WO2007119468A1 - 撮像装置 - Google Patents
撮像装置 Download PDFInfo
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- WO2007119468A1 WO2007119468A1 PCT/JP2007/055817 JP2007055817W WO2007119468A1 WO 2007119468 A1 WO2007119468 A1 WO 2007119468A1 JP 2007055817 W JP2007055817 W JP 2007055817W WO 2007119468 A1 WO2007119468 A1 WO 2007119468A1
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- parallax
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
- H04N25/41—Extracting pixel data from a plurality of image sensors simultaneously picking up an image, e.g. for increasing the field of view by combining the outputs of a plurality of sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
- H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
- H04N23/15—Image signal generation with circuitry for avoiding or correcting image misregistration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/84—Camera processing pipelines; Components thereof for processing colour signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
Definitions
- the present invention relates to an image pickup apparatus which synthesizes one high definition image by performing parallax correction from a plurality of images obtained using a plurality of image pickup optical systems, and an object to be photographed based on the calculated parallax amount.
- the present invention relates to an imaging device that calculates a distance to a body.
- reference numeral 101 denotes an imaging lens integrally made of a mold or the like.
- the imaging lens 101 is a lens for R wavelength 10 la for forming an object image on sensor portions 103a, 103b and 103c divided into pixels of three colors of a C-MOS sensor 103 described later, and a lens for G wavelength A lens 101c for the B wavelength 101b is provided.
- Reference numeral 102 denotes a stop of each of the lenses 101a to 101c, which is integrally configured.
- the stop 102 further includes an R wavelength transmission filter 102a, a G wavelength transmission filter 102b, and a B wavelength transmission filter 102c.
- Reference numeral 103 denotes a C-MOS sensor in which an image processing circuit (not shown) and the like are integrally formed, and as shown in FIG. 17 (b), sensors 103a, 103b, and 103c for R, G, and B are provided. It is constructed independently in a plane. Therefore, the focal length of the lens can be (1Z3) 1/2 if the pixel size and the number of pixels are the same, as compared with the conventional sensor of the Bayer array, and the thickness in the optical axis direction can be thin. (See Patent No. 3397758).
- FIG. 18 shows an example of an image formed on the sensor units 103a, 103b, and 103c.
- the image 104a formed on the sensor unit 103a is the image 104b formed on the sensor unit 103b moved in the y direction by the amount of parallax.
- the image 104c formed on the sensor ⁇ B103c is obtained by moving the image 104b of the sensor ⁇ B103b in the negative direction of y by the amount of parallax.
- the image 104a formed on the sensor unit 103a for R lacks an image in the positive direction of y, as can be seen from FIG. It has become.
- the image 104c formed on the sensor unit 103c for B lacks an image in the negative direction of y. Therefore, it can be seen that, even if the images 104a, 104b and 104c are combined, only an image (a part of the subject) of an area having all color information can be produced. In other words, if false color (a part reproduced with a color different from the original color) occurs in the peripheral part of the image, there is a problem that it will occur.
- the present invention has been made to solve such a problem, and in the compound eye optical system having parallax for each color information, the image in the peripheral portion of the image, which has been a conventional task, is based on parallax. It is an object of the present invention to provide an imaging device in which the problems associated with the omission are eliminated. More specifically, by correcting the effective pixel area in consideration of parallax, it is possible to reproduce an image having no false color in the peripheral part of the image, and also in the peripheral part of the image. It is an object of the present invention to provide a thin imaging device that enables distance measurement. Means to solve the problem
- a first imaging device corresponds one-to-one to a plurality of lens portions each including at least one lens and the plurality of lens portions. And each of a plurality of imaging areas each having a light receiving surface substantially perpendicular to the optical axis direction of the corresponding lens unit and outputting an imaging signal, or an imaging signal respectively output from the plurality of imaging areas It is possible that a parallax calculation unit that calculates a parallax amount of another imaging signal with respect to the reference imaging signal by using one as a reference imaging signal, and that an image missing due to parallax may be included in imaging signals other than the reference imaging signal. And an effective pixel area correction unit that outputs an effective pixel signal obtained by deleting a pixel signal obtained from a pixel of a certain area from the reference imaging signal.
- the effective pixel area correction unit generates a pixel signal obtained from pixels of an area that may include an image missing due to parallax in an imaging signal other than the reference imaging signal.
- the effective pixel signal obtained by deleting from the signal is output.
- the plurality of imaging signals are calculated based on the effective pixel signal output from the effective pixel area correction unit and the parallax amount calculated by the (2) According to the effective pixel signal output from the effective pixel area correction unit and the parallax amount calculated by the parallax calculation unit. Based on this, there are distance calculation processing for calculating the distance to the subject.
- the effective pixel signal output from the effective pixel region correcting unit is calculated by the parallax calculating unit. Since the plurality of imaging signals are corrected and synthesized based on the parallax amount, it is possible to reproduce an image having no false color in the peripheral portion of the image.
- the effective pixel signal output from the effective pixel area correction unit is calculated by the disparity calculation unit. Since the distance to the subject is calculated based on the amount of parallax, distance measurement is possible even at the periphery of the image.
