JPH04207671A - Stereoscopic image pickup system - Google Patents

Abstract

PURPOSE:To obtain plural kinds of stereoscopic images by plural base height ratios by having plural photoelectric converters which correspond one to one to partial observation regions and signal processing means which process the plural partial electric signals coupled to the plural photoelectric converters to the plural stereoscopic images. CONSTITUTION:The plural (>=4) photoelectric converters 55-1 to 55-n which are provided on the focus region so as to convert the optical images to the plural partial electric signals indicating the partial observation regions 51-1 to 51-n at every exceeding of the partial observation regions equally dividing observation region 51 and correspond 1 to 1 to the partial observation regions 51-1 to 51-n are provided. Further, the signal processing means 61, 62 which process the plural partial electric signals coupled to the plural photoelectric converters 55-1 to 55-n to the plural stereoscopic images are provided. The plural stereoscopic images are reproduced at the different base height ratios in this way.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to an imaging method, and in particular, to obtain a three-dimensional image of an observation area when combined with a flying vehicle such as a resource exploration satellite that flies over an observation area on the earth. The present invention relates to a stereoscopic imaging method for

(Prior Art) A conventional stereoscopic imaging system will be described with reference to FIGS. 1 to 3. This type of stereoscopic imaging method is known, for example, from Japanese Patent Application Laid-open No. 6
No. 0-3999'4.

In FIG. 1, this stereoscopic imaging system has an imaging station 15 mounted on an aircraft 16. The aircraft 16 is in the observation area 1
Assume that the vehicle is flying over the near sky at an altitude H and at a speed V (m/sec) in the flight direction indicated by the arrow. Imaging device 1
5 picks up an optical image of the observation area 17. It is assumed that the aircraft 16 is at a flight position A at a certain first point in time.

The imaging device 15 has an optical system 18 directed toward the observation area 17 . The observation area 17 forms a viewing angle θ with respect to the optical system 18. The optical system 18 converts the optical image of the observation area 17 into a focal area 19.
to form. As will be explained in detail later, in one focal region, first to third photoelectric converters 21 to 23 are arranged in a direction perpendicular to the flight direction and parallel to each other. The distance between the first and third photoelectric converters 21.23 is defined by the viewing angle θ.

The observation area 17 is located between the front partial area 24 and the rear partial area 25 defined by the viewing angle θ. The observation field 17 is divided (with respect to the direction of flight) into a plurality of sub-regions which are to be picked up as partial optical images in the focal region 19 . In this example, a front partial region 24, a rear partial region 25, and an intermediate region 26 are illustrated. The intermediate region 26 is located between the front partial region 24 and the rear partial region 25 and directly below the aircraft 16.

The front partial area 24 is located at a distance W from the rear partial area 25 in the flight direction.

The first photoelectric converter 21 converts the partial optical image obtained from the front partial area 24 into a forward signal. The second and third photoelectric converters 22 and 23 convert the partial optical images obtained from the intermediate region 26 and the rear partial region 25 into intermediate signals and rear signals, respectively.

Let us assume that the vehicle 16 reaches a second flight position B from a first flight position A at a second point in time.

As is well known, a stereoscopic image is created by processing a forward signal obtained from the first photoelectric converter 21 at flight position A and a rearward signal obtained from the third photoelectric converter 23 at flight position B. You can get it by doing. A planar image is obtained by processing the intermediate signal obtained from the second photoelectric converter 22.

For the first to third photoelectric converters 21 to 23, charge coupled devices (CCDs) are used, for example. Therefore, the photoelectric converters 21 to 23 have a constant readout frequency, and
A series of image pulses with varying amplitudes is output as an image pulse train.

Referring to FIG. 2, the flying object 16 includes a signal processing section 30 and an antenna 31. The image pulse train is sent to the signal processor 32 from the first to third photoelectric converters 21 to 23.

The signal processor 32 encodes the image pulse train into a coded image data train. The encoded image data string is modulated by a modulator 33 into a modulated image data string. The modulated image data string is transmitted by a transmitter 34 through an antenna 31 to an earth station, which will be described later. Note that the signal processing section 30 may include a storage section that temporarily stores the encoded image data string.

