JP2009153217A - Omnidirectional visual camera - Google Patents

Omnidirectional visual camera Download PDF

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JP2009153217A
JP2009153217A JP2009091640A JP2009091640A JP2009153217A JP 2009153217 A JP2009153217 A JP 2009153217A JP 2009091640 A JP2009091640 A JP 2009091640A JP 2009091640 A JP2009091640 A JP 2009091640A JP 2009153217 A JP2009153217 A JP 2009153217A
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light
imaging element
reflecting mirror
light shielding
omnidirectional visual
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Yasushi Sogabe
靖 曽我部
Hiroshi Ishiguro
浩 石黒
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Panasonic Corp
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Panasonic Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an omnidirectional visual camera obtaining an excellent image. <P>SOLUTION: A light-shielding member 4 having a radius wider than the excess region of an imaging element 7 and forming an inclined plane 12 so as not to shield an incident light from the upper section of an extension tying the internal focus 10 of a reflector and the end section 2A of the reflector is set up at an upper section of the reflector 2. A light-shielding filter 8 is set up at the upper section of the imaging element 7 for a camera section 5, and an antireflection film 13 reducing the reflection of a light is mounted on the inner peripheral surface of a cylindrical surface section 3. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、任意の視点位置の周囲の全方向を撮像した全方位画像を撮影する全方位視覚カメラに関するものである。   The present invention relates to an omnidirectional visual camera that captures an omnidirectional image obtained by imaging all directions around an arbitrary viewpoint position.

ある視点の周囲の環境を１度に撮像できれば、あたかもその場にいるかのように自由に視線方向を変えることのできる死角のない画像を得ることが出来る。
特開平９−１１８１７８号公報や特開平１１−１７４６０３号公報には、反射鏡を有し全方向の画像を撮像するための装置構成が示されている。このような全方向の画像を撮像する装置として、図５（ａ）に示すようにテレビカメラ５の前面に曲面の反射鏡２を設置し、反射鏡２に映る像を撮像することにより全方向の像を撮像する技術が知られている。６，７はテレビカメラ５を構成するレンズとＣＣＤなどの結像素子である。３はテレビカメラ５に対して反射鏡２を特定位置に保持する円筒状の円筒面部で、透明材料からなっている。 If the surrounding environment of a certain viewpoint can be imaged at a time, an image without a blind spot can be obtained in which the direction of the line of sight can be freely changed as if it were on the spot.
Japanese Patent Application Laid-Open No. 9-118178 and Japanese Patent Application Laid-Open No. 11-174603 show apparatus configurations for taking images in all directions having a reflecting mirror. As a device that captures images in all directions, a curved reflecting mirror 2 is installed on the front surface of the television camera 5 as shown in FIG. 5A, and an image reflected on the reflecting mirror 2 is captured. A technique for capturing the image is known. Reference numerals 6 and 7 denote lenses constituting the TV camera 5 and imaging elements such as a CCD. Reference numeral 3 denotes a cylindrical cylindrical surface portion that holds the reflecting mirror 2 at a specific position with respect to the television camera 5 and is made of a transparent material.

具体的には、図５（ｂ）はテレビカメラ５の撮影した画像例を示しており、この画像を幾何変換することにより、任意の視線方向を選択して、通常のカメラで撮像したような画像を生成することが可能である。   Specifically, FIG. 5B shows an example of an image captured by the television camera 5, and by selecting an arbitrary line-of-sight direction by performing geometric transformation on the image, the image is captured by a normal camera. An image can be generated.

特開平９−１１８１７８号公報JP-A-9-118178 特開平１１−１７４６０３号公報JP 11-174603 A

しかしながら、上記の装置では、次のような問題点が残されている。
反射鏡２の反射像は円形である。ところが市販の結像素子７は受光面が正方形または長方形であるため、結像素子７の受光面の四隅に無駄な領域が発生する。図６に示す断面Ａの場合には反射鏡２での反射光だけが結像素子７に入射して結像するが、図６に示す断面Ｂの場合には図７（ａ）に示すように反射鏡２での反射光ではない直接光Ｃが結像素子７に入射して結像する。 However, the above-described apparatus has the following problems.
The reflected image of the reflecting mirror 2 is circular. However, since the commercially available imaging element 7 has a square or rectangular light receiving surface, useless areas are generated at the four corners of the light receiving surface of the imaging element 7. In the case of the cross section A shown in FIG. 6, only the light reflected by the reflecting mirror 2 is incident on the imaging element 7 to form an image. In the case of the cross section B shown in FIG. 6, as shown in FIG. The direct light C that is not reflected by the reflecting mirror 2 enters the imaging element 7 and forms an image.