- the effective pixel area correction unit can view the range of the area that may include the image dropped due to parallax with respect to the subject at the shortest subject distance. It is preferable to determine from the difference amount.
- the plurality of imaging regions are first to fourth imaging regions provided in two vertical columns and two horizontal rows, and the parallax calculating unit An imaging signal output from an imaging area of 1 is used as a reference imaging signal, and the effective pixel area correction unit is configured to output a second imaging area output from a second imaging area adjacent in the lateral direction to the first imaging area.
- a third imaging signal in which a side located in a positive direction of the parallax direction of the imaging signal with respect to the reference imaging signal and a third imaging area force vertically adjacent to the first imaging area is output It is preferable to delete the reference imaging signal power of a pixel signal obtained from a pixel of a side located in a positive direction of the direction of the parallax with respect to the reference imaging signal.
- the first imaging region and the fourth imaging region arranged in diagonal directions in the first to fourth imaging regions have sensitivity in the same wavelength region.
- the second imaging region and the third imaging region have sensitivities in wavelength regions different from the first and fourth imaging regions and different from each other, and
- the amount of parallax that the fourth imaging signal output from the fourth imaging region has with respect to the reference imaging signal is determined using the imaging signal output from the imaging region as a reference imaging signal, and the amount of parallax is calculated as a vector. It is possible to obtain the amount of disparity that the second imaging signal has with respect to the reference imaging signal and the amount of parallax that the third imaging signal has with respect to the reference imaging signal by decomposing. preferable.
- the first and second imaging regions have sensitivity in a green wavelength region, and the second and third imaging regions have red and blue wavelengths. It is preferable to have sensitivity in each area.
- the first imaging device described above divides an area in the imaging signal other than the reference imaging signal which may include an image missing due to parallax in the reference imaging signal into blocks
- the apparatus further includes a loss determination unit that determines a parallax amount for the block and determines whether the block is actually missing in an imaging signal other than the reference imaging signal based on the determined parallax amount, and the effective pixel area It is preferable that the correction unit include, in the effective pixel signal, pixels of a block that is determined not to be missing by the loss determination unit.
- a second imaging apparatus corresponds one-to-one to a plurality of lens portions each including at least one lens and the plurality of lens portions.
- each of a plurality of imaging areas each having a light receiving surface substantially perpendicular to the optical axis direction of the corresponding lens unit and outputting an imaging signal, or an imaging signal respectively output from the plurality of imaging areas Or one of the plurality of imaging areas, the reference imaging signal for outputting the reference imaging signal, and a parallax operation unit that calculates a parallax amount of another imaging signal with respect to the reference imaging signal.
- the imaging region other than the region is characterized by having a light receiving surface larger than the light receiving surface of the reference imaging region.
- the second imaging device further includes an image combining unit that generates and outputs a composite image by correcting and combining the plurality of imaging signals based on the parallax amount. In this case, it is preferable because an image without false color can be reproduced at the periphery of the image.
- the second imaging device further includes a distance calculation unit configured to calculate a distance to the subject based on the reference imaging signal and the parallax amount calculated by the parallax calculation unit. This is preferable because distance measurement is possible even at the periphery of the image.
- an imaging area adjacent to the reference imaging area is adjacent to the reference imaging area as compared to the reference imaging area.
- the light receiving surface is enlarged on the side opposite to the side where the image is taken, and the imaging area diagonally arranged in the reference imaging area is two sides which are far from the reference imaging area compared to the reference imaging area. It is preferable that the light receiving surface be expanded to the re ,.
- the problem of false color in the peripheral portion of the image and distance measurement in the peripheral portion of the image are not sufficient. It is possible to provide an imaging device in which the problems that are made possible are improved.
- FIG. 1 is a block diagram showing a schematic configuration of an imaging device according to a first embodiment of the present invention.
- FIG. 2 is a schematic diagram of an example of parallax generation.
- FIG. 3 is a schematic view of a configuration that does not cause loss of color information
- Figure 4 shows the basic flow of the disparity correction algorithm
- FIG. 5 shows a detection block.
- FIG. 6 is a diagram showing the relationship between the evaluation value of the amount of parallax and the amount of parallax of the second detection block.
- FIG. 7 shows a schematic configuration of a modification of the imaging device according to the first embodiment of the present invention.
- FIG. 8 is a block diagram showing a schematic configuration of an imaging device according to a second embodiment of the present invention.
- FIG. 9 shows an appropriate shifting region in the imaging device according to the second embodiment. Showing a block divided into various sizes
- FIG. 10 is a diagram showing the flow of the color information loss determination algorithm.
- FIG. 11 is a diagram for explaining the color information loss judging method.
- FIG. 12 is a view for explaining enlargement processing of an output pixel area in the imaging device according to the second embodiment.
- FIG. 13 is a plan view showing the size of each image sensor as viewed on the imaging optical system side in the imaging device according to the third embodiment of the present invention.
- FIG. 14 is a diagram showing the effect of the third embodiment.
- FIG. 15 is a perspective view showing a modified example of the imaging device according to the first to third embodiments.
- FIG. 16 is an explanatory view of a further modified example of the imaging device according to the first to third embodiments.