Referring to FIG. 3, earth station 40 operates as part of a stereoscopic imaging system. The modulated image data string transmitted from the aircraft 16 is received by the antenna 41 and sent to the demodulator 42 to be demodulated as a demodulated image data string. In response to the demodulated image data string, the signal distribution circuit 43 distributes the demodulated image data string to the first to third photoelectric converters 21 to 23.
- Divide into third image data strings 11 to I3.

First and second image data strings ■1 and I2 are the first and second image data strings, respectively.
, the first and second delay circuits 46. having a second delay time.
The image is outputted to the image reproduction section 48 through 47. The first delay time is t and the second delay time is 2t. The third image data string is directly supplied to the image reproduction section 48. The image reproducing unit 48 processes the first to third image data strings to reproduce a three-dimensional image and a two-dimensional image.

Returning to FIG. 1, between the front partial region 24 and the intermediate region 26,
The distance between the intermediate region 26 and the rear partial region 25 is
It is set as W/2. Further, it is assumed that the flying object] 6 flies from the first position A to the second position B in a time of 2T (seconds).

The time 2T is given by 2T-W/V.

This means that the front partial area 21 is picked up by the photoelectric converter 21 and then the front partial area 21 is picked up again by the third
This means that it is picked up by the photoelectric converter 23. Taking this into account, the first delay time 2t is made equal to the time 2T in order to obtain a stereoscopic image of the front subarea 24. The stereoscopic image of the front partial area 24 is generated by the first delay circuit 46
It is obtained by processing the first image data string 11 and the third image data string I3 that have been delayed.

On the other hand, the aircraft 16 moves to the intermediate region 2 during half of the time 2T.
6 to the forward subarea 24 by a distance W/-2. The front subarea 24 is then picked up at the second charging converter 22. After time T has elapsed, the aircraft 16
reaches flight position B.

In order to simultaneously obtain a stereoscopic image and a planar image of the front partial area 24, a second delay time t is applied to the second image data string by a second delay circuit 47.

(Problem to be Solved by the Invention) By the way, as is well known, the ratio of the distance W to the altitude H is called the base-byte ratio. As is clear from Figure 1, the base-Hide ratio is related to the viewing angle θ. It is also clear that conventional imaging methods can only obtain one type of stereoscopic image.

An object of the present invention is to provide a stereoscopic imaging system that can reproduce a plurality of stereoscopic images with different base-hide ratios.

Another object of the present invention is to achieve the above object with one optical system.

(Means for Solving the Problems) The stereoscopic imaging method according to the present invention is combined with a flying object that flies in a predetermined direction over an observation area, and is mounted on the flying object to display an optical image of the observation area on a focal region. In an imaging method that includes an optical system that forms an image, and an image processing means that is coupled to the optical system and electrically processes the optical image, each time the observation area is divided into equal parts, each time the observation area is divided into equal parts, The optical image.

a plurality of (four or more) photoelectric converters provided on the focal region so as to convert into a plurality of partial electric signals representing the partial observation area and corresponding to the partial observation area on a one-to-one basis; The apparatus is characterized in that it has a signal processing means coupled to the converter for processing the plurality of partial electrical signals into a plurality of stereoscopic images.

(Example) The present invention will be described in detail with reference to FIGS. 4 to 10.

In FIG. 4, the physical image system is used in combination with a satellite 50. It is assumed that the satellite 5° flies above the observation area 51 of the earth along a predetermined orbit in the flight direction of the arrow. The orbit is at altitude ■.
- This optical system has an optical system 52 mounted on a satellite 50 and directed toward an observation area 51. The optical system 52 forms an optical image of the observation area 51 in a focal region 53 . The observation area 51 is divided into a plurality of sub-areas as will be explained shortly. Assume that the number of subareas is an odd number greater than three.

In this case, the observation area 51 includes the first to nth partial areas 51-1
~51-n. Each sub-area extends in a direction perpendicular to the flight direction and has a width W' with respect to the flight direction.

The i-th partial area 51-1 is located on the center line of the observation area 51 extending in a direction perpendicular to the flight direction. However, i-'(n+
1)/2. From this, the first to (i-1)th partial areas 51-1 to 5l-(i-1) may be respectively called front partial areas, and the (i+1)th to nth partial areas 5l
-(i+1) may each be called a backward subarea.