この全方位視覚カメラは反射鏡２の回転中心軸Ｄを鉛直向きにして使用されるので、太陽光が直接光Ｃが結像素子７に入射する。この場合には、強烈な直接光Ｃが結像素子７に入射すると、ＣＣＤの電荷漏れ出しと呼ばれる現象が発生して画質が極端に劣化したり、テレビカメラ５のホワイトバランス調整機能の影響で図７（ｂ）に示すように、本来必要な画像が暗くなってしまって輝度分解能が極端に低下する問題がある。   Since this omnidirectional visual camera is used with the rotation center axis D of the reflecting mirror 2 in the vertical direction, sunlight directly enters the imaging element 7. In this case, when intense direct light C is incident on the imaging element 7, a phenomenon called CCD charge leakage occurs and the image quality is extremely deteriorated or the white balance adjustment function of the TV camera 5 is affected. As shown in FIG. 7B, there is a problem that an originally necessary image becomes dark and luminance resolution is extremely lowered.

また、図８（ａ）に示すように反射鏡２に照明器具などが写り込むような撮影条件では、円筒面部３の内周面で反射した光Ｅも結像素子７に入射して、図８（ｂ）に示すように本来の像に加えて偽画像、いわゆるゴーストＦが発生してしまう。   Further, as shown in FIG. 8 (a), under a photographing condition in which a lighting fixture or the like is reflected on the reflecting mirror 2, the light E reflected by the inner peripheral surface of the cylindrical surface portion 3 is also incident on the imaging element 7, As shown in FIG. 8B, a false image, so-called ghost F, is generated in addition to the original image.

本発明は、上方から太陽光が入射する撮影条件下においても、輝度分解能が極端に低下する問題を低減できる全方位視覚カメラを提供することを目的とする。
また、照明器具などが写り込むような撮影条件下においても、ゴーストの発生を低減できる全方位視覚カメラを提供することを目的とする。 An object of the present invention is to provide an omnidirectional visual camera that can reduce the problem of extremely low luminance resolution even under shooting conditions in which sunlight enters from above.
It is another object of the present invention to provide an omnidirectional visual camera that can reduce the occurrence of ghosts even under shooting conditions in which a lighting fixture or the like is reflected.

本発明の請求項１記載の全方位視覚カメラは、回転二次曲面の凸面を鏡面にした反射鏡と、前記反射鏡の回転中心軸と一致または略一致する回転中心軸を有する円筒形状で前記反射鏡を支持する透明部材の円筒面部と、前記反射鏡の回転中心軸と一致または略一致する光軸を有し前記反射鏡の凸面に対向する位置に設置されたカメラ部とを有し、前記カメラ部により前記反射鏡より反射する反射像を撮像する全方位視覚カメラにおいて、前記結像素子の上に当該結像素子の余剰領域に差し込む光を遮る遮光フィルタを設けたことを特徴とする。 An omnidirectional visual camera according to claim 1 of the present invention is a cylindrical mirror having a reflecting mirror having a convex surface of a rotating quadratic curved surface as a mirror surface, and a rotating center axis that coincides with or substantially coincides with the rotating center axis of the reflecting mirror. A cylindrical surface portion of a transparent member that supports the reflecting mirror, and a camera portion that has an optical axis that coincides with or substantially coincides with the rotation center axis of the reflecting mirror and is disposed at a position facing the convex surface of the reflecting mirror, In the omnidirectional visual camera that captures a reflected image reflected from the reflecting mirror by the camera unit, a light-shielding filter is provided on the imaging element to block light that is inserted into a surplus area of the imaging element. .

本発明の請求項２記載の全方位視覚カメラは、請求項１において、前記遮光フィルタの透過部の半径を、前記結像素子の必要な画像領域よりも大きく設定したことを特徴とする。 The omnidirectional visual camera according to claim 2 of the present invention is characterized in that, in claim 1, the radius of the transmission part of the light shielding filter is set larger than a necessary image area of the imaging element .