- FIG. 17 is a diagram showing the configuration of a conventional imaging device.
- FIG. 18 is a view for explaining the parallax generated in the conventional imaging device.
- FIG. 19 is a cross-sectional view of the imaging device of the present invention.
- FIG. 20 is a view showing an embodiment of the imaging apparatus of the present invention.
- FIG. 21 is a view showing another embodiment of the imaging device of the present invention.
- FIG. 22 is a block diagram showing a schematic configuration of a modified example of the imaging device according to the third embodiment of the present invention.
- FIG. 23 is a plan view showing the size of each image sensor as viewed from the imaging optical system side of the modified imaging device according to the third embodiment of the present invention.
- FIG. 24 is a diagram showing the effect of a modified example of the imaging device according to the third embodiment of the present invention. Best Mode for Carrying Out the Invention
- FIG. 1 is a schematic configuration diagram of an imaging device according to an embodiment of the present invention.
- 1 to 4 are photographing optical systems each including at least one lens.
- Image sensors 5 to 8 are provided corresponding to the imaging optical systems 1 to 4 respectively. The same subject is imaged on each of the image sensors 5 to 8 through each of the imaging optical systems:! To 4.
- the image sensors 5 and 7 arranged on diagonal lines capture a green wavelength band to capture a color image, and the image sensor 6 has red wavelengths.
- the band is imaged, and the image sensor 8 images a blue wavelength band.
- This wavelength selectivity may be realized by making the image sensor have wavelength dependency, or may be realized by incorporating a filter (color filter) having wavelength selectivity.
- the image pickup signals of the image sensors 5 to 8 are subjected to image processing by the R signal processing circuit 12, the G signal processing circuits 10 and 11, and the B signal processing circuit 9, respectively, and then sent to the parallax calculation circuit 14.
- Be The parallax calculation circuit 14 uses any one of the signals received from the R signal processing circuit 12, the G signal processing circuits 10 and 11, and the B signal processing circuit 9 as a reference signal, and obtains the amount of parallax of other signals with respect to this reference signal.
- the amount of parallax obtained by the parallax calculation circuit 14 is sent to the image synthesis circuit 16 together with the R signal, the G signal, and the B signal.
- the effective pixel area correction circuit 13 deletes, from the reference imaging signal, a pixel signal obtained from a pixel of an area that may include an image missing due to parallax in an imaging signal other than the reference imaging signal.
- the resultant effective pixel signal is output to the image synthesis circuit 16.
- the image combining circuit 16 corrects and combines the R signal, the G signal, and the B signal based on the effective pixel signal and the parallax amount. Thus, a color image is output.
- FIG. 1 mainly shows only the components related to the features of the present invention, when the imaging apparatus of the present invention is implemented, various correction processes, pre-processing, etc. are performed in addition to the components shown in FIG. A circuit for performing arbitrary image processing may be provided.
- the imaging optical systems 1 and 3 for the green wavelength band and the image sensors 5 and 7 are arranged in a diagonal direction.
- the disparity calculation circuit 14 is green.
- the image output from the image sensor 5 among the image sensors 5 and 7 that output the image signal of is referred to as a reference image (referred to as GO), and this reference image GO and the image output from the image sensor 7
- the parallax amount is calculated by comparing with G1).
- which of the images formed by the plurality of imaging optical systems is used as a reference image is an arbitrary design matter.
- the parallax calculation circuit 14 of the imaging device of the present embodiment divides each of the images to be compared into small blocks, and the respective blocks are divided.
- the amount of parallax of the whole image is grasped by calculating the amount of parallax in units. That is, the parallax calculation circuit 14 compares the amount of parallax between the reference image G0 and the image G1 by comparing the reference image GO output from the image sensor 5 with the image G1 output from the image sensor 7 in block units.
- the parallax calculating circuit 14 generates the amount of visual difference of the image (R) output from the image sensor 6 and the amount of parallax of the image (B) output from the image sensor 8 in the image G1. It is calculated by vector decomposition of the amount of vision (the amount of parallax from the reference image GO). That is, by decomposing the amount of parallax from the reference image GO to the image G1 into a direction from the reference image GO to the image R of the image sensor 6 and a direction to the image B of the reference image GO force image sensor 8 The parallax amount of the image R and the parallax amount of the image B with respect to the reference image GO can be obtained.
- the amount of parallax determined in this manner is sent to the image synthesis circuit 13 together with the respective signals of the reference image GO, the image Gl, the image R, and the image B.
- the image combining circuit 13 corrects the parallax amount of the image Gl, the image R and the image B, and reproduces a white image by superimposing on the reference image GO.
- FIG. 2 schematically shows an example of parallax generation between the image GO output from the image sensor 5 and the image G1 output from the image sensor 7.
- GOc indicates a point on the image where the optical axis determined by the imaging optical system 1 and the image sensor 5 intersects with the image sensor 5, that is, the center of the image GO of the image sensor 5.
- Glc indicates a point on the image that intersects the optical axial force S image sensor 7 determined by the imaging optical system 3 and the image sensor 7, that is, the center of the image G1 of the image sensor 7.
- Reference numerals 17a and 18a denote subject images when the subject placed at different distances from the image sensor 5 is photographed.