The optical image of the observation area 51 is divided into '1st to nth partial images, which correspond one-to-one to the first to nth partial areas.

The present physical image system includes an image processing section 54 having a photoelectric conversion section 55'. The photoelectric conversion unit 55 has a center line perpendicular to the flight direction, and consists of first to nth photoelectric converters 55-1 to 55-n arranged in parallel to each other on the focal region 53.

Note that the reference numbers of the first to n-th photoelectric converters 55-1 to 55-n are given in the opposite direction to the reference numbers of the first to n-th partial regions 51-1 to 51-n. Each photoelectric converter uses, for example, a CCD as described above, and includes a plurality of photoelectric conversion elements extending in the center line direction. The i-th photoelectric converter 55-1 is on the center line. The first to nth photoelectric converters 55-1 to 55-n are the first to nth partial areas 51-1.
~51-n on a one-to-one basis. The first to nth photoelectric converters 55-1 to 55-0 convert the first to nth partial images into first to nth partial electrical signals, respectively. 1st to 1st (i
-1) photoelectric converters 55-1 to 55-(i-1) may be called forward photoelectric converters, and (i+1) to n-th photoelectric converters 55-(i+1) to 55- n may be called a rear photoelectric converter. Similarly, the first to (i-1)th partial electric signals may be called forward partial electric signals,
The (i+1)th to nth partial electric signals may be called rear partial electric signals.

The first and n-th photoelectric converters 55-1 and 55-0 are symmetrical about the center line and are separated by the maximum distance defined by (n-2) photoelectric converters.

On the other hand, the (i-1)th and (i+1)th photoelectric converters 55-
(i-1) and 55-(i+1) are also symmetrical about the centerline and are separated by the minimum distance defined by the i-th single photoelectric converter. Strictly speaking, there is a gap between two adjacent photoelectric converters, but the maximum and minimum distances above ignore this.

The maximum and minimum distances determine the maximum and minimum viewing angles for the optical system 52, as will be explained in more detail below. The maximum viewing angle covers the entire observation area 51, and the minimum viewing angle is *
(i-1), i-th, (i11)-th subarea 55-
(i-1), 55-i.

55-(i+1'). The viewing angle is based on the base as described below. It is related to the Hyde ratio.

The base-hide ratio will be explained with reference to FIG.

When the flying object is a satellite, the altitude is very high, so the calculation of the base-hide ratio is slightly different from that for an airplane (see Figure 1).

In Figure 5, the satellite is flying above the Earth shown at 56 at 57.
It flies at a constant altitude H on the trajectory 57 shown in . The satellite moves from the first flight position p1 to the flight positions p2, p3, p4, p
5. Assume that the aircraft flies to flight position p7 via p6. In addition, the first to seventh partial areas '58-1 to '58-
7 are directly below the first to seventh flight positions, respectively. Furthermore, the first and seventh flight positions p1, p7 are symmetrical with respect to the flight position p4. Similarly, the second and sixth flight positions p2, p6 are symmetrical with respect to the flight position p4, and the third and fifth flight positions p3, p5 are also symmetrical with respect to the flight position p4. The first distance between the first and seventh flight positions p1 and p7 is represented by bl along the first straight line SLI. Similarly, a second distance between the second and sixth flight positions p2 and p6 is represented by b2 along the second straight line SL2, and a second distance between the third and fifth flight positions p3 and p5 is represented by b2 along the second straight line SL2. The third distance between them is represented by b3 along the third straight line SL3.

　　　　　　　　　　　　　　.

Here, from the first flight position p1 to the first partial area 58-1
Drop the vertical line L1 to , and similarly move the second to seventh flight positions p
2 to 7th partial areas 58-2 to 58-5 from p7, respectively.
Assume that vertical lines L2 to L7 are drawn down to 8-7. At the first flight position p1, the satellite is at an angle θ1 with respect to the vertical line L1.
The partial image of the fourth partial area 58-4 is picked up. At the second flight position p2, the satellite picks up a sub-image of the fourth sub-area 58-4 at an angle θ2 with respect to the vertical line L2. Furthermore, at the third flight position p3, the satellite picks up a sub-image of the fourth sub-area 58-4 at an angle θ3 with respect to the vertical line L3.