本発明の請求項３記載の全方位視覚カメラは、請求項１において、前記結像素子の必要な画像領域の半径をｒとし、前記遮光フィルタの前記結像素子の中心からの許容位置ずれ距離をｓとした場合に、前記遮光フィルタの透過部の半径を（ｒ＋ｓ）に設定したことを特徴とする。 An omnidirectional visual camera according to a third aspect of the present invention is the omnidirectional visual camera according to the first aspect, wherein a radius of a necessary image region of the imaging element is r, and an allowable positional deviation distance from a center of the imaging element of the light shielding filter. Is set to (r + s), the radius of the transmission part of the light shielding filter is set .

本発明の請求項４記載の全方位視覚カメラは、請求項１において、前記円筒面部の内周面に光の反射を低減する反射防止膜を設けたことを特徴とする。 An omnidirectional visual camera according to a fourth aspect of the present invention is the omnidirectional visual camera according to the first aspect , wherein an antireflection film for reducing light reflection is provided on the inner peripheral surface of the cylindrical surface portion.

以上のように本発明の全方位視覚カメラによれば、反射鏡の上方にカメラ部の結像素子の余剰領域に差し込む光を遮る遮光部材を設けたため、反射鏡の回転中心軸を鉛直向きにして使用されても、太陽光などの強烈な直接光が前記カメラ部の結像素子に入射せず、前記結像素子を構成するＣＣＤの電荷漏れ出しと呼ばれる現象の発生もなく、画質の劣化を防止ならびに輝度分解能の低下を防止できる。   As described above, according to the omnidirectional vision camera of the present invention, since the light shielding member that blocks the light to be inserted into the surplus area of the imaging element of the camera unit is provided above the reflecting mirror, the rotation center axis of the reflecting mirror is set vertically. Even if it is used, intense direct light such as sunlight does not enter the imaging element of the camera unit, and there is no occurrence of a phenomenon called charge leakage of the CCD constituting the imaging element, and the image quality is deteriorated. And a reduction in luminance resolution can be prevented.

また、前記遮光部材として、半径が結像素子の余剰領域より広く反射鏡の内部焦点と反射鏡の端点とを結んだ延長線上からの入射光を遮らないように傾斜面を形成した場合には、前記画質の劣化の防止ならびに輝度分解能の低下を防止しつつ遮光部材による有効画像の遮りを最小にして全方位画像を得ることができる。   Further, when the inclined surface is formed as the light shielding member so as not to block incident light from an extended line connecting the internal focal point of the reflecting mirror and the end point of the reflecting mirror, the radius being wider than the surplus area of the imaging element. Further, it is possible to obtain an omnidirectional image by minimizing the shielding of the effective image by the light shielding member while preventing the deterioration of the image quality and the luminance resolution.

また、本発明の全方位視覚カメラによれば、カメラ部の結像素子の上にこの結像素子の余剰領域に差し込む光を遮る遮光フィルタを設けたため、反射鏡の回転中心軸を鉛直向きにして使用されても、太陽光などの強烈な直接光が前記カメラ部の結像素子に入射せず、前記結像素子を構成するＣＣＤの電荷漏れ出しと呼ばれる現象の発生もなく、画質の劣化を防止ならびに輝度分解能の低下を防止できる。   Further, according to the omnidirectional visual camera of the present invention, since the light blocking filter for blocking the light inserted into the surplus area of the imaging element is provided on the imaging element of the camera unit, the rotation center axis of the reflecting mirror is set to be vertical. Even if it is used, intense direct light such as sunlight does not enter the imaging element of the camera unit, and there is no occurrence of a phenomenon called charge leakage of the CCD constituting the imaging element, and the image quality is deteriorated. And a reduction in luminance resolution can be prevented.

また、本発明の全方位視覚カメラによれば、前記反射鏡の周囲に位置する円筒面部の内周面に光の反射を低減する反射防止膜を設けたため、照明器具などが写り込むような撮影条件下においても、ゴーストの発生を低減できる。   In addition, according to the omnidirectional visual camera of the present invention, since the antireflection film for reducing the reflection of light is provided on the inner peripheral surface of the cylindrical surface portion located around the reflecting mirror, it is possible to take a picture such as a lighting fixture. Even under conditions, the occurrence of ghost can be reduced.