- 17a is an image of a far distance object
- 18a is an image of a close distance object
- 17 b and 18 b are object images output from the image sensor 7
- 17 b is an image of a long distance object
- 18 b is an image of a short distance object.
- 17a and 17b are images of the same object
- 18a and 18b are images of the same object.
- the far-distance object image 17a and the far-distance object image 17b are located at almost the same positions in the respective images GO, G1 of the image sensors 5, 7 with almost no parallax. It is reproduced as an image.
- the near object image 18a and the near object image 18b have large parallax. Therefore, the short-distance object image 18b has a possibility of being reproduced as an image in which a part of the image information is missing as shown in FIG.
- the parallax generation direction of the near object image 18b in the image G1 of the image sensor 7 with respect to the near object image 18a in the reference image GO of the image sensor 5 is the imaging optical system looking at the subject direction from the image sensor side.
- the direction of the vector is from the point where the optical axis of 3 intersects with the image sensor 7 to the point where the optical axis of the imaging optical system 1 intersects with the image sensor 5.
- FIG. 3 is a subject image output from the image sensor 5.
- an object located at the shortest subject distance is captured in the shaded area in the reference image.
- This is an area where the image of the object is missing in the image sensor 7 due to parallax (hereinafter, referred to as “displaced area”). Therefore, when an object located at the shortest object distance is captured in the shift area in FIG. 3, color information of the shift area may be lost.
- the image combining circuit 16 performs the image combining circuit 16 only on the effective pixel area obtained by deleting the pixel information of this shift area from the reference image in the effective pixel area correction circuit 13.
- the images obtained by each of the sensors 5 to 8 are Compose one image.
- the position and range of the shift area where pixel information should be deleted is determined by the positional relationship with the imaging optical system:! To 4 and the image sensors 5 to 8.
- pixels on two sides of the reference image GO are deleted in an L shape, and then a composite image is created.
- V shown in FIG. 3 is an image relative to the reference image GO output from the image sensor 5
- the size of the area (shift area) in which the pixel is deleted in the effective pixel area correction circuit 13 is determined by the shortest object distance.
- the shortest subject distance indicates the distance to the closest subject that the imaging device can handle in design.
- the size of the shifted area can be determined, for example, as follows. Assuming that the shortest object distance is Amin, the focal distances of the imaging optical systems 1 to 4 are f, the inter-optical axis distance between the imaging optical system 1 and the imaging optical system 3 is D, and the pixel pitch of the image sensors 5 to 8 is p.
- the parallax amount dmin between the image GO outputted from the image sensor 5 of the subject at the shortest subject distance Amin and the image G1 outputted from the image sensor 7 can be obtained by the following equation (2).
- Equation 2 is an approximate expression that holds when the condition of (Equation 1) is satisfied, the shortest subject distance Amin is usually 10 times or more of the focal distance f. There is no problem at all.
- the parallax amount dmin, dminx and dminy in the case where the subject at the shortest subject distance is photographed at this time is 75 pixels, 60 pixels and 45 pixels (see FIG. 3). Therefore, in this case, the image combining circuit 13 deletes 60 pixels along the side of the positive direction of V and 45 pixels along the side of the positive direction of V in the reference image GO. Thus, a rectangular composite image of (H ⁇ 60) pixels in the horizontal direction and (V ⁇ 45) pixels in the vertical direction is created.
- the image information of the area (misalignment area) in which color information may be lost is discarded, and the image is corrected.
- the synthesizing circuit 16 synthesizes a color image using only the image information of the area (area GO shown in FIG. 3) in which the color information is completely aligned.
- this area GO is referred to as an output pixel area.
- FIG. 4 is a diagram showing a basic flow of the parallax correction algorithm.
- FIG. 5 is a view showing detection blocks on the image sensors 5 and 7.
- step S 101 of the parallax correction algorithm block extraction processing is performed.
- the output pixel area GO of the image sensor 5 is divided into equal blocks.
- the same processing as described in the following processing is performed on one of the blocks (first detection block 204) on all the divided blocks.
- the first detection block 204 preferably has a size of 8 ⁇ 8 pixels to 64 ⁇ 64 pixels.
- the pixel size of the detection block 204 is preferably reduced.
- the second detection block 205 of the same size as the first detection block 204 is set in the image G 1.
- step S103 in order to search the image G1 for a block having the same image information as the first detection block 204 of the reference image GO, a parallax amount evaluation value is calculated.
- the second detection block 205 set on the image G1 in step S101 is moved by k pixels in the x-axis direction and moved by j pixels in the y-axis direction
- the second detection block is Move to the position of.
- the difference between the output values of the corresponding pixels in each detection block is calculated, and the difference is summed for all the pixels in the detection block.
- the calculation method of the parallax amount evaluation value is not limited to this.
- GG1 (a, b) be the output value of the pixel power at the pixel (a, b) in the first detection block 204
- GG1 (a, b) be the value at the pixel (a, b) in the second detection block 206.
- the parallax amount evaluation value R (k, j) is obtained by the following (Equation 5).
