JPH05130646A - Stereoscopic camera device - Google Patents

Abstract

PURPOSE:To provide a stereoscopic image under a proper image pickup condition by automatically correcting an optical axis deviation or the like generated in an optical system of an image pickup device. CONSTITUTION:In an image pickup condition setting part, the position signals 10a of respective driving parts for respective image pickup devices 1a, 1b are detected by position detecting parts 10 provided on the driving parts. Each position signal 10a is compared with a table type image pickup condition correcting value stored in a correcting data storing part 12. The photographing conditions of the devices 1a, 1b are corrected by a positional deviation correcting part 11 based upon the compared result. Consequently an optical axis deviation or a power difference generated in the optical system can be automatically corrected and an observer M can sense a proper stereoscopic image of an object O to be observed by a monitor television 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic camera device,
In particular, the present invention relates to a stereoscopic camera device that can automatically correct an optical axis shift and a magnification difference that have occurred in an optical system of a plurality of image pickup devices arranged to obtain a stereoscopic image so that an appropriate stereoscopic image can be sensed.

[0002]

2. Description of the Related Art It is difficult for humans to directly go to the site to work in the deep sea or outer space, and when humans work directly in a nuclear reactor, there is a risk of radiation. As a technique for realizing work in such an extreme environment, there is a teleoperation in which a manipulator is sent to a work site and a person remotely works at a safe point away from the work site. In this method, the work site (work environment) is imaged by an imaging device, and the image is displayed three-dimensionally on a video display device such as a television monitor to be presented to the operator. Therefore, the operator remotely operates the manipulator while watching the image. can do. Conventionally, a stereoscopic camera device as shown in FIG. 4, for example, has been used to make an observer feel a stereoscopic image of a work site during such remote control. That is, the conventional stereoscopic camera device is composed of two image pickup devices 101a and 101b, a video mixer 102, a frame converter 103, a shutter glasses driving device 104, shutter glasses 105, and a monitor television 106. The two imaging devices 101a and 101b are horizontally arranged on a pan head (not shown) and simultaneously image the observation object 107 in front. In addition, the imaging devices 101a, 1
A zoom lens is generally attached to the optical systems 101c and 101d of 01b, and an image is formed on an image pickup device incorporated through the optical systems 101c and 101d. The video imaged by the imaging devices 101a and 101b is sent from the imaging device to the video mixer 102 as a video signal, and is alternately output every predetermined time. These time-series video signals are subjected to flickerless (video flicker removal) processing by the frame converter 103 and then alternately presented to the monitor television 106 which is a video display device. Then, the observer 108 changes the image on the monitor TV 106 to the frame converter 103.
A stereoscopic image can be sensed by forming an image through the shutter glasses 105 in which the left and right eyes alternately open and close based on the synchronization signal output from the. That is, the stereoscopic camera device having the above-described configuration can sense a stereoscopic image by utilizing the afterimage of human eyes.

The observer 108 is the imaging device 101.
When zooming the zoom lenses, which are the optical systems 101c and 101d of a and 101b, to the wide-angle side or the telephoto side, the lens controller 109 is used to operate the image pickup apparatus 101a,
When adjusting the interval of 101b and the angle (convergence angle) β of viewing the observation object 107, the platform controller 110 is operated.

[0004]

By the way, when the observer 108 perceives a stereoscopic image by the stereoscopic camera device having the above-described configuration, the image projected on the left and right eyes of the observer 108 is It is necessary that the relationships such as postures are relatively consistent. Therefore, the imaging devices 101a and 10
An optical system 101c which is incident on the image pickup device built in 1b,
The optical axis of 101d needs to be set in the same plane that spreads in the direction in which the imaging devices 101a and 101b are arranged.
Further, when a zoom lens is used for the optical systems 101c and 101d, in order to keep the optical axis constant regardless of the zoom value,
Careful selection of lenses and strict control of setting positions are essential.
However, in reality, it is very difficult to prepare a lens having exactly the same characteristics, or to completely block the influence of external force such as vibration and hold the lens setting position. As described above, in the conventional stereoscopic camera device, the imaging device 101
In the case where the optical systems 101c and 101d of a and 101b are zoom lenses, the optical axis shift becomes large when the zoom operation is performed, particularly when the zoom operation is performed toward the telephoto side. Therefore, the consistency of the images projected on the left and right eyes of the observer 108, respectively. Becomes worse. In this case, the optical axis shift may depend on the vertical error angle between the horizontal magnification caused by the magnification error of the left and right cameras and the horizontal angle caused by the fluctuation of the convergence angle, that is, the elevation angle or the depression angle value. Are known. In addition, the observer 108
Operates the camera platform controller 110 to operate the imaging device 101
When the distance L from a, 101b to the observation target 107 is changed, the observer 108 needs to set a new vergence angle β in order to obtain an optimal stereoscopic image, resulting in poor work efficiency. On the other hand, in the conventional stereoscopic camera device, a correction data storage unit is created in which correction values are stored in a table format for correcting the positional error between the left and right images due to the magnification error and the optical axis displacement during zoom operation, An observer sequentially operates the zoom lens from the wide-angle side to the telephoto side in advance, calculates the amount of each deviation from the image on the monitor, determines the positional deviation correction amount, and obtains the correction value.