また、回転二次曲面の凸面を鏡面にした反射鏡と、前記反射鏡の回転中心軸と一致または略一致する回転中心軸を有する円筒形状で前記反射鏡を支持する透明部材の円筒面部と、前記反射鏡の回転中心軸と一致または略一致する光軸を有し前記反射鏡の凸面に対向する位置に設置されたカメラ部とを有し、前記カメラ部により前記反射鏡より反射する反射像を撮像する全方位視覚カメラにおいて、前記反射鏡の上方に前記カメラ部の結像素子の余剰領域に差し込む光を遮る遮光部材を設け、前記結像素子の上にこの結像素子の余剰領域に差し込む光を遮る遮光フィルタを設け、前記遮光部材の大きさを、前記結像素子の余剰領域の全部に差し込む光を遮らずに一部を遮る大きさにした場合には、遮光フィルタの結像素子の上への設置作業に位置ずれがあっても結像素子の余剰領域に不要光が入射することを、前記遮光フィルタを使用せずに遮光部材だけで結像素子の余剰領域に不要光が入射することを防止した場合の遮光部材の大きさよりも小さな遮光部材を使用して防止することができるものである。   A reflecting mirror having a convex surface of a rotating quadratic surface as a mirror surface, and a cylindrical surface portion of a transparent member that supports the reflecting mirror in a cylindrical shape having a rotation center axis that coincides with or substantially coincides with the rotation center axis of the reflection mirror; A reflection unit that has an optical axis that coincides with or substantially coincides with the rotation center axis of the reflecting mirror, and that is installed at a position facing the convex surface of the reflecting mirror, and is reflected from the reflecting mirror by the camera unit. In the omnidirectional visual camera, a light shielding member is provided above the reflecting mirror to block light inserted into the surplus area of the imaging element of the camera unit, and the surplus area of the imaging element is provided on the imaging element. When a light-shielding filter that blocks light to be inserted is provided, and the size of the light-shielding member is set so as to block a part of the image forming element without blocking light to be inserted, the image-forming element of the light-shielding filter is blocked. It is suitable for installation work on the child Even when there is a deviation, the unnecessary light is incident on the surplus area of the imaging element, and the unnecessary light is prevented from entering the surplus area of the imaging element by using only the light shielding member without using the light shielding filter. This can be prevented by using a light shielding member that is smaller than the size of the light shielding member.

本発明の（実施の形態１）の全方位視覚カメラの断面図Sectional view of an omnidirectional visual camera according to (Embodiment 1) of the present invention 本発明の（実施の形態２）の全方位視覚カメラの断面図Sectional drawing of the omnidirectional vision camera of (Embodiment 2) of this invention 同（実施の形態２）の要部の平面図Plan view of main part of the same (Embodiment 2) 同（実施の形態２）の遮光フィルタの位置ずれを示す平面図The top view which shows the position shift of the light shielding filter of the same (Embodiment 2) 従来の全方位視覚カメラの断面図と撮影画像の説明図Cross-sectional view of conventional omnidirectional vision camera and explanatory diagram of captured image 同従来例における反射鏡とカメラ部の結像素子の位置を示す要部の斜視図The perspective view of the principal part which shows the position of the image formation element of the reflective mirror and camera part in the prior art example 同従来例において直接光がカメラ部の結像素子に入射した場合の全方位視覚カメラの断面図と撮影画像の説明図Sectional view of omnidirectional visual camera and explanatory view of captured image when direct light is incident on imaging element of camera unit in the conventional example 同従来例においてゴーストが発生する使用状態の全方位視覚カメラの断面図と撮影画像の説明図Sectional view of omnidirectional visual camera in use state where ghost occurs in the same conventional example and explanatory diagram of captured image

以下、本発明の各実施の形態を図１〜図４に基づいて説明する。
（実施の形態１）
図１は（実施の形態１）の全方位視覚カメラを示す。 Embodiments of the present invention will be described below with reference to FIGS.
(Embodiment 1)
FIG. 1 shows an omnidirectional visual camera of (Embodiment 1).

この全方位視覚カメラは、テレビカメラ部５の前面５Ａに透明部材の円筒面部３の基端部３Ａを取り付け、円筒面部３の他端に、差し込む光を遮る遮光部材４が取り付けられている。テレビカメラ部５の前面５Ａに対向して前記遮光部材４の内側には、回転二次曲面の凸面を鏡面にした反射鏡２が取り付けられている。６，７はテレビカメラ５を構成するレンズとＣＣＤなどの結像素子である。   In this omnidirectional visual camera, a base end 3 </ b> A of a cylindrical surface portion 3 of a transparent member is attached to a front surface 5 </ b> A of a television camera portion 5, and a light shielding member 4 that blocks light to be inserted is attached to the other end of the cylindrical surface portion 3. A reflecting mirror 2 having a convex surface of a rotating quadratic curved surface as a mirror surface is attached to the inner side of the light shielding member 4 so as to face the front surface 5A of the TV camera unit 5. Reference numerals 6 and 7 denote lenses constituting the TV camera 5 and imaging elements such as a CCD.