- R (k, J) , ⁇ GG1 (.,-GGl ⁇ a + k, b + j) ⁇
- the disparity amount evaluation value R (k, j) indicates how much the second detection block 206 moved by the disparity amount (k, j) is correlated with the first detection block 204, The smaller the value, the more similar the two detection blocks are.
- FIG. 6 shows the relationship between the evaluation value of the amount of parallax and the amount of parallax of the second detection block.
- the horizontal axis plots the number of moving pixels in the X direction (k), and the vertical axis plots the parallax amount evaluation value (R).
- the visual evaluation value changes in conjunction with the value of k, and the value becomes significantly smaller as the degree of similarity increases.
- the value of j is fixed to j and k
- the parallax amount evaluation value calculation process of step S103 the iterative process is performed for all possible k values and j values of the predetermined range.
- the direction in which the parallax occurs is uniquely determined by the positional relationship between the image sensors 5 to 8. Therefore, the extraction of the second detection block at the time of parallax amount evaluation value calculation can also significantly improve the calculation efficiency by extracting according to this law.
- step S104 the parallax amount evaluation value obtained in step S103 is the minimum. Extract the value
- the results of the evaluation value calculation of the parallax amount obtained by the above algorithm are compared to obtain the minimum value.
- the image of the second detection block 206 Assuming that the image information of the first detection block 204 on the reference image GO is moved by k pixels in the X direction and i pixels in the y direction on the image G 1, the image of the second detection block 206
- the amount of parallax (k, j) is extracted, and this is used as the first detection block 204.
- the amount of parallax of the image G1 with respect to the reference image GO is determined by the parallax calculation circuit 14 performing the above-described processing.
- the image synthesizing circuit 16 corrects the respective images and superimposes them on the reference image GO to synthesize a color image. Note that, in the imaging device of the present embodiment, the information of pixels corresponding to the shift area on the reference image GO is all discarded by the effective pixel area correction circuit 13 before creating the composite image.
- the present invention is not limited to only that configuration, and one image sensor may be divided into four imaging areas and used, or When using two image sensors divided into two imaging areas, it is needless to say that the same effect can be obtained.
- a distance calculation circuit 19 for calculating the distance to the subject based on the parallax extracted from the images of the image sensors 5 and 7 is used instead of the image synthesis circuit 16 in the configuration of FIG. 1, as shown in FIG. 7, a distance calculation circuit 19 for calculating the distance to the subject based on the parallax extracted from the images of the image sensors 5 and 7 is used. By providing them, it is possible to easily configure an imaging device that performs distance measurement processing. Note that an imaging device capable of both color image output processing and distance measurement processing by including both the image synthesis circuit 16 and the distance calculation circuit 19 is also an embodiment of the present invention.
- the distance calculation circuit 19 calculates The distance z to the subject can be obtained.
- D is the distance between the optical axes of the two optical systems
- f is the focal length of the optical system
- d is the amount of parallax
- z is the object distance.
- an area (misalignment area) in which color information of an image may be missing is determined based on the shortest subject distance, and pixels of the misregistration area are generated when generating a composite image. Discarded all information.
- the shift area it is determined whether the color information is actually lost or not when combining the image, and the pixels of the portion where the color information is not dropped are determined. Is output as an image. That is, in the first embodiment, the number of pixels to be output as an image (the number of pixels in the output pixel area) is reduced, but in the second embodiment, the reduction in the number of pixels can be suppressed.
- the image pickup apparatus includes a color information drop determination circuit 15 in addition to the components described in the first embodiment.
- FIG. 9 shows that the shift area in the reference image GO output from the image sensor 5 is appropriately large. It is a figure which shows the state divided into blocks.
- FIG. 10 is a diagram showing the flow of the color information loss determination algorithm.
- step S 201 of FIG. 10 the shifted area is divided into rectangular blocks B (x, y) of appropriate sizes.
- (x, y) represents the representative point (for example, center point) coordinates of each block.
- the block size is suitably about 8 pixels ⁇ 8 pixels to 64 pixels ⁇ 64 pixels.
- step S202 parallax extraction is performed by executing S103 to S105 of the parallax correction algorithm shown in FIG. 4, and the amounts of parallax of all the blocks B divided in step S201 are extracted.
- step S203 it is determined whether or not color information is actually missing when combining images for each of the blocks B.
- the images GO and G1 obtained from the image sensors 5 and 7 have H pixels in the X direction and V pixels in the y direction.
- the block B (xl, yl) in the shifted area on the image GO is a block corresponding to the block B1 on the image G1 as the block size is a pixel X b pixel and the parallax amount is extracted at step S201. It is determined that the parallax amount is (k, j).
- step S203 the color information loss determination circuit 15 confirms whether the condition is satisfied or not satisfied for each block. If the condition is satisfied (the result in step S203 is Y), the block B is added to the output pixel area GO, so that the effective pixel area correction circuit 13
- step S204 The obtained output pixel area is enlarged (step S204). Then, the block subjected to the condition determination is shifted by one (step S205), and the process returns to step S203.
- step S203 the result in step S203 is Y
- the output pixel area is enlarged by one block in step S204, and further, for example, symbols 1) to 6) in FIG. 12 are added in step S205.