The angles for picking up the partial images of the fourth partial area 58-4 at the fifth, sixth, and seventh flight positions p5, p6, and p7 are the first to third angles θ1 to θ, respectively.
Equal to 3. Here, the first to third angles 01 to θ3 may be respectively called stereoscopic viewing angles.

The fourth vertical line L4 intersects with the first to third straight lines SLI to SL3 at intersections hl, 'h2. and intersect at h3. The first to third intersection points h1 to h3 define heights H1, H2, and H3 from the fourth partial area 58-4, respectively.

Taking the above points into consideration, the first, second, and third bases
Hyde ratio, respectively, b1/H1, b2/H2, b3/
H3 is given. Here, it will be understood that the first, second, and third base-hide ratios are related to the stereoscopic viewing angles θ1, θ2, and θ3.

The relationship between the stereoscopic viewing angle and the base-hide ratio will be explained with reference to FIG. 6 as well as FIGS. 4 and 5. In FIG. 6, 1st, 1st. and nth subarea 51-1.51
In addition to subregions 51-i, 51-n, f, g, g, and n subregions 51-f, 51-g, 51-, and 51-m are shown. Similarly, the first, eleventh and nth photoelectric converters 55-1.55-i, and 55-
In addition to n, f-th, g-th, and n-th photoelectric converters 55-f, 55-g, 55-, and 55-m are shown. Here, the first and fth.

g, and the first subarea 51-1.51-f.

51-g and 51-1 are the seventh, sixth, fifth, and fourth subareas 58-7.58-6.58-5, respectively.
, and 58-4 (FIG. 5);
and an nth subregion 58-k.

58-m and 58-n, respectively, third, second, and first subregions 58-3.58-2 and 58-1
shall correspond to The first viewing angle for covering the entire observation area 51 is determined by the number of photoelectric converters between the first and n-th photoelectric converters 55-1 and 55-n, and is as described in FIG. It is equal to twice the first stereoscopic viewing angle θ1. The second viewing angle for covering the partial areas 51-f to 51-m between the fth and nth photoelectric converters 55-f and 55
-m, and is equal to twice the second stereoscopic viewing angle θ2 described in FIG.

The third viewing angle for covering the partial areas 51-g to 51-k between the g-th and the g-th photoelectric converters 55
It is determined by the number of photoelectric converters between -g and 55-, and is equal to twice the third stereoscopic viewing angle θ3 described in FIG.

The altitude H is 100 (km), and the width W- of the subarea is 30.
(m), the odd number n is 1001, and the first, second, and third base-hide ratios b1/H1, b2/H2, and b3/H3 are 0, 3.0, and 2.0.1, respectively, then f , g+
The numbers of k and m are respectively 167.333.669
．． It becomes 835. These numbers will be used later. In the above explanation, flight positions p1 and p7. p2 and p6. p3
Although it is assumed that and p5 are symmetrical with respect to the flight position p4, they do not necessarily have to be in a symmetrical positional relationship.

For example, in the case of an airplane, the flight path may change over time.

Returning to FIG. 4, it is assumed that the satellite 50 flies over each sub-area every time t1. Control circuit 60 receives command signals transmitted from earth station 80.

The command signals include a read control signal, a mode selection signal, a transmit command signal, and a base
It is classified as a Hyde ratio specification signal. Upon receiving the read control signal, the control circuit 60 outputs a first read signal 60-1 having a read speed f1. 1st to nth photoelectric converters 5
5-1 to 55 to n are partial areas 51-1 to 51 to n, respectively.
The partial images of are converted into first to nth analog signals. In response to the first readout signal 60-1, the first to nth photoelectric converters 55-1 to 55-n convert the first to nth analog signals in parallel to the analog signal processing unit 61 at every time t1. send to

In response to the first to n-th analog signals, the analog signal processing section 61 performs an amplification operation and parallel-to-serial conversion, and outputs serial signals of the first to n-th amplified signals. The serial signals of the first to nth amplified signals are supplied to the digital signal processing section 62 . The digital signal processing unit 62 converts the serial signals of the first to nth amplified signals into the serial signals of the first to nth digital signals. The first to n-th digital signals correspond one-to-one to the first to n-th analog signals.