When the conversion lens is replaced to change the angle of view of the image, the work is temporarily stopped,
The worker must go to a remote work site to directly replace the conversion lens, or if the work environment at the site is harmful to the human body, the stereoscopic camera device must be collected and replaced.

Therefore, when remotely manipulating a manipulator or the like in an extreme environment using a stereoscopic camera device in which an optical axis shift has occurred, it is not possible to perceive a good stereoscopic image of an object to be observed, resulting in a problem of work. There is a problem that the safety and the operability of the manipulator and the like decrease.

Therefore, an object of the present invention is to automate the work directly performed by the observer, that is, the creation of the data table for correcting the deviation amount of the lens optical axis and the creation of the data table for correcting the deviation amount after replacement of the conversion lens. As a result, it is intended to provide a stereoscopic camera device capable of improving the efficiency at the time of imaging work and setting an appropriate imaging condition.

[0008]

In order to solve the above-mentioned problems, a first invention uses a plurality of image pickup devices each having an image pickup condition setting section, and senses a stereoscopic image of an observation target through a stereoscopic image processing section. In the obtainable stereoscopic camera device, the imaging condition setting unit includes a position detection unit that detects a position of the imaging device, a correction data storage unit that stores an imaging condition correction value, and a position detected by the position detection unit. A positional deviation correction unit that corrects the signal with the imaging condition correction value stored in the correction data storage unit, and refers to the imaging condition correction value to control the positional deviation correction of the imaging device so as to obtain an appropriate imaging condition. It is characterized by performing.

A second aspect of the present invention is a stereoscopic camera device which uses a plurality of image pickup devices each having an image pickup condition setting unit and which can sense a stereoscopic image of an observation target through a stereoscopic image processing unit.
The imaging condition setting unit stores a position detection unit that detects the position of the imaging device, an image storage unit that stores a stereoscopic image captured by each imaging device, and image color information or density information from the image storage unit. An image analysis unit for comparison calculation, a correction value calculation unit that creates and stores an imaging condition correction value from the calculation result, and a position signal detected by the position detection unit is corrected by the imaging condition correction value of the correction value calculation unit. And an image pickup condition correction value is created and updated based on the image data sampled by the image analysis unit, and the appropriate image pickup condition is set at each image pickup by referring to the image pickup condition correction value. Thus, the positional deviation correction control of the image pickup apparatus is performed.

[0010]

According to the first aspect of the present invention, the position information from the position detecting device is compared with the information in the correction data table created in advance, and the magnification error and the position deviation of the image picked up by each image pickup device are coordinated. Since it is possible to control the position of each image pickup device by calculating it as a shift amount, it is possible to accurately set an appropriate correction amount corresponding to a magnification error of the image at the time of image pickup and a position shift, and to obtain an appropriate stereoscopic image. it can.

According to the second aspect of the invention, the image processing unit calculates the magnification error and the positional deviation amount of the image pickup device based on the image color information or the density information, and the image processing sampled by the image processing unit is performed. Since the correction data table is created and updated based on the data, it is possible to control so that each image pickup device is accurately linked to the zoom operation stage, and it is possible to always obtain an appropriate stereoscopic image.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a stereoscopic camera device according to the first and second inventions will be described below with reference to the accompanying drawings.
FIG. 1 shows a schematic configuration of a stereoscopic camera device according to the first invention. As shown in the figure, the imaging section of the stereoscopic camera device is composed of two imaging devices 1a and 1b. The image pickup devices 1a and 1b have elevation angles of + α (depression angle:-
α) (hereinafter referred to as elevation angle ± α), convergence angle β, and camera interval 1 are fixed to a multi-axis platform 18.
Further, the image pickup devices 1a and 1b include an image pickup device of the zoom lenses 2a and 2b forming an optical system, a distance detection device 3 that measures a distance L to an observation target O, and a position detection device 10 of each movable part. It is equipped. Of these, the distance detecting device 3 has a built-in distance measuring mechanism using infrared light or ultrasonic waves, and the position detecting device 10 has a rotary encoder or potentiometer for detecting the rotation angle of a drive motor (not shown). There is. This rotary encoder can detect the position of the potentiometer based on the voltage value by frequency-voltage conversion. This imaging device 1a, 1
The image signals 4a and 4b of the observation target O imaged at a certain set magnification by b are sent to the image mixer 5 and alternately output within a predetermined time. These time-series video signals 51 are displayed alternately on the monitor television 7 which is a video display device after the flicker-free processing in the frame converter 6 removes the flicker of the video. Then, the observer M observes the image projected on the monitor 7 through the shutter glasses 9 in which the left and right eyes are alternately opened and closed by the shutter glasses driving device 8 based on the periodic signal output from the frame converter 6,
It is possible to get a sense of stereoscopic images.