- symbols 1) to 6) in FIG. 12 are added in step S205.
- the blocks subjected to the condition determination are sequentially shifted to the block outside the block, and the processing power S iteration of steps S203 to S205 is continued. That is, while processing is started from the block B (xl, yl) force shown in FIG. 12 and while the force is the result of step S203, along the arrow of 1) (ie, along the outer periphery of the output pixel area GO), In the direction of increasing y coordinate, subject to condition judgment
- the blocks are sequentially shifted, and when the block B (xl, y2) is reached, next, the blocks to be subjected to the condition determination are sequentially shifted in the direction of increasing X coordinates along the arrow 2). Then, when the block B (x4, y2) shown in FIG. 12 is reached, the block subjected to the condition determination is shifted to B (x2, yl).
- block B (x2, y1) sequentially shifts to block B (x2, y3), and further along block 4), from block B (x2, y3) Shift sequentially to block B (x4, y3) and shift sequentially to block B (x3, yl) force block B (x3, y4) along arrow 5) and further along arrow 6)
- Block B (x3, y4) Force Shift to block B (x4, y4) sequentially.
- step S203 the process proceeds to step S207.
- step S207 the process returns to the head block of the arrow 3) shown in FIG. 12, the block group in the arrow is further divided into smaller blocks, and S202 and S203 are executed again by the block after subdivision. . Even if the subdivision is repeated until the block size becomes about 2 ⁇ 2 pixels in step S207, if the determination result in step S203 is N, no further enlargement of the output pixel area GO is possible.
- block B (xl, yl) also shows an example in which processing is started. Force B (x4, y2) Force processing is started, and the block is shifted in the direction opposite to the arrow in 2). You may
- the imaging device of the present embodiment in the compound-eye optical system having parallax for each color information, it is possible to improve the problem of the false color in the peripheral portion,
- the embodiment There is an advantage that the output pixel area can be enlarged.
- the present invention is not limited to only that configuration, and one image sensor may be divided into four imaging areas and used, or When using two image sensors divided into two imaging areas, it is needless to say that the same effect can be obtained.
- processing for creating a color image by combining images obtained in a plurality of imaging regions and measurement of the distance to a subject using images obtained in a plurality of imaging regions is common in that processing is performed based on the amount of parallax extracted from the image.
- a distance calculation circuit 19 for calculating the distance to the subject based on the parallax extracted from the images of the image sensors 5 and 7 is used instead of the image synthesis circuit 16 in the configuration of FIG. 1, as shown in FIG. 7, a distance calculation circuit 19 for calculating the distance to the subject based on the parallax extracted from the images of the image sensors 5 and 7 is used. By providing them, it is possible to easily configure an imaging device that performs distance measurement processing. Note that an imaging device capable of both color image output processing and distance measurement processing by including both the image synthesis circuit 16 and the distance calculation circuit 19 is also an embodiment of the present invention.
- the distance z to the subject can be obtained by the above (Equation 6). Further, as in the first embodiment, it goes without saying that in the imaging apparatus for measuring the distance, if there are at least two imaging areas that are necessary for the four imaging areas, the distance can be sufficiently measured. Yes.
- the imaging apparatus according to the present embodiment differs from the imaging apparatus according to the first embodiment in that the size of the imaging area of each image sensor is made different, and the complexity as in the second embodiment can be obtained. To increase the number of pixels in the output pixel area as much as possible without It is the point which makes it possible.
- FIG. 13 is a plan view showing the size of the imaging region of each image sensor when each of the image sensors 5 to 8 is viewed from the side of the imaging optical system 1 to 4.
- the same symbols are attached to parts having the same functions as in the first embodiment and the second embodiment.
- the image sensor 5 outputs the reference image GO
- the image sensor 6 outputs the image R
- the image sensor 7 outputs the image G1
- the image sensor 8 outputs the image B. Let's say.
- reference numeral 5 c denotes a point where the optical axis determined by the imaging optical system 1 and the image sensor 5 intersects the light receiving surface of the image sensor 5
- 6 c denotes the imaging optical system 2 and the image sensor 6.
- the points at which the optical axes determined by the optical system 4 and the image sensor 8 intersect the light receiving surface of the image sensor 8 are shown.
- the broken lines in the image sensors 6, 7, 8 indicate imaging areas of the same size as the image sensor 5.
- the distance between points 5c and 6c is D1
- the distance between points 5c and 8c is D2.
- the sizes of the image sensors 5 to 8 are all different. Specifically, the image sensor 5 that outputs the reference image GO is the smallest, and compared with the image sensor 5, the image sensor 6 has a size in which the number of pixels is enlarged by dl in the negative X direction. Further, the image sensor 8 has a size in which the number of pixels is enlarged by d 2 in the negative direction of y as compared with the image sensor 5. Furthermore, the image sensor 7 has a size in which the number of pixels in the negative direction of X is dl and the number of pixels in the negative direction of y is enlarged by d 2 as compared with the image sensor 5.
- the pixel expansion amount dl in the X direction and the pixel expansion amount d2 in the y direction are the shortest object distance Amin, the focal distance f of the imaging optical system 1 to 4 and the pixel pitch of the image sensors 5 to 8 p. Then, it can be described by (Equation 9) and (Equation 10) under the assumption of (Equation 1) described above.
