.

The camera unit <NUM> operates also when detached from the wearable terminal <NUM>. The function of the single camera unit <NUM> is similar to that of the electronic apparatus <NUM> of the first embodiment.

Further, the wearable terminal <NUM> is provided with a blocking member <NUM>. The blocking member <NUM> blocks laser light from the camera unit <NUM> when the camera unit <NUM> is attached. It should be noted that incident light to the imaging device <NUM> is not blocked.

For example, it is assumed that the laser light irradiation section <NUM> is disposed at the lower portion of the camera unit <NUM> and the imaging device <NUM> is disposed at the upper portion thereof. In this case, the blocking member <NUM> blocks only the lower portion of the camera unit <NUM>. As a result, only the laser light is masked. The laser light is blocked in a situation where distance measurement is unnecessary, and thus it is possible to prevent the laser light from appearing in the captured image data. This makes it possible to increase convenience of the imaging system.

The camera unit <NUM> does not perform distance measurement but captures image data or the like when mounted to the wearable terminal <NUM>. The wearable terminal <NUM> analyzes that image data and displays predetermined information on a head-up display of the terminal. For example, current position information, an image to be synthesized with a recognized object, and the like are displayed.

In such a manner, according to the modified example of the first embodiment of the present technology, the blocking member <NUM> blocks the laser light when the camera unit <NUM> is mounted to the wearable terminal <NUM>. Thus, it is possible to prevent the laser light from appearing in the captured image data.

Although the first embodiment described above performs the distance measurement by the ToF method, the ToF method needs components to perform irradiation with laser light, and this makes it difficult to reduce costs and size accordingly. An electronic apparatus <NUM> of this second embodiment not according to the invention, is different from that of the first embodiment in that reduction in size and costs is achieved.

<FIG> is a block diagram showing a configuration example of the electronic apparatus <NUM> in the second embodiment. For the electronic apparatus <NUM> of the second embodiment, a digital camera such as a digital single-lens reflex camera is assumed. Further, the electronic apparatus <NUM> of the second embodiment is different from that of the first embodiment in that a display section <NUM> is further provided instead of the laser light irradiation section <NUM>.

Further, in an imaging device <NUM> of the second embodiment, phase difference detection pixels that detect a phase difference of a pair of images pupil-split, and normal pixels are disposed.

When a button such as a shutter button is pressed halfway down, a control section <NUM> controls the imaging device <NUM> to capture an image with a relatively low resolution as a live-view image in synchronization with a vertical synchronization signal. The control section <NUM> then controls a switch <NUM> to supply the live-view image to the display section <NUM>.

Further, when the button is pressed all the way down, the control section <NUM> causes the imaging device <NUM> to capture image data with a higher resolution than that of the live-view image. The control section <NUM> then controls the switch <NUM> to supply the image data to a distance measurement section <NUM>.

The display section <NUM> displays the image data. The display section <NUM> is achieved by, for example, a liquid crystal monitor.

The distance measurement section <NUM> measures a distance on the basis of the pixel signals of the phase difference pixels and supplies the image data and distance information to a three-dimensional shape estimation section <NUM>. In this image data, pixel values of positions of the phase difference pixels are interpolated from surrounding pixels. Processing of a coordinate conversion section <NUM> and the others are similar to those of the first embodiment.

It should be noted that the electronic apparatus <NUM> uses the distance measurement information in order to estimate a three-dimensional shape, but the distance measurement information is also used for AF (Auto Focus). In <FIG>, an AF control section that controls a position of a focus lens on the basis of the distance measurement information is omitted.

<FIG> is a block diagram showing a configuration example of the imaging device <NUM> in the second embodiment. The imaging device <NUM> of the second embodiment is different from that of the first embodiment in that normal pixel circuits <NUM> and phase difference detection pixel circuits <NUM> are provided instead of the pixel circuits <NUM>.