テレビカメラ部５の光軸５Ｂと円筒面部３の回転中心軸および反射鏡２の回転中心軸は、一致または略一致して組み立てられている。
テレビカメラ部５のレンズ６の主点６Ａの位置は、反射鏡２の外部焦点に一致するよう配置されている。入射光９ａは反射鏡２の双曲面で反射し、その反射光９ｂはレンズ６の主点６Ａを通過して受光素子７に到達し、３６０度全方位の画像を撮像することが可能である。 The optical axis 5B of the television camera unit 5, the rotation center axis of the cylindrical surface unit 3, and the rotation center axis of the reflecting mirror 2 are assembled so as to match or substantially match.
The position of the principal point 6 </ b> A of the lens 6 of the TV camera unit 5 is arranged so as to coincide with the external focus of the reflecting mirror 2. The incident light 9a is reflected by the hyperboloid of the reflecting mirror 2, and the reflected light 9b passes through the principal point 6A of the lens 6 and reaches the light receiving element 7 so that a 360-degree omnidirectional image can be taken. .

さらに、幾何学的関係から、入射光９ａの方向を回転面内部まで延長すると反射鏡２の内部焦点１０に到達する。このように、反射鏡２が双曲面であるため、レンズ６の主点６Ａを通過する反射光に対応する入射光の延長線の全てが同様に内容焦点１０に集まることが知られている。   Furthermore, from the geometrical relationship, when the direction of the incident light 9a is extended to the inside of the rotation surface, the internal focal point 10 of the reflecting mirror 2 is reached. Thus, since the reflecting mirror 2 is a hyperboloid, it is known that all the extended lines of incident light corresponding to the reflected light passing through the principal point 6A of the lens 6 are gathered at the content focal point 10 in the same manner.

結像素子７は受光面が正方形または長方形であって、遮光部材４は結像素子７の余剰領域に直接光Ｃが入射しないように、その半径は結像素子７の余剰領域より広く形成されている。     The imaging element 7 has a light-receiving surface that is square or rectangular, and the light shielding member 4 has a radius larger than that of the surplus area of the imaging element 7 so that the light C does not directly enter the surplus area of the imaging element 7. ing.

さらに、円筒面部３の内周面の全域には光の反射を低減する反射防止膜１３が形成されている。このように反射防止膜１３を形成することによって、図８に示したようなゴーストＦの発生を低減できる。   Further, an antireflection film 13 for reducing light reflection is formed on the entire inner peripheral surface of the cylindrical surface portion 3. By forming the antireflection film 13 in this way, the generation of the ghost F as shown in FIG. 8 can be reduced.

このように、結像素子７の余剰領域に直接光Ｃが入射しないように、遮光部材４を設けたので、反射鏡２の回転中心軸を鉛直向きにして使用されても、太陽光などの強烈な直接光Ｃが結像素子７に入射せず、結像素子７を構成するＣＣＤの電荷漏れ出しと呼ばれる現象の発生もなく、画質の劣化を防止でき、テレビカメラ５のホワイトバランス調整機能を有効にしている使用状態にあっても輝度分解能の低下を防止できる。   As described above, since the light shielding member 4 is provided so that the light C does not directly enter the surplus region of the imaging element 7, even if it is used with the rotation center axis of the reflecting mirror 2 in the vertical direction, sunlight or the like is used. The intense direct light C does not enter the imaging element 7, there is no occurrence of a phenomenon called charge leakage of the CCD constituting the imaging element 7, deterioration of image quality can be prevented, and the white balance adjustment function of the TV camera 5 Even in a use state in which is enabled, a reduction in luminance resolution can be prevented.

さらに、このように直接光Ｃを遮るために設けられた遮光部材４には、反射鏡２に入射する有効な光をできる限り遮らないように外周部に傾斜面１２が形成されている。より具体的には、反射鏡２の内部焦点１０と反射鏡２の端点２Ａとを結んだ延長線１１上からの入射光を遮らないように遮光部材４の外周部には、傾斜面１２を形成したため、有効な入射光を遮ることなく不要光を排除して良好な３６０度全方位の画像を撮像することができる。   Further, the light shielding member 4 provided to shield the light C directly as described above has an inclined surface 12 formed on the outer peripheral portion so as not to shield the effective light incident on the reflecting mirror 2 as much as possible. More specifically, the inclined surface 12 is provided on the outer peripheral portion of the light shielding member 4 so as not to block incident light from the extension line 11 connecting the internal focal point 10 of the reflecting mirror 2 and the end point 2A of the reflecting mirror 2. Since it is formed, it is possible to eliminate unnecessary light without blocking effective incident light and to pick up a good 360-degree omnidirectional image.