In the present embodiment, the stereoscopic camera device image pickup device 1
As a and 1b, two left and right CCD cameras equipped with an autofocus 8x zoom lens are mounted. The actual driving method for this camera is to fix one camera (here, the right camera) that has been set to a predetermined convergence angle β in advance, and operate the zoom lens of this right camera to zoom the left camera. The values are linked and change. At this time, the magnification of the zoom value and the elevation angle ± α vary from the normal values due to an assembly machine error or the like of the part that supports and drives the left and right cameras. The data table for correcting the above-described deviation is created in consideration of this variation. This deviation amount correction data table has a built-in RAM
The following table is an example of a data group created in advance in a storage unit such as a table for comparison.

[0014]

[Table 1] In Table 1, the zoom value of the left camera has a specific deviation from the zoom value of the right camera, which is the reference, and the motor is adjusted and driven by this deviation. Also, a correction value for variations in elevation angle ± α is also given.

A comparison reference signal is generated from the position signals 10a of the positions of the zoom lenses 2a and 2b detected during the zoom operation, the elevation angle ± α, the convergence angle β, and the camera interval l by using the data table for correcting the shift amount. To be done. On the other hand, the detected position signal 10a is sent to the positional deviation correction unit 11 and compared with the positional deviation correction data table stored in the correction data storage unit 12 in the positional deviation correction unit 11 to detect the amount of deviation of the optical axis or the like. To be done. Further, a convergence angle β optimal for obtaining a stereoscopic image is calculated by the position shift detection unit 11 from the distance L to the observation target and the camera interval l, and the correction signal 26 is sent to the position correction control unit 14. The control signal 17 output from the position correction control unit 14 is sent to each drive unit of the multi-axis platform 18 to be adjusted and driven by a predetermined amount.

As a result, a magnification error or a convergence angle β that causes an optical axis shift due to an assembly error or the like of the two image pickup devices 1a and 1b is corrected, and an appropriate stereoscopic image can be sensed.

Next, the operation of the stereoscopic camera device according to the present invention during image pickup will be described. When the imaging devices 1a and 1b are set toward the observation target O, the reflected light from the observation target O passes through the zoom lenses 2a and 2b and the imaging devices 1a and 1b.
And is focused on the built-in image sensor. The image pickup device alternately outputs the imaged video signals 4a and 4b of the observation target O to the monitor 7 via the video mixer 5 and the frame converter 6 at predetermined time intervals (for example, 1/60 seconds). Thereby, the observer M can perceive the stereoscopic image of the observation target O through the shutter glasses 9 from the images alternately transferred to the monitor 7. In this observation state, the zoom lens 2a,
2b, elevation angle ± α, vergence angle β, distance L to the observation target O,
The detected position signal 10a for the camera interval l is sent from the position detection unit 10 to the position shift correction unit 11. In the position shift correction unit 11, each position data of the shift amount correction data table in the correction data storage unit 12 created in advance is compared with the content of the detected position signal 10a.

In this data comparison, the image pickup device 1a,
When there is no magnification error or position deviation in the left and right images picked up by 1b, each position data of the deviation amount correction data table and each detected position signal 10a match. The vergence angle β at this time is determined to be an appropriate value for the perception of stereoscopic images,
The correction signal 26 is not output to the position correction controller 14, and the multi-axis platform 18 is not driven. The observer M uses the imaging device 1a,
When the stereoscopic camera controller 15 is operated to change the zoom value, the distance L to the observation target O, or the camera interval 1 during image pickup in 1b, the detection position signal 1 of each movable portion is changed.
0a is compared with the position data in the deviation amount correction data table of the correction data storage unit 12 by the position deviation correction unit 11, and the deviation amount is sent to the position correction control device 14 as a correction signal 26. Therefore, the control signal 14 is sent to each drive unit of the multi-axis platform 18 until the displacement amount is eliminated by the position correction control device 14, that is, until the optimum stereoscopic image is sensed, and the multi-axis platform 18 is adjusted and driven. To be done.