The normal pixel circuits <NUM> are pixels that perform photoelectric conversion on visible light such as R (Red), G (Green), and B (Blue) and generate pixel signals. The phase difference detection pixel circuits <NUM> are pixels for detecting a phase difference of a pair of images pupil-split. In such a manner, a method in which the pixels for phase difference detection are disposed on the image plane, and a distance is measured on the basis of the signals of those pixels is referred to as an image-plane phase difference method. The structure of the imaging device <NUM> in such an image-plane phase difference method is described in, for example, <CIT>.

<FIG> is a flowchart showing an example of the operation of the electronic apparatus <NUM> in the second embodiment. The electronic apparatus <NUM> determines whether the button is pressed halfway down by the user (Step S901). When the button is pressed halfway down (Step S901: Yes), the electronic apparatus <NUM> captures and displays a live-view image (Step S921). The user adjusts the orientation of the electronic apparatus <NUM> while viewing the live-view image such that characters to be subjected to OCR fall within the monitor (display section <NUM>). After the adjustment, the user presses the button all the way down.

The electronic apparatus <NUM> then determines whether the button is pressed all the way down by the user (Step S904). When the button is pressed all the way down, the electronic apparatus <NUM> captures image data and also obtains a distance for each of the measurement points on the basis of the phase difference detected in the phase difference detection pixel circuits <NUM> (Step S922). Further, the electronic apparatus <NUM> estimates a three-dimensional shape (Step S908) and interpolates the phase difference pixels in the image data (Step S923). The electronic apparatus <NUM> then executes Step S910 and subsequent steps.

In such a manner, according to the second embodiment of the present technology, since a distance is measured on the basis of the phase difference detected by the phase difference detection pixels, it is unnecessary to provide the laser light irradiation section <NUM> or the diffuser plate <NUM> and it is possible to reduce the number or components. This facilitates reduction in size or costs.

It should be noted that the embodiments described above are examples for embodying the present technology, and matters in the embodiments and matters specifying the invention in the Claims have respective correspondence relationships. Similarly, the matters specifying the invention in the Claims and matters in the embodiments of the present technology, which are denoted by names identical to the matters specifying the invention, have respective correspondence relationships.

Further, the processing steps described in the above embodiments may be understood as a method including a series of those steps. Alternatively, the processing steps described in the above embodiments may be understood as a program for causing a computer to execute the series of those steps or as a recording medium storing that program. As the recording medium, for example, a CD (Compact Disc), an MD (Mini Disc), a DVD (Digital Versatile Disc), a memory card, a Blu-ray (registered trademark) Disc, and the like can be used.

Claim 1:
An electronic apparatus (<NUM>), comprising:
an irradiation section (<NUM>) configured to perform irradiation with irradiation light;
a diffuser plate (<NUM>) configured to diffuse the irradiation light;
an imaging section (<NUM>; <NUM>) configured to image an object and capture image data;
a distance measurement section (<NUM>) configured to measure distances from the imaging section (<NUM>; <NUM>) to a plurality of measurement points on a surface of the object, the measurement points on the surface of the object being points irradiated with the diffused irradiation light;
a shape estimation section (<NUM>) configured to estimate a shape of the object from the measured distances; and
a coordinate conversion section (<NUM>) configured to perform coordinate conversion on the image data, the coordinate conversion including converting three-dimensional coordinates on the surface of the object into plane coordinates on a predetermined reference plane on the basis of the estimated shape, wherein
the distance measurement section (<NUM>) is configured to measure the distances from a phase difference between reflected light of the irradiation light and the irradiation light, and wherein
the irradiation section (<NUM>) is configured to select spotlight or diffused light according to a predetermined operation by a user of an operation element that is operable in at least two stages to cause, respectively, insertion of the diffuser plate (<NUM>) in or removal of the diffuser plate (<NUM>) from an optical path of the irradiation light, and to perform irradiation with the selected light as the irradiation light, and
the distance measurement section (<NUM>) is configured to measure the distances when irradiation is performed with the diffused light.