（実施の形態２）
図２〜図４は（実施の形態２）を示す。
図２と図３（ｃ）は（実施の形態２）の全方位視覚カメラを示しており、受光面が長方形（または正方形）である結像素子７の受光面の四隅に無駄な領域（余剰領域）に反射鏡２での反射光ではない直接光が入射しないように、遮光フィルタ８が結像素子７の上に設けられている。遮光フィルタ８は透過部８ａと遮光部８ｂで構成されている。そのほかは（実施の形態１）と同じである。 (Embodiment 2)
2 to 4 show (Embodiment 2).
FIGS. 2 and 3C show the omnidirectional vision camera of (Embodiment 2), and useless regions (surpluses) at the four corners of the light receiving surface of the imaging element 7 whose light receiving surface is rectangular (or square). A light shielding filter 8 is provided on the imaging element 7 so that direct light that is not reflected by the reflecting mirror 2 does not enter the region. The light shielding filter 8 includes a transmission part 8a and a light shielding part 8b. The rest is the same as (Embodiment 1).

１４は結像素子７の必要な画像領域を示しており、中心からの半径はｒである。Ｒ２はこの（実施の形態２）における遮光部材４の大きさを示している。Ｒ１は（実施の形態１）における遮光部材４の大きさを比較のために示している。   Reference numeral 14 denotes a necessary image area of the imaging element 7, and the radius from the center is r. R2 indicates the size of the light shielding member 4 in this (Embodiment 2). R1 shows the size of the light shielding member 4 in (Embodiment 1) for comparison.

遮光フィルタ８の透過部８ａの大きさを結像素子７の必要な画像領域１４と同じ大きさとし、遮光フィルタ８の透過部８ａの中心と結像素子７の必要な画像領域１４の中心とが完全一致するよう遮光フィルタ８を結像素子７の上に設置できた場合には、遮光部材４を設けなくても遮光フィルタ８の遮光部８ｂだけで結像素子７の受光面の四隅への余剰領域への光の入射を防いで、良好な３６０度全方位の画像を撮像することができる。   The size of the transmission part 8a of the light shielding filter 8 is the same size as the necessary image area 14 of the imaging element 7, and the center of the transmission part 8a of the light shielding filter 8 and the center of the image area 14 of the imaging element 7 are required. When the light shielding filter 8 can be placed on the imaging element 7 so as to be completely coincident with each other, only the light shielding portion 8b of the light shielding filter 8 is provided to the four corners of the light receiving surface of the imaging element 7 without providing the light shielding member 4. It is possible to capture a good 360-degree omnidirectional image by preventing light from entering the surplus region.

しかし、結像素子７に対する遮光フィルタ８の位置ずれが伴う可能性がある場合には、遮光フィルタ８と遮光部材４との併用でこの問題を解消でき、しかも遮光部材４の径をＲ１＞Ｒ２と言うように（実施の形態１）に比べて小径化することができる。   However, if there is a possibility that the light shielding filter 8 is displaced with respect to the imaging element 7, this problem can be solved by using the light shielding filter 8 and the light shielding member 4 together, and the diameter of the light shielding member 4 is set to R1> R2. Thus, the diameter can be reduced as compared with (Embodiment 1).

これを図４と図３に基づいて詳しく説明する。
図４（ａ）は結像素子７の長方形の受光領域と（実施の形態１）における遮光部材４の大きさを表しており、遮光部材４は長方形の受光領域の全域を遮蔽できる径のものを必要とする。図４（ｂ）は遮光フィルタ８を示している。図４（ｃ）は結像素子７に対して横方向に距離ｓだけ位置ずれした遮光フィルタ８を示している。 This will be described in detail with reference to FIGS.
FIG. 4A shows the rectangular light receiving area of the imaging element 7 and the size of the light shielding member 4 in (Embodiment 1). The light shielding member 4 has a diameter that can shield the entire area of the rectangular light receiving area. Need. FIG. 4B shows the light shielding filter 8. FIG. 4C shows the light shielding filter 8 that is displaced by a distance s in the lateral direction with respect to the imaging element 7.