- the size S of the image sensor 5 is S
- the size of the image sensor 6 is (H + dl) pixels XV pixels
- the size of the image sensor 7 is (H + dl) pixels X (V + d2) Pixel
- the image sensor 8 is H pixel x (V + d2) pixel.
- image sensor 7 is larger than image sensor 5, all information comparable to the image information of image sensor 5 can be obtained even in consideration of the parallax generated at the shortest subject distance. Can be extracted from the image sensor 7.
- FIG. 14 is a view of the light receiving surface of the imaging optical system 1 to 4 side force image sensors 5 to 8
- FIG. 14 is a view showing imaging signals output from each of the image sensors 5 to 8. Because of the existence, in Fig. 13 and Fig. 14, the vertical and horizontal relation is reversed. Furthermore, the broken line in G1 shows the imaging area of the same size as GO.
- the force S described in the configuration using four image sensors is not limited to only that configuration.
- one image sensor is divided into four imaging areas and used, or When dividing and using two image sensors into two imaging areas, it is needless to say that the same effect can be obtained.
- FIG. 19 is a cross-sectional view of an imaging device 100 according to an exemplary configuration of the present invention.
- the cross section of FIG. 19 is parallel to the optical axis of the imaging optical systems 1 to 4.
- FIG. 20 is a cross-sectional view of the imaging device 100 taken along the line AA shown in FIG.
- reference numeral 101 denotes a first lens barrel
- reference numeral 102 denotes a second lens barrel that holds imaging optical systems 1 to 4.
- the first lens barrel 101 has inner walls 101a and 101b orthogonal to each other.
- the inner walls 101a and 101b divide one image sensor into four imaging areas, and the above-described image sensors 5 to 8 and Functional image areas 5 'to 8' are realized (see Fig. 20).
- the inner walls 101a and 101b of the first lens barrel 101 intersect with each other at a substantially central position, and divide the inner wall of the lens barrel into four regions of approximately the same volume. That is, the first lens barrel 101 has substantially the same area of the four opening forces on the second lens barrel 102 side. Then, one image sensor is disposed so that the center position thereof is offset from the intersection position 101c of the inner walls 101a and 101b, so that image areas 5 'to 8' having different sizes of imaging regions are realized. It is done.
- the image areas 5 'to 8' function as the image sensors 5 to 8 described above.
- the first lens barrel 101 is a square pole, but the shape of the lens barrel is not limited to the square pole.
- the first lens barrel 201 has inner walls 201a and 201b orthogonal to each other.
- the other two ridges J walls 202d and 202e among the four side walls are thicker than the other two ridges J walls 202f and 202g. That is, in the example of FIG. 21, the first lens barrel 201 has four opening forces on the second lens barrel 102 side, which have different areas.
- one image sensor is disposed so that the center position thereof coincides with the intersection position 201c of the inner walls 201a and 201b, so that image areas 5 'to 8' having mutually different sizes of imaging regions are realized. It is done.
- image areas 5 ′ to 8 ′ having mutually different sizes of imaging regions are realized.
- the imaging device provided with the image areas 5 'to 8' produces the effects of the present invention described above.
- an imaging device that extracts parallax from a plurality of sets of images in the same wavelength band and measures the distance to the subject based on the extracted parallax (for example, in the configuration of FIG. Also in the case of extracting the parallax from the image and measuring the distance to the subject based on the extracted parallax), the size of the light receiving surface of the image sensor is made different from each other as in the present embodiment. It solves the conventional problem that there are parts where distance measurement is impossible. A process of creating a color image by combining images obtained in a plurality of imaging regions as described above in the present embodiment, and a plurality of imaging regions.
- the process of measuring the distance to the subject using the obtained image is common in that the process is performed based on the amount of parallax extracted from the image. Therefore, by applying the present embodiment also to the distance measurement processing, it is possible to solve the conventional problem that a portion in which distance measurement is impossible occurs in the peripheral portion of the image.
- a distance calculation circuit that calculates the distance to the subject based on the parallax extracted from the images of the image sensors 5 and 7.
- an imaging apparatus capable of both color image output processing and distance measurement processing by providing both the image synthesis circuit 16 and the distance calculation circuit 19 is also an embodiment of the present invention.
- the distance z to the subject can be obtained by the above (Equation 6).
- the imaging device for measuring the distance if there are at least two imaging regions that are necessary for the four imaging regions, sufficient distance measurement is possible. Needless to say.
- measurement is performed by providing a distance calculation circuit 19 that calculates the distance to the subject based on the parallax extracted from the images of the image sensors 5 and 7.
- An imaging device for performing distance measurement can be easily configured.
- the imaging device according to the present embodiment is used as a distance measuring device, when the parallax computing circuit 14 obtains parallax amounts d in the two imaging optical systems 1 and 3, the distance calculating circuit 19 calculates ) Can obtain the distance z to the subject.
- D is the distance between the optical axes of the two imaging optical systems 1 and 3 (Dl in FIG. 23), f is the focal length of the imaging optical systems 1 and 3, d is the parallax amount, and z is the subject distance.