By the way, the image processing section 54 has a real-time transmission mode and a temporary storage mode. In real-time transmission mode, the first to nth digital signals are sent to the earth station 8 in real time.
This is the mode for transmitting to 0. -The time storage mode will be described later. The previously mentioned mode selection signal is used to select between real-time transmission mode and temporary storage mode. In response to the mode selection signal, control circuit 6
0 supplies the selection signal 60-2 to the selection circuit 63.

The selection signal 60-2 selects one of the modulator 64 and the signal processing section 65. Upon receiving the mode selection signal for selecting the real-time transmission mode, the control circuit 60 controls the modulator 64.
A selection signal 60-2 for selecting is output. In this case, the selection circuit 63 sends the first to nth digital signals to the modulator 64. The modulator 64 receives the supplied first to nth signals.
modulates the digital signal into first to nth modulated signals, and outputs these to the transmitter 66. Transmitter 66 transmits the first to nth modulated signals through antenna 67 to earth station 80 at a transmission rate f2 using a downlink radio channel.

With reference to FIG. 7 together with FIG. 4, the signal processing unit 65
The storage section 71, the reading section 72, and the signal processor 7
It has 3. In the temporary storage mode described above, the control circuit 60 outputs a selection signal 6 for selecting the -hour storage mode.
When receiving 0-2, it outputs a selection signal 60-2 for selecting the signal processing section 65. The control circuit 60 is the signal processing section 6
When outputting the selection signal 60-2 for selecting 5, the selection circuit 63 stores the first to nth digital signals in the storage section 71.
Output to. The storage unit 71 stores the first to nth digital signals as first to nth storage digital signals.

The control circuit 60 supplies a second readout signal 60-3 to the readout section 72 when receiving either the transmission command signal or the base/hide ratio designation signal. The transmission command signal is a signal for reading out all of the first to nth storage digital signals from the storage unit 71 as first to nth readout digital signals. In this case, the reading unit 72 outputs the first to nth read digital signals to the modulator 64. The first to nth readout digital signals are modulated by a modulator 64 and sent to a transmitter 6.
6 through an antenna 67 and is transmitted to an earth station 80.

The base-hide ratio designation signal is for designating at least two base-hide ratios to obtain at least two stereoscopic images. In response to the base-hide ratio designation signal, the control circuit 60 outputs a read command signal indicating the first to in storage digital signals. As explained in Fig. 6, the first to third base-hide ratios are 0.3.0.2.
．． When it is 0°1, the read command signal is 1st, 167th,
The 333rd, 669th, 835th, and 1001st stored digital signals are shown. Referring to FIG. 8 together with FIG. 4, the case where the first to third base-hide ratios are 0.3.0 and 2.0.1 as described in FIGS. 5 and 6 will be explained. do. As shown in FIG.
Assume that the aircraft flies from the first to the seventh flight position in time 1 t 1 .

In this case, the satellite 50 flies only in 1001 subareas, so this imaging method uses 1001 subareas representing 1001 different observation areas.
Pick up the optical image of.

The storage unit 71 stores 1001 optical images of bones 1st to 1001st.
A partial digital signal is stored. The reading section 72 is the first
, 167th, 333rd, 669th, 835th, and 1st
The 001st stored digital signal is read out as the 1st, 167th, 333rd, 669th, 835th, and 1001st read digital signals. Here, the first stored digital signal is the first partial signal obtained from the 500th partial area of the observation area 51 when the satellite 50 is at the first flight position p1. The 167th stored digital signal is the 167th partial signal obtained from the 500th partial area of the observation area 51 when the satellite 50 is at the second flight position p2. The 333rd storage digital signal is
This is the 333rd partial signal obtained from the 500th partial area of the observation area 51 when the satellite 50 is at the third flight position p3. The 669th stored digital signal is stored in the satellite 50
This is the 669th partial signal obtained from the 500th partial area of the observation area 51 when is at the fifth flight position p5. The 835th stored digital signal is the 835th partial signal obtained from the 500th partial area of the observation area 51 when the satellite 50 is at the sixth flight position p6. Further, the 1001st stored digital signal is stored by the satellite 50 at the 7th
This is the 1001st partial signal obtained from the 500th partial area of the observation area 51 when the aircraft is at flight position p7.