図４（ａ）の結像素子７の上に、図４（ｃ）に示すように距離ｓだけ位置ずれした遮光フィルタ８を重ねた状態が図３（ａ）である。この場合には、距離ｓだけ位置ずれしたためにハッチング１５で示すエリアから結像素子７の余剰領域への光が入射する。実際の距離Ｓが僅かであっても、その場合の３６０度全方位の画像の画質が低下する。   FIG. 3A shows a state in which the light shielding filter 8 displaced by the distance s as shown in FIG. 4C is superimposed on the imaging element 7 in FIG. In this case, since the position is shifted by the distance s, light enters the surplus area of the imaging element 7 from the area indicated by hatching 15. Even if the actual distance S is small, the image quality of 360 degree omnidirectional images in that case is degraded.

そこで、図３（ｂ）に示したように、結像素子７の受光領域の全域を遮蔽できない小径の遮光部材４を設けることによって、前記ハッチング１５で示すエリアから結像素子７の余剰領域への光の入射を遮ることができることが分かる。   Therefore, as shown in FIG. 3B, by providing a small-diameter light shielding member 4 that cannot shield the entire light receiving area of the imaging element 7, from the area indicated by the hatching 15 to the surplus area of the imaging element 7. It can be seen that the incident light can be blocked.

しかし、遮光フィルタ８の透過部８ａの大きさが結像素子７の必要な画像領域１４と同じ大きさである場合には、遮光フィルタ８の位置ずれによって図３（ｂ）では、必要な画像領域１４の左側のハッチング１７で示すエリア遮光部８ｂで遮られてしまう。   However, when the size of the transmission part 8a of the light shielding filter 8 is the same size as the necessary image region 14 of the imaging element 7, the necessary image in FIG. The area 14 is blocked by the area light blocking portion 8b indicated by the hatching 17 on the left side of the area 14.

そこで、この（実施の形態２）では、図３（ｃ）に示すように遮光フィルタ８の透過部８ａの半径を、前記遮光フィルタ８の前記結像素子７の中心からの許容位置ずれ距離に応じて前記結像素子７の必要な画像領域１４よりも大きく設定し、遮光部材の大きさを、前記結像素子７の余剰領域の全部に差し込む光を遮らずに一部を遮る大きさに設定している。   Therefore, in this (Embodiment 2), as shown in FIG. 3C, the radius of the transmission part 8a of the light shielding filter 8 is set to an allowable positional deviation distance from the center of the imaging element 7 of the light shielding filter 8. Accordingly, the image-forming element 7 is set to be larger than the necessary image area 14, and the size of the light-shielding member is set so as to block a part of the image-forming element 7 without blocking the light to be inserted into the entire surplus area. It is set.

具体的には、許容位置ずれ距離が距離ｓの場合には、遮光フィルタ８の透過部８ａの半径を（ｒ＋ｓ）に設定し、遮光部材４の大きさを、前記結像素子７の余剰領域の全部に差し込む光を遮らずに一部を遮る大きさで（ｒ＋２・ｓ）程度に設定する。   Specifically, when the allowable positional deviation distance is the distance s, the radius of the transmission part 8a of the light shielding filter 8 is set to (r + s), and the size of the light shielding member 4 is set to the surplus area of the imaging element 7. The size is set to about (r + 2 · s) so as to block a part of the light without blocking the light.

これによると、図３（ｂ）に見られたようなハッチング１７で示すエリアが遮光部８ｂで遮られてしまうこともなく、良好な３６０度全方位の画像を撮像することができる。
なお、各実施の形態では、傾斜面１２を備えた特殊形状の遮光部材４と、遮光フィルタ８と、反射防止膜１３とのすべてを備えていたが、遮光部材４と遮光フィルタ８と反射防止膜１３とのうちの１つまたは二つの組み合わせで全方位視覚カメラを構成することもできる。 According to this, a good 360-degree omnidirectional image can be taken without the area indicated by hatching 17 as shown in FIG. 3B being blocked by the light-shielding portion 8b.
In each embodiment, the light shielding member 4 having the special shape having the inclined surface 12, the light shielding filter 8, and the antireflection film 13 are all provided. However, the light shielding member 4, the light shielding filter 8, and the antireflection film are provided. An omnidirectional vision camera can also be configured with one or a combination of two of the membranes 13.