- FIG. 23 is a plan view showing the size of the imaging area of each image sensor when each of the image sensors 5 and 7 is viewed from the imaging optical systems 1 and 3 side.
- the image sensor 5 outputs a reference image GO
- the image sensor 7 outputs an image G1.
- 5 c has an optical axis determined by the imaging optical system 1 and the image sensor 5.
- the point of intersection with the light receiving surface of the image sensor 5 and the point of intersection of the optical axis determined by the imaging optical system 3 and the image sensor 7 with the light receiving surface of the image sensor 7 are shown.
- the broken line in the image sensor 7 indicates an imaging area of the same size as the image sensor 5.
- the distance between point 5c and point 7c is D1.
- the sizes of the image sensors 5 and 7 are different from each other. Specifically, the image sensor 5 that outputs the reference image GO is smaller than the image sensor 7. Compared to the image sensor 5, the image sensor 7 has a size in which the number of pixels is enlarged by dl in the negative direction of X.
- image sensor 7 is larger than image sensor 5, all information comparable to the image information of image sensor 5 is obtained even in consideration of the parallax generated in the shortest subject distance. It is possible to extract from the image sensor 7.
- FIG. 24 is a view of the light receiving surface of the image sensors 5 and 7 from the imaging optical systems 1 and 3 side
- FIG. 24 is a view showing imaging signals output from the image sensors 5 and 7 respectively.
- the vertical and horizontal relationship is reversed.
- the broken line in G1 shows the imaging area of the same size as GO.
- the configuration in which the two image sensors capture the green wavelength band has been described, but the same effect can be obtained by the configuration in which light rays of the same wavelength such as near infrared are detected. The same effect can be obtained even if it is possible to detect a color image by forming a color filter or the like in a color arrangement on each image sensor. Further, in the present embodiment, the force in which the combination of the plurality of imaging optical systems and the image sensor is arranged in the lateral direction of the image sensor (the X direction in FIG. 22). It goes without saying that the same effect can be obtained even if it is arranged.
- each of the first to third imaging devices described above as shown in FIG. 15, light beams transmitted through the imaging optical systems 1 to 4 are incident on the image sensors other than the corresponding image sensors.
- the light shielding wall 22 has a height that reaches the installation surface of the imaging optical systems 1 to 4 from the installation surface of the image sensors 5 to 8.
- an imaging device including four imaging optical systems and four image sensors is illustrated, an example of deleting pixels in an L shape along two sides of a reference image ( For example, as shown in FIGS. 3 and 9, etc. and FIG. 13, an example is shown in which the size of the light receiving surface of the image sensor is expanded in two directions.
- a configuration having five imaging optical systems and five image sensors, in which four image sensors are disposed adjacent to four sides of one image sensor is also possible.
- the image PO output from the center image sensor is used as a reference image, and the parallax of the images P1 to P4 output from other image sensors with respect to this reference image PO.
- the color images are created by performing parallax correction on the images Pl to P4 and combining them with the reference image PO.
- appropriate pixels are deleted along the four sides of the reference image PO.
- the present invention is an imaging device that solves thinness and generation of false color in the periphery of an image and that distance measurement is not possible in the periphery of an image, for example, various kinds of mopile equipment, in-vehicle use, etc. It can be used as an imaging device for applications.
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Abstract
Description
Claims
Priority Applications (4)
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JP2007543642A JP4102854B2 (ja) | 2006-03-22 | 2007-03-22 | 撮像装置 |
EP07739260A EP2001222A4 (en) | 2006-03-22 | 2007-03-22 | IMAGING DEVICE |
US12/280,733 US8471918B2 (en) | 2006-03-22 | 2007-03-22 | Imaging device with plural imaging regions and parallax computing portion |
CN2007800057934A CN101385332B (zh) | 2006-03-22 | 2007-03-22 | 摄像装置 |
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JP2006079256 | 2006-03-22 |
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PCT/JP2007/055817 WO2007119468A1 (ja) | 2006-03-22 | 2007-03-22 | 撮像装置 |
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US (1) | US8471918B2 (ja) |
EP (1) | EP2001222A4 (ja) |
JP (1) | JP4102854B2 (ja) |
KR (1) | KR20080106184A (ja) |
CN (2) | CN101834988B (ja) |
WO (1) | WO2007119468A1 (ja) |
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WO2015001992A1 (ja) * | 2013-07-05 | 2015-01-08 | コニカミノルタ株式会社 | 複眼撮像装置 |
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US20090002505A1 (en) | 2009-01-01 |
US8471918B2 (en) | 2013-06-25 |
KR20080106184A (ko) | 2008-12-04 |
CN101385332A (zh) | 2009-03-11 |
JPWO2007119468A1 (ja) | 2009-08-27 |
CN101834988A (zh) | 2010-09-15 |
JP4102854B2 (ja) | 2008-06-18 |
EP2001222A2 (en) | 2008-12-10 |
EP2001222A9 (en) | 2009-03-25 |
CN101385332B (zh) | 2010-09-01 |
CN101834988B (zh) | 2012-10-17 |
EP2001222A4 (en) | 2013-03-06 |
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