The reading unit 72 supplies the signal processor 73 with the first and 1001st read digital signals as the first bare read digital signals, and the 167th and 835th read digital signals as the second bare read digital signals. As signals, the 333rd and 669th read digital signals are respectively supplied as third bare read digital signals. When supplied with the first to third bare readout digital signals, the signal processor 73 reads the first to third bare readout digital signals.
The third bare readout digital signal is processed in a known manner to output first to third stereo signals. 1st to 3rd
The stereo signal is modulated by the modulator 64 into first to third modulated stereo signals, and transmitted from the transmitter 66 to the earth station 80 through the antenna 67.

In the above operation, for example, the 1001st photoelectric converter
This continues until all partial images of the ~1001st partial area are picked up. Therefore, in reality, the signal processing section 65 outputs a continuous first stereo signal, a continuous second stereo signal, and a continuous third stereo signal.

The first to third continuous stereo signals are modulated by the modulator 64 into a continuous first modulated stereo signal, a continuous second modulated stereo signal, and a continuous third modulated stereo signal. As a result, for each of the 500th to 1001st sub-regions, the first to third stereo signals are
It can be obtained with the third base-hide ratio. - For boat fishing, (n-1)/2 types of 3D images are used for the first to (n-1th)
)/2 base/hide ratio.

Note that the reading unit 72 may directly send the first to third bare read digital signals to the modulator 64.

This is effective when the transmission speed f2 is lower than the read speed f1. Further, in order to make the explanation easier to understand, the reading section 72 and the signal processor 73 have been explained separately, but it is easy to provide the signal processor 73 with the function of the reading section.

Referring to FIG. 9 together with FIGS. 4 and 5, the earth station 80, which is part of the stereoscopic imaging system according to the present invention, will be described. It is assumed that the present imaging method picks up optical images of an observation area equal in number to the first to nth subareas specified by the first to seventh flight positions. The earth station 80 has a control section 81 for outputting command signals classified into the aforementioned readout control signal, mode selection signal, transmission command signal, and base-hide ratio designation signal. The transmitter 82 transmits the command signal through the antenna 83 using an uplink radio channel. When the control unit 81 outputs a mode selection signal for selecting the real-time transmission mode, the receiver 84 receives the first to nth modulated signals transmitted in real time from the transmitter 66 (FIG. 4).

The demodulator 85 demodulates the first to nth modulated signals into first to nth demodulated signals.

The first to nth demodulated signals are supplied to the signal processing section 90.

The signal processing section 90 has a storage section 91. Reading unit 92, signal processor 93. Signal converter 94. and a display section 95. The storage unit 91 stores the first to nth demodulated signals as first to nth storage signals.

When a non-stereo image is requested, the reading unit 92 reads out the i-th stored signal from the storage unit 91 as a non-stereo signal. When the reading of the i-th storage signal is repeated n times, the reading section 92 outputs the first to n-th non-stereo signals. The first to n-th non-stereo signals correspond one-to-one to the 'M1 to first to n-th regions, and are supplied to the signal converter 94. The signal converter 94 converts the first to nth non-stereo signals into television signals and outputs them to the display section 95.

The display unit 95 displays a planar image of the observation area.

Referring to FIG. 10 together with FIG. 9, the base-hide ratio is 0.
．． The case where 3 is requested will be explained.

It is assumed that when the satellite 50 flies over 1500 sub-areas, the present imaging method picks up the 1st to 1500th optical images. The first to 1001st demodulated signals are stored in the storage unit 91 as the first to 1500th optical images.
-1001st memory f2.

In the first step S1, the base-hide ratio is determined to be 0.3.

In the second step S2, the readout section 92 reads out the first and 1001st stored signals of the first optical image as first bare readout signals based on the first and 1001st signals.

In the third step S3, the read signals of the first and 1001st bears are stored in the signal processor 93 as the stored signals of the 1st and 1001st bears. This storage process is repeated as described below. The signal processor 93 counts how many times the storage process has been repeated.