As described above, even when the observer M operates the stereoscopic camera controller 15 in an arbitrary state while the image pickup device 1a, 1b is picking up an image of the observation object O, there is always no optical axis shift and the zoom value is set. The angles of convergence β can be made equal, and at the same time, the optimum convergence angle β for obtaining a stereoscopic image can be automatically controlled.

Further, since the camera interval l can be adjusted and the convergence angle β can be automatically set corresponding to this camera interval l, the zoom lenses 2a and 2b of the image pickup devices 1a and 1b can be telephotoly viewed using this mechanism. By taking the image with the camera interval 1 widened at the same time as the side, the observer M obtains a magnifying visual effect as if the observer M is actually approaching and observing the observing object O located at a distance.

In the structure of the stereoscopic camera device described above, the data table for correcting the deviation amount is prepared offline in advance, and the correction data storage unit 12 in the loop of the camera control unit is used.
Since it has been introduced in, if the lens characteristics change due to maintenance replacement of the lens or installation of a conversion lens,
It will be separately changed to an appropriate deviation amount correction data table.

FIG. 2 shows the configuration of a stereoscopic camera device according to the second invention. In the present invention, the video signals 4a and 4b of the two image pickup devices 1a and 1b sent to the image data processing unit 13 are first stored in the image frame memory 19 in the image data processing unit 13. This image information is sent to the correction data generation unit 20.
Reference numeral 0 is composed of an image analysis unit 20a and a correction value calculation unit 20b. First, the image analysis unit 20a obtains a density distribution serving as an index of color distribution or brightness in the image information.

In the calculation of the color distribution, first, the edge detection, the quadrature, and the center of gravity of the portion showing the object to be imaged are detected from the RGB signal distributions of the images on the left and right monitor screens to determine the image position of the object to be imaged. This position data is used as the correction value calculation unit 20b
It is designed to output to. Further, in calculating the density distribution, pixel information of the images on the left and right monitor screens is scan-added for each column to obtain the density distribution of the screen, and a threshold is set for a predetermined gradation to set the threshold value above this threshold. The density portion is determined as an image to be imaged. In this embodiment, 2
56 gradations are set, and 100 is set as a threshold value.

In this way, the image analysis unit 20a calculates the similarity between the images of the left and right cameras, and the value of the similarity is sent to the correction value calculation unit 20b. This correction calculator 20
Since the detected position signals 10b of the image pickup devices 1a and 1b are also sent to the image pickup device b, the correction value calculation unit 20 calculates a correction value in the shooting direction of the image pickup devices 1a and 1b with respect to the detected position signal 10a, and a predetermined format is obtained. A correction data table of is created. After the correction data table is created, the value of the correction data table corresponding to the detected position signal 10b is read, and the value is sent to the position deviation correction unit 11 that controls each drive unit, and the position correction signal is further corrected. A drive mechanism such as a motor can be appropriately driven via the drive unit 14.

Further, the command signal 16 from the observer M and the position signal 10c equal to the position signal 10b are sent to the position-correction control device 11, and the observer M makes the image pickup device according to the deviation between these signals. The adjustment drive amount of can be specified. By adjusting and driving this image pickup device, a position signal 1
When the value of 0b changes, appropriate correction data is read again in real time by the above-described operation cycle, and appropriate imaging conditions are realized.

In the present invention, the image frame memory 19 is used to detect the image shift amount with high accuracy, the correction data table is created and updated by image processing, and the position of the image pickup apparatus is corrected. And the work efficiency at the time of imaging is improved.

FIG. 3 is a view showing an embodiment in which a conversion lens exchanging device is attached to the stereoscopic camera device according to the above invention. In this embodiment, the imaging device 1a,
When observing the image picked up by 1b at a wider angle or at a telephoto position, the observer M uses the stereoscopic camera controller 15
The angle of view of the zoom lenses 2a and 2b can be changed by operating the conversion lens replacement devices 21a and 21b attached to the lens unit. In this embodiment, the conversion lens is each zoom lens 2
Two conversion lenses are provided for each of a and 2b, and the conversion lens exchange control mechanism (not shown) rotates the conversion lens exchange devices 21a and 21b around θ and φ to change the angle of view.