具体的には、遮光部材４と遮光フィルタ８と反射防止膜１３との何れかを備えた全方位視覚カメラ、遮光部材４と反射防止膜１３を備えた全方位視覚カメラ、遮光部材４は半径が結像素子７の余剰領域と同じか小径で、遮光フィルタ８と反射防止膜１３を備えた全方位視覚カメラなどがそれである。   Specifically, the omnidirectional visual camera provided with any one of the light shielding member 4, the light shielding filter 8, and the antireflection film 13, the omnidirectional visual camera provided with the light shielding member 4 and the antireflection film 13, and the light shielding member 4 have a radius. This is, for example, an omnidirectional visual camera having the same or a small diameter as the surplus area of the imaging element 7 and having the light shielding filter 8 and the antireflection film 13.

本発明は、任意の視点位置の周囲の全方向を撮像した全方位画像を撮影する全方位視覚カメラの高性能化に寄与する。The present invention contributes to improving the performance of an omnidirectional visual camera that captures an omnidirectional image obtained by imaging all directions around an arbitrary viewpoint position.

２ 反射鏡
２Ａ 反射鏡の端部
３ 円筒面部
４ 遮光部材
５ テレビカメラ（カメラ部）
５Ｂ テレビカメラの光軸
６ レンズ
７ 結像素子
８ 遮光フィルタ
１０ 内部焦点
１１ 反射鏡の端部２Ａと内部焦点１０とを結ぶ延長線
１２ 反射鏡の傾斜面
１３ 反射防止膜 2 Reflecting mirror 2A End of reflecting mirror 3 Cylindrical surface part 4 Shading member 5 TV camera (camera part)
5B Optical axis of TV camera 6 Lens 7 Imaging element 8 Shading filter 10 Internal focal point 11 Extension line 12 connecting the end 2A of the reflective mirror and the internal focal point 10 Inclined surface 13 of the reflective mirror Antireflection film

Claims (4)

回転二次曲面の凸面を鏡面にした反射鏡と、前記反射鏡の回転中心軸と一致または略一致する回転中心軸を有する円筒形状で前記反射鏡を支持する透明部材の円筒面部と、前記反射鏡の回転中心軸と一致または略一致する光軸を有し前記反射鏡の凸面に対向する位置に設置されたカメラ部とを有し、前記カメラ部により前記反射鏡より反射する反射像を撮像する全方位視覚カメラにおいて、
前記結像素子の上に当該結像素子の余剰領域に差し込む光を遮る遮光フィルタを設けた
全方位視覚カメラ。 A reflecting mirror having a convex surface of a rotating quadratic surface as a mirror surface, a cylindrical surface portion of a transparent member that supports the reflecting mirror in a cylindrical shape having a rotation center axis that coincides with or substantially coincides with the rotation center axis of the reflection mirror, and the reflection A camera unit that has an optical axis that coincides with or substantially coincides with the rotation center axis of the mirror and that is installed at a position facing the convex surface of the reflecting mirror, and captures a reflected image reflected from the reflecting mirror by the camera unit In an omnidirectional visual camera,
Provided on the imaging element is a light-shielding filter that blocks light that is inserted into the surplus area of the imaging element.
Omnidirectional visual camera. 前記遮光フィルタの透過部の半径を、前記結像素子の必要な画像領域よりも大きく設定したThe radius of the transmission part of the light shielding filter was set larger than the required image area of the imaging element
請求項１記載の全方位視覚カメラ。The omnidirectional visual camera according to claim 1. 前記結像素子の必要な画像領域の半径をｒとし、前記遮光フィルタの前記結像素子の中心からの許容位置ずれ距離をｓとした場合に、前記遮光フィルタの透過部の半径を（ｒ＋ｓ）に設定したThe radius of the transmission part of the light shielding filter is (r + s), where r is a radius of a necessary image area of the imaging element and s is an allowable positional deviation distance from the center of the imaging element of the light shielding filter. Set to
請求項１記載の全方位視覚カメラ。The omnidirectional visual camera according to claim 1. 前記円筒面部の内周面に光の反射を低減する反射防止膜を設けたAn antireflection film for reducing light reflection is provided on the inner peripheral surface of the cylindrical surface portion.
請求項１記載の全方位視覚カメラ。The omnidirectional visual camera according to claim 1.
JP2009091640A 2009-04-06 2009-04-06 Omnidirectional visual camera Pending JP2009153217A (en)

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