In a fourth step S4, the signal processor 93 identifies whether the 1500th storage operation has been reached. If it is less than 1500 times, the fourth step S4 returns to the second step S2. Second step S2
Then, the reading unit 92 reads the first to 1001st storage signals for the second optical image in the storage unit 91 to the first and first
It is read out as the read signal of the 001st second bear.

In the third step S3, the second bare read signal is stored in the signal processor 93 as a second bare stored signal. In the second to fourth steps, the above storage process is 150
This is repeated until it reaches 0 times.

When the storage process reaches 1500 times, the first to 1500th bear read signals are stored in the signal processor 93 as the first to 1500th bear storage signals.

Proceeding from the fourth step S4 to the fifth step S5,
The signal processor 93 processes the first to 1500th bare stored signals. The signal processor 93
A first stereo signal is output by processing the th stored signal and the 1001st stored signal of the 1001st bare signal.

Subsequently, the signal processor 93 outputs a second stereo signal by processing the first stored signal of the second bear and the 1001st stored signal of the 1002nd bear. Similarly, the signal processor 93 outputs the first to 500th stereo signals. The first to 500th stereo signals are supplied to a signal converter 94.

In the sixth step S6, the signal converter 94
00 stereo signal to a television signal.

In the seventh step S7, the display section 95 displays the television signal as a stereoscopic image of the observation area.

As explained in FIGS. 4 and 7, transmitter 66 transmits a continuous first modulated stereo signal, a continuous second modulated stereo signal, and a continuous third modulated stereo signal to earth station 80. . In FIG. 9, a receiver 84 receives successive first to third modulated stereo signals. The demodulator 85 demodulates the continuous first to third modulated stereo signals into a continuous first demodulated stereo signal, a continuous second demodulated stereo signal, and a continuous third demodulated stereo signal. ~ Output the third demodulated stereo signal to the storage section 91. The storage unit 91 stores the continuous first to third demodulated stereo signals as a continuous first stored stereo signal, a continuous second stored stereo signal, and a continuous third stored stereo signal.

In order to obtain a first stereoscopic image with a first base-hide ratio, the reading unit 92 reads out the continuous first stored stereo signal as a continuous first read stereo signal,
The signal is supplied to a signal converter 94.

Signal converter 94 converts the continuous first read stereo signal into a first television signal. The display section 95 is the first
The television signal is displayed as a stereoscopic image of the observation area using the first base-Hide ratio.

Another embodiment of the present invention will now be described with reference to FIG. Note that in FIG. 11, the same reference numerals are given to the same components as in FIG. 4 except for the photoelectric conversion section 55, and explanations thereof will be omitted.

In FIG. 11, each photoelectric converter of the photoelectric conversion unit 55 has a plurality of filters (BAND) of different frequency bands (BAND).
(not shown). Here, for example, assuming that the photoelectric converter is equipped with three filters, as shown in the figure, the partial area (BLOCK), the flight direction (in FIG. 11)
When 1 to 5 blocks (BLOCK) are imaged at angles θ1 to θ4, each BLOCK is substantially
The image will be captured as if it were divided into AND 1 to 3.

That is, as shown in FIG. 12, BANDI to 3 are imaged for blocks 1 to N, respectively. here,
Starting from block 1, sequentially transfer each BAND to block 1゛,...
Let the block be N- and have 4 lines (scanning lines) per IBAND.

As described above, when each I BAND is configured with 4 lines, nadir vision and two types of stereoscopic vision can be obtained in the wavelength band of 3 BANDs. Furthermore, the number of blocks corresponds to the number of imaging angles, and if there are N blocks (N is an odd number),
Nadir vision and (N-1)/2 types of stereoscopic vision are obtained.

Now, referring to FIG. 13, if each I BAND is configured with 4 lines, then the same area is imaged for the imaging time τ, i.e., imaged from time T to time T10τ), and then, By sequentially imaging the same area from time T+τ to time T+2τ, from time T+2τ to time T13τ, and from time T+3τ to time T+4τ, substantially 4 pixels are accumulated in the flight direction of the satellite (pixel integration). The sensitivity is twice as high (JN).

In the above embodiment, the number of BANDs is 3 and the number of lines is 4, but by appropriately changing the configuration of the filter, various numbers of BANDs and lines can be configured.