At this time, the lens identifying section 23 is provided in the image data processing section 13 described above. Through the lens identification unit 23, the conversion lens exchange device 21a,
The rotation angle signals 22a and 22b around θ and φ of 21b are sent to the correction data table creation unit 20 and used as parameters when registering the correction data table. That is, the correction data table is created for each lens used, and the correction data table read by the lens type determination by the lens identification unit 23 is appropriately changed.

In the above description, the image analysis unit 20a calculates the similarity of color or density of the image on the monitor screen in the present embodiment, but instead of this, the magnification error of the images of a plurality of image pickup devices is calculated. Various correlation calculation methods and AI (artificial intelligence) can be used as a method for determining the deviation between the position and the posture. Further, in the present embodiment, the conversion lens exchange devices 21a and 21b are configured to exchange the two sets of conversion lenses mounted on the rotary plate 30 by rotating the rotation 30 around the rotation shaft 30a. Is obviously not limited to this scheme.

Further, the lens identifying section 23 detects the rotational position signals of the conversion lens exchanging devices 21a and 21b to identify the lens, but this lens identifying method can take various methods.

[0031]

As described above, according to the present invention, the deviation generated in the image picked up by each image pickup device is corrected by the information of each position detection device attached to the multi-axis platform and the information of the correction data table. When correcting the shooting direction of each imaging device by comparing with, the creation of this correction data table itself is performed by image processing, so the correction data table, which was conventionally done offline, can be made online, and Even if the lens characteristics change due to maintenance replacement or installation of a conversion lens, the process of creating the correction data table can be included in the control loop, so it is possible to set appropriate imaging conditions in all states and improve the efficiency of imaging work. The work accuracy is improved.

[Brief description of drawings]

FIG. 1 is a system configuration diagram showing an embodiment of a stereoscopic camera device according to the first invention.

FIG. 2 is a system configuration diagram showing an embodiment of a stereoscopic camera device according to the second invention.

FIG. 3 is a system configuration partial view showing an embodiment of a stereoscopic camera device equipped with a conversion lens exchange device.

FIG. 4 is a system configuration diagram showing an example of a conventional stereoscopic camera device.

[Explanation of symbols]

1a, 1b Imaging device 2a, 2b Zoom lens 3 Distance measuring device 4a, 4b Video signal 5 Video mixer 6 Frame converter 7 Monitor 8 Shutter glasses driving device 9 Shutter glasses 10a, 10b, 10c Position signal 11 Position deviation correction part 12 Correction data Storage unit 13 Image data processing unit 14 Position correction control unit 15 Stereo camera controller 16 Command signal from observer 17 Control signal 18 Multi-axis platform 19 Image frame memory 20 Correction data generation unit 20a Image analysis unit 20b Correction value calculation unit 21a, 21b Conversion lens exchange device 22a, 22b Rotation angle signal of conversion lens exchange device 23 Lens identification part 26 Correction signal M Observer O Observation target l Camera interval ± α Elevation angle β Convergence angle φ, θ Conversion lens exchange device rotation angle

Claims (2)

[Claims] 1. A stereoscopic camera device using a plurality of image pickup devices having an image pickup condition setting part, wherein a stereoscopic image of an observation target can be sensed through a stereoscopic image formation processing part, wherein the image pickup condition setting part is the image pickup device. Position detection unit for detecting the position of the image pickup condition, a correction data storage unit for storing the image pickup condition correction value, and the position signal detected by the position detection unit is corrected by the image pickup condition correction value stored in the correction data storage unit. A stereoscopic camera device, comprising: a positional deviation correction unit for controlling the positional deviation correction of the imaging device so that an appropriate imaging condition is obtained with reference to the imaging condition correction value. 2. A stereoscopic camera device using a plurality of image pickup devices having an image pickup condition setting part, wherein a stereoscopic image of an observation target can be sensed through a stereoscopic image formation processing part, wherein the image pickup condition setting part is the image pickup device. A position detection unit that detects the position of the image storage unit, an image storage unit that stores a stereoscopic image captured by each imaging device, and an image analysis unit that performs comparative calculation of color information or density information of the image from this image storage unit, A correction value calculation unit that creates and stores an imaging condition correction value from this calculation result, and a position shift correction unit that corrects the position signal detected by the position detection unit with the imaging condition correction value of the correction value calculation unit The imaging condition correction value is created and updated based on the image data sampled by the image analysis unit, and the positional deviation of the imaging device is adjusted so that the imaging condition correction value is referred to in order to obtain an appropriate imaging condition at each imaging. Performing correction control Stereo camera device according to claim.