Although the present invention has been described above along with preferred embodiments, the present invention is not limited to the above-described embodiments, and various modifications can be made. For example, n may be an even number of 3 or more. Of course, the present invention is applicable not only to satellites but also to ordinary airplanes. Also,
The optical system may be formed at a plurality of focal lengths at once using spectral filters with different spectral characteristics.

In this case, a plurality of photoelectric conversion sections are respectively provided in a plurality of focal regions.

(Effects of the Invention) As explained above, according to the present invention, it is possible to obtain multiple types of stereoscopic images with multiple base-hide ratios with a single engineering system, and furthermore, it is possible to obtain multiple types of stereoscopic images with multiple base-hide ratios, and furthermore, it is possible to obtain multiple types of stereoscopic images with multiple base-hide ratios. Having multiple filters has the effect of achieving high sensitivity.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram for explaining the conventional stereoscopic image method.
FIG. 2 is a schematic diagram of the signal processing unit and optical system shown in FIG. 1, and FIG. 3 is a schematic block diagram of an earth station that operates as part of the stereoscopic imaging system shown in FIG. Figure 4 is a diagram schematically showing an observation area and a satellite to explain an embodiment of the present invention, Figure 5 is a diagram to explain the base-hide ratio, and Figure 6 is similar to Figure 4. 7 is a block diagram of the signal processing section shown in FIG. 4, and FIG. 8 is a block diagram of the signal processing section shown in FIG. 7. 9 is a schematic block diagram of the earth station that operates as part of the stereoscopic imaging method shown in FIG. 4, and FIG. 10 is a diagram for explaining the operation of the earth station shown in FIG. 9. FIG. 11 is a flowchart diagram for explaining the operation of the signal processing unit in FIG. Diagram 1 for explaining the configuration of the filter used
FIG. 3 is a diagram for explaining the concept of pixel integration in FIG. 11. 50... Satellite, 51... Observation area, 54... Image processing section, 55... Photoelectric conversion section, 60... Control circuit, 6
1... Ana Fig. 7 [Fig. 10 I Imaging the same area of the earth (± 13V ■+τ, 1 emphasis)

Claims (1)

[Scope of Claims] 1. An optical system that is combined with a flying object flying in a predetermined direction above an observation area, is mounted on the flying object, and forms an optical image of the observation area on a focal region; and an image processing means for electrically processing the optical image.
A plurality of photoelectric converters are provided on the focal region so as to convert the optical image into a plurality of partial electrical signals representing the partial observation area, and correspond one-to-one to the partial observation area. and a signal processing means coupled to the plurality of photoelectric converters to process the plurality of partial electric signals into a plurality of three-dimensional images, and the photoelectric converter includes a plurality of filters corresponding to mutually different frequency bands. A stereoscopic imaging method characterized by the following: 2. In the stereoscopic imaging system according to claim 1, in order to divide the optical image into a front image and a rear image with respect to the predetermined direction, the plurality of photoelectric converters are arranged to The front photoelectric converter group and the rear photoelectric converter group each convert the plurality of partial electric signals into a plurality of front images representing the front image. and a plurality of rear partial electric signals representing the plurality of rear images, and each of the front photoelectric converter group and the rear photoelectric converter group is symmetrical with respect to the center line. the photoelectric converters are arranged in a symmetrical relationship with a predetermined number of photoelectric converters interposed therebetween, and the predetermined number determines a viewing angle that covers an equal number of the partial observation areas. 3D imaging method. 3. The stereoscopic imaging system according to claim 2, wherein the signal processing means includes a storage means for storing a plurality of front partial electric signals and rear partial electric signals as a front partial storage signal and a rear partial storage signal, respectively. , means connected to the storage means for reading and processing at least one of the forward partial storage signal and the rearward partial storage signal as a forward partial readout signal and a rearward partial readout signal, When flying from a position to a second position that is the number of the partial observation areas, the at least one forward partial storage signal is activated by the forward photoelectric signal when the aircraft is in the first position. The at least one backward partial storage signal is converted by one of the symmetrical photoelectric converters of the converter group, and the at least one backward partial storage signal is converted by the rearward photoelectric converter when the aircraft is in the second position. A stereoscopic imaging method characterized in that the conversion is performed by one photoelectric converter in the symmetrical relationship among the converter group.